Beckhoff AX2000 CANopen communication profile Manuale Utente

CANopen communication profilefor servo amplifiers of theAX2000/2500 seriesFieldbus InterfaceEdition 07/2007Keep the manual as a product componentdurin

2 Installation / Setup2.1 Assembly, InstallationAssemble the servo amplifier as described in the product manuals for AX2000/2500. Observeall safety in

4.17.4.4 Object 6083h: profile_acceleration (DS402)The acceleration ramp (profile_acceleration) is given in units that are defined by the user. The pr

4.17.4.6 Object 6086h: motion_profile_type (DS402)The type of acceleration ramp can be selected by this Object as a linear or as sin2ramp.Index0x6086h

The figures show the difference between the set of setpoints mode and the single setpoint mode.The initial status of the bit change_set_immediately in

Notes on motion task type relative:If Bit 6 is set, then the motion task type is relative, and activated according to the last target positionor actua

This page has been deliberately left blank.104 CANopen for AX2000/2500CANopen Drive Profile 07/2007 BECKHOFF

5 The Object Channel5.1 Object Description5.1.1 Object > 3500h Manufacturer Specific Object ChannelThe Object Dictionary has been expanded beyond I

Sub-index03hDescriptionread upper limit valueUnitsee corresponding ASCII commandAccessroPDO mappingnot possibleData typesee corresponding ASCII comman

Sub-index06hDescriptionread the parameter check dataUnit—AccessroPDO mappingnot possibleData typeUNSIGNED32Value range0 ... 232-1EEPROM—Default value—

Number ASCII command Data format Weighting Status EEPROM3522 DEC INTEGER16 — — yes3523 DECDIS INTEGER16 — — yes3524 DECR INTEGER16 — — yes3525 DECSTOP

Number ASCII command Data format Weighting Status EEPROM3560 IN — — — —3561 IN1 INTEGER8 — — —3562 IN1MODE INTEGER8 — Disabled + Reset yes3563 IN1TRIG

2.2 CANopen interfaceThe interface for connection to the CAN-bus (default : 500 kBaud). The interface is at the sameelectrical potential as the RS232

Number ASCII command Data format Weighting Status EEPROM359E MRD — — Enabled —359F reserved35A0 MRESBW INTEGER16 — — yes35A1 MRESPOLES INTEGER8 — Disa

Number ASCII command Data format Weighting Status EEPROM35DC READNIMP — — — —35DD READY INTEGER8 — — no35DE RECDONE INTEGER8 — — no35DF RECING INTEGER

Number ASCII command Data format Weighting Status EEPROM361A VBUS INTEGER32 — — no361B VBUSBAL INTEGER16 — — yes361C VBUSMAX INTEGER32 — — yes361D VBU

Number ASCII command Data format Weighting Status EEPROM3658 reserved3659 INTEGER32 — — yes365A VCOMM INTEGER32 — — yes365B MTMUX INTEGER16 — — no365C

This page has been deliberatey left blank.114 CANopen for AX2000/2500The Object Channel 07/2007 BECKHOFF

6 Appendix6.1 Setup examplesAll values are hexadecimal. The axis-related values always refer to Station1.6.1.1 Basic testing of the connection control

6.1.2 Example of operating the Status MachineAfter the AX2000/2500 is switched on and the boot-up message has been detected, communicationvia SDOs can

6.1.3 Example of PDO usageUsing all four possible PDOs in operation:1. RPDO: PDO trajectory for one axis2. RPDO: PDO control word and mode changeover1

The mapping is defined next:COB-ID Control byteIndexSub-indexDataCommentLow byte High byte601 23 01 16 00h00 00 00 00 delete data for 2ndRPDO581 60 01

6.1.4 Example of HomingWhen the AX2000/2500 is operated as a linear axis, a reference/homing point must be definedbefore positioning tasks can be exec

2.4 Guide to SetupOnly professional personnel with extensive knowledge of control and drive technology areallowed to setup the servo amplifier.Check a

The homing movement can now be started by Bit 4 of the CANopen control word:COB-ID Control byteIndexSub-indexDataCommentLow byte High byte601 2B 40 60

6.1.6 Example of Profile Positioning Mode usageThis section shows the operation of the Profile position mode. For this, the PDOs are set as follows:Fi

