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CiA301在电机控制上的实现指导.pdf

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    Chapter 1: Introduction
    1.1 Relevant Documentation
    1.1.1 Elmo Documentation
    1.1.2 CAN Documentation
    1.2 Terms and Abbreviations
    1.3 SimplIQ Communication
    Chapter 2: CANopen Basics
    2.1 Physical Layer
    2.2 Standard vs. Extended Addressing
    2.3 Client - Server Relations
    2.4 Inhibit Times
    2.5 RTR – Remote Transmission Request
    2.6 Object Dictionary
    2.7 Communication Objects
    2.8 Object Dictionary - Data Types
    2.9 Representation of Numbers
    Chapter 3: The Object Dictionary
    Chapter 4: Service Data Objects (SDOs)
    4.1 Initiate SDO Download Protocol
    4.2 Download SDO Protocol
    4.3 Initiate SDO Upload Protocol
    4.4 Upload SDO Segment Protocol
    4.5 Abort SDO Transfer Protocol
    4.6 Uploading Data Using an SDO
    4.7 Downloading Data Using an SDO
    4.8 Error Correction
    Chapter 5: Process Data Objects (PDOs)
    5.1 Receive PDOs
    5.2 Transmit PDOs
    5.3 PDO Mapping
    5.3.1 The Mapping Trigger – Transmission Type
    5.3.2 The Synchronous Trigger
    5.3.3 The Asynchronous Trigger
    5.3.4 RPDO Error Handling
    5.3.5 Mapping Parameter Objects
    5.3.6 Default Values
    Chapter 6: Emergency (EMCY)
    6.1 Emergency Configuration
    6.2 Emergency Codes Related to Failure
    6.3 Emergency Codes for Motor Faults
    6.4 Emergency Codes Related to PVT/PT Motion
    Chapter 7: Network Management (NMT)
    Chapter 8: SYNC and Time Stamp
    Chapter 9: Binary Interpreter Commands
    9.1 Binary Interpreter Commands and Results
    9.1.1 Set and Query Commands
    9.1.1.1 RPDO2 Structure
    9.1.1.1 TPDO2 Structure
    9.1.2 Execute Command
    9.2 ASCII Interpreter Commands not Supportedby Binary Interpreter
    Chapter 10: The OS Interpreter
    Chapter 11: The EDS
    Chapter 12: Communication Profile
    Object 0x1000: Device type
    Object 0x1001: Error register
    Object 0x1002: Manufacturer status register
    Object 0x1003: Pre-defined error field
    Object 0x1005: COB-ID SYNC message
    Object 0x1008: Manufacturer device name
    Object 0x1009: Manufacturer hardware version
    Object 0x100A: Manufacturer software version
    Object 0x100B: Node ID
    Object 0x1010: Save parameters
    Object 0x1011: Restore parameters
    Object 0x1012: COB-ID time stamp
    Object 0x1013: High-resolution time stamp
    Object 0x1014: COB-ID emergency object
    Object 0x1016: Consumer heartbeat time
    Object 0x1017: Producer heartbeat time
    Object 0x1018: Identity object
    Object 0x1023: OS command and prompt
    Object 0x1024: OS command mode
    Object 0x1029: Error behavior
    Object 0x1200: SDO server parameter
    Objects 0x1400 - 0x1403: Receive PDO communication parameter
    Objects 0x1800 - 0x1803: Transmit PDO communication parameter
    Objects 0x1A00 - 0x1A03: Transmit PDO mapping
    Chapter 13: Manufacturer-specific Objects
    Object 0x2001: PVT data
    Object 0x2002: PT data
    Object 0x2004: ECAM data
    Object 0x2012: Binary interpreter input
    Object 0x2013: Binary interpreter output
    Object 0x2030: Recorder data
    Object 0x2040: Coordinate system group ID
    Object 0x2041: Amplifier-free running timer
    Object 0x2082: CAN controller status
    Object 0x2090: Firmware download
    Object 0x20A0: Auxiliary position actual value
    Object 0x20A1: Main position error
    Object 0x2200: Digital input
    Object 0x2201: Digital input low byte
    Object 0x2205: Analog Input Object
    Object 0x2F00: User Integer
    Object 0x2F01: User Float Array
    Object 0x2F02: ET Array
    Object 0x2F11: PVT head pointer
    Object 0x2F12: PVT tail pointer
    Object 0x2F15: Profile position remaining points
    Object 0x2F20: PDO events
    Object 0x2F21: Emergency events
    Object 0x2F22: Bus off time out
    Object 0x2F23: Digital input TPDO event parameters
    Object 0x2F30: Last time stamp correction
    Object 0x2F31: Last SYNC time
    Object 0x2F40: Configuration object
    Object 0x2F41: DS402 Configuration object
    Object 0x2F60 – Zero torque threshold
    Object 0x2F70 – CAN Encoder Range
    Chapter 14: Error Control Protocol
    Chapter 15: Downloading Firmware
    Chapter 16: Initial CAN Communication Setup
    16.1 Setup Using RS-232
    16.2 Bootup Protocol
    Appendix A: Little and Big Endians
    Elmo Motion Control CANopen DS 301 Implementation Guide Ver. 2.1 – August 2008
    CANopen DS 301 Implementation Guide MAN-CAN301IG (Ver. 2.1) Important Notice This guide is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of SimplIQ servo drives in implementing CANopen networking. The text and graphics included in this manual are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice. Information in this document is subject to change without notice. Corporate and individual names and data used in examples herein are fictitious unless otherwise noted. Doc. No. MAN-CAN301IG Copyright © 2008 Elmo Motion Control Ltd. All rights reserved. Revision History: Version Rel. Date Status Ver 2.1 August 2008 Ver 2.0 Oct 2007 MAN-CAN301IG Changes/Remarks Updated note for 0x1017. Updated note for 0x2082. 0x2205: Analog input can be converted to physical units. Updated the example. 0x2082 can be mapped Updated 0x2F60. Added note to 0xF70. All dummy entries can be mapped Added object 0x2F60, 0x2F70 Added State Machine graphic to Ch. 7 Added note to 0x2082 Added note to 0x1017 Added object 0x2205 Elmo Motion Control Ltd. 64 Gissin St., P.O. Box 463 Petach Tikva 49103 Israel Tel: +972 (3) 929-2300 Fax: +972 (3) 929-2322 info-il@elmomc.com Elmo Motion Control Inc. 1 Park Drive, Suite 12 Westford, MA 01886 USA Tel: +1 (978) 399-0034 Fax: +1 (978) 399-0035 info-us@elmomc.com Elmo Motion Control GmbH Steinkirchring 1 D-78056, Villingen-Schwenningen Germany Tel: +49 (0) 7720-85 77 60 Fax: +49 (0) 7720-85 77 70 info-de@elmomc.com www.elmomc.com
