CANopen Communication Profile SERVO DRIVES & MOTION CONTROL

CD1-k, BD1/k, BD2/k CANopen Communication Profile

CD1-k, BD1/k, BD2/k – CANopen Communication Profile ! This is a general manual describing the CANopen Communication Profile of the INFRANOR CD1-k, BD1/k and BD2/k drive. For the installation and commissioning of the drive, please refer to the appropriate manuals. Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable speed (EN 60204-1 standard) and using proper test equipment. The conformity with the standards and the "CE" approval is only valid if the items are installed according to the recommendations...

CD1-k, BD1/k, BD2/k – CANopen Communication Profile

CD1-k, BD1/k, BD2/k - CANopen Communication Profile Content PAGE

CD1-k, BD1/k, BD2/k - CANopen Communication Profile SERVO DRIVES & MOTION CONTROL

CD1-k, BD1/k, BD2/k - CANopen Communication Profile

CD1-k, BD1/k, BD2/k – CANopen Communication Profile

CD1-k, BD1/k, BD2/k – CANopen Communication Profile Chapter 1 – Overview 1.1 - REFERENCE CiA DS-201..207 CAN Application Layer for Industrial Applications Version 1.1 Application Layer and Communication Profile Version 4.01 Device Profile: Drive and Motion Control Version 1.1 Controller Area Network CAN in Automation e. V. CAN-Bus international manufacturer and user organisation. CAN Application Layer. The Application layer for CAN as specified by CiA. Communication Object is a CAN message. Data must be sent accross a CAN network inside a COB. COB-Identifier. Each CAN message has a single identifier....

CD1-k, BD1/k, BD2/k - CANopen Communication Profile Device Control: The drive starting and stopping are executed by the state machine. The state machine - handled with a control word and a status word via CAN bus - gives the possibility to control the state of the drive: servo on/off, start/stop movement, fault reset... Operation modes: The operation mode defines the behaviour of the drive : Homing Mode: In this mode, various methods can be used to find a home position. Profile Position Mode: In this mode, a trapezoidal trajectory generator gives the drive the possibility to execute a positioning...

CD1-k, BD1/k, BD2/k - CANopen Communication Profile OINFRANOR SERVO DRIVES & MOTION CONTROL COB-ID : COB-Identifier of 11 bits RTR : Remote Transmission Request CTRL: Control field CRC : Cyclic Redundancy Check 2.1.2 - DEFAULT COB-ID The COB-ID is of 11 bits. Node-ID (bits 0 - 6) is the drive address from 1 to 127. TX = Transmit from drive to master RX = Receive by drive from master Chapter 2 - Communication Profile

CD1-k, BD1/k, BD2/k - CANopen Communication Profile Node-ID: The Node-ID indicates the address of the CD1-k, BD1/k or BD2/k (defined by switches). If Node_ID = 0, the protocol addresses all NMT slaves. 2.1.4 - SYNCHRONISATION OBJECT (SYNC) The SYNC object is a broadcast message sent by the master. This message provides a network clock. The period is specified by the communication cycle period (object 1006h). The Infranor servo-drives use this SYNC message to synchronize their clock. At least 10 cycles are necessary for the servo-drive to start the synchronisation. Communication cycle Synchronous...

CD1-k, BD1/k, BD2/k - CANopen Communication Profile PDOs are unconfirmed messages used for real-time data exchange. PDOs sent by the master are RPDOs and PDOs sent by the drive are TPDOs. Data in each PDO are defined by a list of objects (PDO mapping). Infranor servo drives have TPDO1, RPDO1, TPDO3 and RPDO3. - PDO communication parameters at object 1400h + RPDO_number-1 (for RPDO) or 1800h + TPDO_number-1 (for TPDO) - PDO mapping at object 1600h + RPDO_number-1 (for RPDO) or 1A00h + TPDO_number-1 (for TPDO) - Transmission type The distribution of COB-ID is defined by default (see section 2.1.2)....

CD1-k, BD1/k, BD2/k - CANopen Communication Profile The sub-index 0 of mapping parameter contains the number of valid entries within the mapping record. This number of entries is also the number of application variables which shall be transmitted/received with the corresponding PDO. The sub-index 1 to number of entries contains the information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length (in bits). Structure of PDO Mapping Entry: Byte : MSB___LSB index (16 bit) | sub-index (8 bit) | object length (8 bit) ~~| Object Dictionary...

CD1-k, BD1/k, BD2/k - CANopen Communication Profile 2.1.7 - EMERGENCY OBJECT (EMCY) The Emergency telegram consists of 8 bytes: Chapter 2 - Communication Profile

CD1-k, BD1/k, BD2/k – CANopen Communication Profile Fault Position Limits I2 t Encoder Counting Position Following / Speed Following EEPROM Synchro_CAN Hall Effect Sensors Procedure Amplifier Temperature Motor Temperature Power Stage Failure Power Supply Undervoltage Encoder Cable Interruption treatment / Cycle Software / 500 µs Software / 2 ms Software / 500 µs Software / 500 µs Software Software / cycle Software Software Hardware Hardware Hardware Hardware 2.2 - NETWORK INITIALISATION AND SYSTEM BOOT-UP 2.2.1 - NMT STATE MACHINE The NMT state machine defines the communication status. Power...

CD1-k, BD1/k, BD2/k - CANopen Communication Profile 2.3 - OBJECT DICTIONARY 2.3.1 - GENERAL INFORMATION This object describes the type of a device. Device Profile Number : 402 Additional Information : 02 Servo Drive Description Generic Error Chapter 2 - Communication Profile

CD1-k, BD1/k, BD2/k - CANopen Communication Profile 2.3.1.3 - Object 1008h: Manufacturer Device Name Chapter 2 - Communication Profile

CD1-k, BD1/k, BD2/k - CANopen Communication Profile This object supports the saving of parameters in a non volatile memory. By read access, the device provides information about its saving capacities. Sub-index 0: largest sub-index that is supported. Sub-index 1: refers to all parameters that can be stored in the device. In order to avoid storage of parameters by mistake, storage is only executed when a specific signature is written to the appropriate sub-index. The signature is 'save'. This object defines the COB-ID of the synchronisation object (SYNC). The new COB-ID takes immediately effect...