If the mechanical resolution is to be defined, this can only be written through Object 6093h,Sub-index 01hand 02h. The pre-setting after switching on

A positioning movement can only be initiated by providing the setpoints through the 1stRPDO, follo-wed by a start through the 2ndRPDO. This uses hands

6.1.8 Test for SYNC-telegramsAims:1. Assign/set Start motion block to the PDO (1streceive-PDO)2. Assign Actual position (PDO21) to PDO (1sttransmit-PD

6.2 Special Applications6.2.1 External Trajectory6.2.1.1 Position controller in the servo amplifierThis example shows the situation where 2 axes each

After the Trajectory PDO has been mapped to the two axes, the communication parameters forboth must be set so that they respond to the same Communicat

To start up the axes, the servo amplifiers must be put into the operational status (operation enable)and the network management functions must be star

The SYNC telegram looks like this:COB-ID080Afterwards, both axes send back their incremental positions and the contents of their status regis-ters whe

6.3 Description of the Object DictionaryThe following table describes the Dictionary.The column DEF shows the corresponding profile:S = AX2xxx 3 = DS3

2.5 Important configuration parameters for CAN bus operationThe following parameters are important for CAN operation:1. CBAUD (Object 3515hSub-index 0

IndexSub-indexDEF Data format AccessPDOmapp.Description ASCII Object1601h00h3 RECORD rw — 2ndreceive- PDO mapping parameter —01h-08h3 UNSIGNED32 rw —

IndexSub-indexDEF Data format AccessPDOmapp.Description ASCII Object2022h00hS RECORD ro — Position data for Position mode —01hS INTEGER32 rww ý Positi

IndexSub-indexDEF Data format AccessPDOmapp.Description ASCII Object2052h00hS ARRAY ro —Position threshold register ABSOLUTE(refresh time < 1ms)POS

IndexSub-indexDEF Data format AccessPDOmapp.Description ASCII Object2070h00hS RECORD r — Manufacturer-specific actual values —01hS INTEGER24 r ý Actua

IndexSub-indexDEF Data format AccessPDOmapp.Description ASCII Object2083h00hS INTEGER8 ro — 32/24-bit negative latch —01hS INTEGER32 ro ý 32-bit latch

IndexSub-indexDEF Data format AccessPDOmapp.Description ASCII Object607Ch00h4 INTEGER32 rww ý Reference offset —6081h00h4 UNSIGNED32 rww ý Velocity (M

6.5 Index136 CANopen for AX2000/2500Appendix 07/2007 BECKHOFF! 1000h ...291001h ...291002h ...301003h ...

CANopen for AX2000/2500 137BECKHOFF 07/2007 AppendixO Object Channel ...105Object Dictionary ...129Operating mode ...56P Permit

This page has been deliberately left blank.14 CANopen for AX2000/2500Installation / Setup 07/2007 BECKHOFF

3 CANopen communication profileThis chapter describes the basic services and Communication Objects of the CANopen communi-cation profile DS 301, which

3.2 Construction of the COB IdentifierThe following diagram shows the layout of the COB Identifier (COB-ID). The Function Code definesthe interpretati

3.3.1 Basic data types3.3.1.1 Unsigned IntegerData in the basic data type UNSIGNEDn define exclusively positive integers.The value range is from 0 ...

3.3.3 Extended data typesExtended data types are derived from basic data types and mixed data types. The types of exten-ded data that are supported ar

3.4.1 Network Management Objects (NMT)The NMT telegram looks like this:The drive supports the following network management functions:cs = 129, reset n

Previous editionsEdition Comments01 / 1999 First edition, valid from software version 1.5703 / 2001 Expanded Object Dictionary, valid from firmware ve

3.4.4.1 Application of the Emergency ObjectThe reaction in the event of an error or fault depends on the error class and is therefore variable.For thi

3.4.5 Service Data Objects (SDO)SDOs are used to implement access to the Object Dictionary. The SDOs are required for parame-trerization and for statu

To write data, the control byte must be written in the manner shown below:Client Initiate Domain Download ServerByte 12345678request76543210indication

3.4.5.6 Abort SDO ProtocolThe Abort SDO protocol breaks off SDO transmission, and indicates the error that caused the breakin transmission through an

The definition of the PDO service and protocol can be found in DS301. Examples of the usage ofPDOs can be found in the application section of this doc