    CANopen DS 301 Implementation Guide MAN-CAN301IG (Ver. 2.1) i Contents Chapter 1: Introduction .......................................................................................................... 1-1 1.1 Relevant Documentation ............................................................................. 1-1 1.1.1 Elmo Documentation........................................................................................ 1-1 1.1.2 CAN Documentation........................................................................................ 1-2 1.2 Terms and Abbreviations............................................................................. 1-2 1.3 SimplIQ Communication ............................................................................... 1-3 Chapter 2: CANopen Basics................................................................................................... 2-1 2.1 Physical Layer ........................................................................................... 2-1 2.2 Standard vs. Extended Addressing................................................................ 2-1 2.3 Client - Server Relations .............................................................................. 2-1 2.4 Inhibit Times ............................................................................................. 2-2 2.5 RTR – Remote Transmission Request............................................................. 2-2 2.6 Object Dictionary ....................................................................................... 2-2 2.7 Communication Objects .............................................................................. 2-3 2.8 Object Dictionary - Data Types ..................................................................... 2-4 2.9 Representation of Numbers.......................................................................... 2-7 Chapter 3: The Object Dictionary......................................................................................... 3-1 Chapter 4: Service Data Objects (SDOs).............................................................................. 4-1 4.1 Initiate SDO Download Protocol................................................................... 4-2 4.2 Download SDO Protocol ............................................................................. 4-3 4.3 Initiate SDO Upload Protocol ....................................................................... 4-4 4.4 Upload SDO Segment Protocol ..................................................................... 4-5 4.5 Abort SDO Transfer Protocol........................................................................ 4-6 4.6 Uploading Data Using an SDO ..................................................................... 4-7 4.7 Downloading Data Using an SDO................................................................. 4-8 4.8 Error Correction......................................................................................... 4-8 Chapter 5: Process Data Objects (PDOs) ............................................................................. 5-1 5.1 Receive PDOs ............................................................................................ 5-1 5.2 Transmit PDOs .......................................................................................... 5-3 5.3 PDO Mapping ........................................................................................... 5-3 5.3.1 The Mapping Trigger – Transmission Type................................................... 5-4 5.3.2 The Synchronous Trigger................................................................................. 5-4 5.3.3 The Asynchronous Trigger .............................................................................. 5-5 5.3.4 RPDO Error Handling ...................................................................................... 5-5 5.3.5 Mapping Parameter Objects............................................................................. 5-6 5.3.6 Default Values ................................................................................................... 5-7 Chapter 6: Emergency (EMCY).............................................................................................. 6-1 6.1 Emergency Configuration............................................................................ 6-1 6.2 Emergency Codes Related to Failure ............................................................. 6-1 6.3 Emergency Codes for Motor Faults ............................................................... 6-1 6.4 Emergency Codes Related to PVT/PT Motion................................................. 6-1 Chapter 7: Network Management (NMT)............................................................................ 7-1 Chapter 8: SYNC and Time Stamp ....................................................................................... 8-1
    CANopen DS 301 Implementation Guide MAN-CAN301IG (Ver. 2.1) Contents ii Chapter 9: Binary Interpreter Commands ........................................................................... 9-1 9.1 Binary Interpreter Commands and Results ..................................................... 9-2 9.1.1 Set and Query Commands ............................................................................... 9-2 9.1.1.1 RPDO2 Structure ............................................................................... 9-2 9.1.1.1 TPDO2 Structure................................................................................ 9-4 9.1.2 Execute Command............................................................................................ 9-5 9.2 ASCII Interpreter Commands not Supported by Binary Interpreter .................... 9-6 Chapter 10: The OS Interpreter ........................................................................................... 10-1 Chapter 11: The EDS............................................................................................................. 11-1 Chapter 12: Communication Profile................................................................................... 12-1 Object 0x1000: Device type...................................................................................................... 12-1 Object 0x1001: Error register................................................................................................... 12-2 Object 0x1002: Manufacturer status register........................................................................... 12-3 Object 0x1003: Pre-defined error field...................................................................................... 