3.4.6.2 Trigger modesThree different trigger modes are distinguished:lEvent drivenThe transmission of the telegrams is triggered by an Object-specific

This page has been deliberately left blank.26 CANopen for AX2000/2500CANopen communication profile 07/2007 BECKHOFF

4 CANopen Drive Profile4.1 Emergency MessagesEmergency messages are triggered by internal equipment errors. They have a high ID-priority, toensure qui

The following table describes the various Error Codes:Error Code Category Description0000h— Error reset or no error (mandatory)1000h— Generic error (m

4.2 General definitionsThis chapter describes Objects with a general validity (e.g. Object 1000hDevice Type). The nextsection explains the free config

1 General1.1 About this manual ... 71.2 Use as directed of the CANopen interface .

4.2.1.3 Object 1002h: Manufacturer Status Register (DS301)This Object contains the manufacturer-specific status register, which also contains AX2xxx w

4.2.1.4 Object 1003h: Pre-Defined Error Field (DS301)This Object contains the last error event that was reported by an error telegram. Only the mostre

4.2.1.5 Object 1004h: Number of supported PDOs (DS301)This Object is only supported to provide compatibility with older versions of the CANopen Standa

4.2.1.6 Object 1005h: COB-ID of the SYNC Message (DS301)This Object can be used to change the COB-ID for the SYNC message.Index1005hNameCOB-ID for the

4.2.1.8 Object 1007h: Synchronous window length (DS301)This Object defines the length of the time window (in μs) for synchronous PDOs.Index1007hNameTi

4.2.1.11 Object 100Bh: Node-ID (DS301)The station address of the AX2000/2500 can be read out through the Object Node-ID. The stationaddress can be alt

4.2.1.14 Object 100Eh: COB-ID Nodeguarding (DS301)This Object defines the COB-ID for the Node Guarding protocol.Index100EhNameNode Guarding identifier

4.2.1.16 Object 1010h: Store Parameters (DS301)This object can be used to save communication- and mapping parameter.Index1010hNamestore parametersObje

4.2.1.17 Object 1012h: COB-ID for Time-Stamp Message (DS301)This Object can be used to define the COB-ID for the Time Stamp message.Index1012hNameCOB-

4.2.1.20 Object 1018h: Identity Object (DS301)The Identity Object contains general device information.Index1018hNameIdentity ObjectObject codeRECORDDa

4 CANopen Drive Profile4.1 Emergency Messages ... 274.2 General definitions ...

4.3 PDO MappingSince AX2000/2500 supports more than one operating mode, different PDOs are required for thetransmission and received directions, depen

4.3.1 Receive-PDOs (RPDO)The Objects 2600hto 2603hcan be used to select RPDOs. The configuration of the RPDOs ismade through the Objects 1400hto 1403h

4.3.1.1.2 PDO Receive ASCII Channel (21)With the help of the ASCII channel (Default-PDO), all the parameters and commands can be trans-mitted to the A

4.3.1.1.5 PDO Trajectory (33)The Trajectory PDO is a time- and data-optimized PDO. This PDO must only be used in the Trajec-tory mode. The Trajectory

4.3.1.1.7 PDO Start Motion Block (35)The Start Motion Block PDO is formed by the motion task number (UNSIGNED16).The PDO starts a motion block from th

4.3.1.2 Object Decription4.3.1.2.1 Object 1400-1403h: 1st-4th Receive-PDO communication parameter (DS301)Sub-index Description00hnumber of entries01hP

4.3.2 Transmit-PDOs (TPDO)The Objects 2A00hto 2A03hcan be used to select TPDOs. The configuration of the PDOs is madewith the Objects 1800hto 1803h(co

4.3.2.1.2 PDO Transmit ASCII Channel (21)As soon as ASCII characters have been transferred to the ASCII transmission buffer, they aretransmitted to th

4.3.2.1.6 PDO Incremental Actual Position (33)The PDO Incremental Actual Position is a data-optimized Object that can only be requested with aSYNC Obj

4.3.2.2 Object Description4.3.2.2.1 Object 1800-1803h: 1st-4th Transmit-PDO communcation param. (DS301)Sub-index Description00hnumber of entries01hPDO

4.4 Device Control (dc) ... 504.4.1 Status Machine (DS402) ...

4.3.2.2.4 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDOIn order to reduce the bus loading with event-triggered PDOs, masking can be used to

4.4.1 Status Machine (DS402)4.4.1.1 States of the Status MachineState DescriptionNot Ready for Switch OnAX2xxx is not ready to switch on, there is no

4.4.1.2 Transitions of the status machineThe state transitions are affected by internal events (e.g. switching off the DC-link voltage) and bythe flag

4.4.2 Object description4.4.2.1 Object 6040h: Controlword (DS402)The control commands are built up from the logical combination of the bits in the con

Mode-dependent bits im control wordThe following table shows the mode-dependent bits in the control word. Only manufacturer-specificmodes are supporte

Bit assignment in the status wordBit Name Bit Name0 Ready to switch on 8 Manufacturer-specific (reserved)1 Switched on 9 Remote (not supported)2 Opera

4.4.2.3 Object 6060h: modes_of_operation (DS402)This Object is used to set the mode, which can be read out by Object 6061h. Two types of operatingmode

4.4.2.4 Object 6061h: modes_of_operation_display (DS402)This Object can be used to read the mode that is set by Object 6060h. An operating mode onlybe

4.5.2 Object Description4.5.2.1 Object 608Bh: velocity_notation_index (DS402)Index0x608BhNamevelocity_notation_indexObject codeVARData typeINTEGER8Mod

4.5.2.3 Object 6093h: position_factor (DS402)The position factor converts the target position into the internal data format of the AX2000/2500(increme

4.16 Homing Mode (hm) (DS402) ... 944.16.1 General Information ...

4.5.2.4 Object 6094h: velocity_encoder_factor (DS402)The velocity_encoder_factor converts the target speed (revs/min) or velocity (incr/sec) into the

Example: The speed-setpoint provision is to be made in revolutions per minute (revs/min).The transmission ratio and feed constant are 1.velocity_ enco

4.5.2.5 Object 6097h: acceleration_factor (DS402)The acceleration_factor converts the acceleration [unit: /s2] into the internal format of theAX2000/2

4.6 Manufacturer-specific Current and Speed-Mode4.6.1 Object 2060h: Digital current or speed setpointIndex2060hBrief descriptiondigital current/speed

4.7 Setup data for manufacturer-specific Jogging/Homing mode4.7.1 Object 2024h: Setup operation for position modeIndex2024hBrief descriptionparameters

Sub-index03hBrief descriptionvelocity for homingUnitμm/sAccessrwPDO mappingnot possibleData typeINTEGER32Value range-(231-1) ... (231-1)Default value0

4.8 Positioning data for position mode4.8.1 Object 2020h: Position controllerIndex2020hBrief descriptionparameter for position controllerObject codeRE

Sub-index04hBrief descriptionposition register 1UnitμmAccessrwPDO mappingnot possibleData typeINTEGER32Value range-(231-1) ... (231-1)Default value0De

Sub-index09hBrief descriptionresolution / numerator of the gearing ratioUnitμmAccessrwPDO mappingnot possibleData typeUNSIGNED32Value range1 ... (232-

4.8.2 Object 2022h: Position data for position modeIndex2022hBrief descriptionmotion task parameterObject codeRECORDNumber of elements12Used to enter

1 General1.1 About this manualThis manual describes the setup, range of functions and software protocol of the AX2000/2500servo amplifiers with the CA

Sub-index03hBrief descriptionmotion task typeModeppAccessrwPDO mappingnot possibleData typeUNSIGNED8Unit—Value range0 ... FFFFhEEPROMnoDefault value0U

Type of relative/absolute motion blockBit 0 Bit 1 Bit 2 Bit 15 Meaning0xx xAbsolute motion block: the position given in the motion block is taken as t

Sub-index04hBrief descriptiontrajectoryUnit—AccessrwPDO mappingpossible (pre-mapped to selectable RPDO 33)Data typeINTEGER32Value range-(231-1) ... (2

Sub-index08hBrief descriptionjolt (acceleration) limiting (under development)UnitmsAccessrwPDO mappingnot possibleData typeUNSIGNED16Value range1 ...

Sub-index0BhBrief descriptionstart delay for next motion taskUnitmsAccessrwPDO mappingnot possibleData typeUNSIGNED16Value range1 ... 65535Default val

4.9 Object 2050h: Auxiliary variable for digital inputsIndex2050hBrief descriptionAuxiliary variable for digital inputsObject codeARRAYNumber of eleme

4.10 Latch function4.10.1 Object 2026h: Latch enableIndex2026hBrief descriptionenable the latch function for CANObject codeRECORDNumber of elements1Su

4.10.3 Object 2083h: 32/24-bit Latch negativeOn a negative edge at digital input 1, these Objects supply the latched position in 32-bit format.Index20

4.10.5 Object 2085h: 16-bit Latch negativeOn a negative edge at digital input 1, these Objects supply the latched position in 16-bit format.Index2085h

4.10.6 Object 2087h: Latch Positions Digital Input 1The Objects covered by Index 2087 are used for reading out the latch positions from digital input

1.3 Symbols useddanger to personnelfrom electricityand its effectsgeneral warninggeneral instructionsmechanical hazardÞsee ... (cross-reference) l spe

4.11 Manufacturer specific values4.11.1 Object 2070h: Actual valuesIndex2070hBrief descriptionactual valuesObject codeRECORDNumber of elements16This I

Sub-index05hBrief descriptionread the 32-bit position latchUnit—AccessroPDO mappingpossibleData typeINTEGER32Value range-(231) ... (231-1)Default valu

Sub-index0AhBrief descriptionspeedUnitmin-1AccessroPDO mappingnot possibleData typeINTEGER32Value range-(231-1) ... (231-1)Default value0Used to read

Sub-index10hBrief descriptionoperating timeUnitminAccessroPDO mappingnot possibleData typeINTEGER32Value range-(231-1) ... (231-1)Default value0Used t

Sub-index12hBrief descriptionposition absolut encoder in SI unitsUnituser unitsAccessroPDO mappingpossibleData typeINTEGER32Value range-(231-1)..(231-

Sub-index16hBrief descriptionError registerUnit—AccessroPDO mappingpossibleData typeUNSIGNED32Value range0..(232-1)Default value0This Object supplies

Sub-index17hBrief descriptioninternal velocity setpointUnit—AccessroPDO mappingpossibleData typeINTEGER32Value range-(231-1)..(231-1)Default value—Thi

4.11.2 Objekt 6077h: Torque actual valueThe torque actual value refers to the current torque in the motor. The scaling equates to 1/1000 ofthe rated t

4.12 Freely available, mappable PLC variables, Objects 2030h / 2090hParameters DPRVAR1 .. DPRVAR16 enable status variables to be exchanged between the

4.13 Dummy Variables, Objects 2031h / 2071hThese Objects can be used for gaps in Process Data Objects (PDOs). Possible applications includea setpoint

1.5 Basic features implemented by CANopenWhen working with the position controller that is integrated in AX2000/2500 digital servo amplifiers,the foll

4.13.2 Object 2071h: Dummy variables for mapping (RO)Index2027hBrief descriptionDummy variables for mappingObject codeRECORDNumber of elements5Sub-Ind

4.14 Profile Velocity Mode (pv) (DS402)4.14.1 General InformationThe profile velocity mode enables the processing of velocity setpoints and the associ

4.14.4.2 Object 60FFh: target_velocity (DS402)The speed setpoint (target_velocity) represents the setpoint for the ramp generator.The scaling of this

4.15.4 Object Decription4.15.4.1 Object 6063h: position_actual_value* (DS402)The Object position_actual_value provides the momentary actual position i

4.16 Homing Mode (hm) (DS402)4.16.1 General InformationThis section describes the various parameters which are required to define a homing mode.4.16.2

4.16.4.2 Object 6098h: homing_method (DS402)Index0x6098hNamehoming_methodObject codeVARData typeINTEGER8ModehmAccessrwPDO mappingpossibleUnitposition

4.16.4.2.1 Description of the homing methodsChoosing a homing method by writing a value to homing_method (Object 6098h) will clearly estab-lish:lthe h

4.16.5 Homing Mode SequenceSThe homing movement is started by setting Bit 4 (positive edge). The successful conclusion is indi-cated by Bit 12 in the

4.17.3 Objects that are defined in other sectionsIndex Object Name Type Section6040hVAR control word INTEGER16dc (Þ 4.4)6041hVAR status word UNSIGNED1

4.17.4.2 Object 607Bh: position_range_limit (DS402)The Object position_range_limit is used to define the start and end of the range of movement for am