12-3 Object 0x1005: COB-ID SYNC message.................................................................................. 12-4 Object 0x1008: Manufacturer device name .............................................................................. 12-5 Object 0x1009: Manufacturer hardware version...................................................................... 12-6 Object 0x100A: Manufacturer software version ...................................................................... 12-6 Object 0x100B: Node ID .......................................................................................................... 12-7 Object 0x1010: Save parameters .............................................................................................. 12-7 Object 0x1011: Restore parameters .......................................................................................... 12-8 Object 0x1012: COB-ID time stamp ........................................................................................ 12-9 Object 0x1013: High-resolution time stamp........................................................................... 12-10 Object 0x1014: COB-ID emergency object............................................................................. 12-11 Object 0x1016: Consumer heartbeat time............................................................................... 12-12 Object 0x1017: Producer heartbeat time................................................................................. 12-13 Object 0x1018: Identity object ............................................................................................... 12-14 Object 0x1023: OS command and prompt.............................................................................. 12-15 Object 0x1024: OS command mode........................................................................................ 12-17 Object 0x1029: Error behavior ............................................................................................... 12-17 Object 0x1200: SDO server parameter................................................................................... 12-18 Objects 0x1400 - 0x1403: Receive PDO communication parameter ...................................... 12-20 Objects 0x1800 - 0x1803: Transmit PDO communication parameter ................................... 12-23 Objects 0x1A00 - 0x1A03: Transmit PDO mapping............................................................. 12-25 Chapter 13: Manufacturer-specific Objects....................................................................... 13-1 Object 0x2001: PVT data......................................................................................................... 13-1 Object 0x2002: PT data............................................................................................................ 13-2 Object 0x2004: ECAM data ..................................................................................................... 13-3 Object 0x2012: Binary interpreter input.................................................................................. 13-4 Object 0x2013: Binary interpreter output................................................................................ 13-4 Object 0x2030: Recorder data .................................................................................................. 13-5 Object 0x2040: Coordinate system group ID ......................................................................... 13-10 Object 0x2041: Amplifier-free running timer ........................................................................ 13-11 Object 0x2082: CAN controller status................................................................................... 13-11 Object 0x208A: Begin time .................................................................................................... 13-13 Object 0x2090: Firmware download....................................................................................... 13-13
    CANopen DS 301 Implementation Guide MAN-CAN301IG (Ver. 2.1) Contents iii Object 0x20A0: Auxiliary position actual value .................................................................... 13-14 Object 0x20A1: Main position error ...................................................................................... 13-15 Object 0x2200: Digital input ................................................................................................. 13-15 Object 0x2201: Digital input low byte ................................................................................... 13-16 Object 0x2205: Analog Input Object ................................................................................... 13-17 Then the reading obtained is:.............................................................................................. 13-18 Object 0x2F00: User Integer .................................................................................................. 13-18 Object 0x2F01: User Float Array........................................................................................... 13-19 Object 0x2F02: ET Array...................................................................................................... 13-20 Object 0x2F11: PVT head pointer .......................................................................................... 13-20 Object 0x2F12: PVT tail pointer............................................................................................ 13-21 Object 0x2F15: Profile position remaining points .................................................................. 13-21 Object 0x2F21: Emergency events ......................................................................................... 13-24 Object 0x2F22: Bus off time out............................................................................................. 13-29 Object 0x2F23: Digital input TPDO event parameters.......................................................... 13-29 Object 0x2F30: Last time stamp correction ............................................................................ 13-31 Object 0x2F31: Last SYNC time............................................................................................ 13-31 Object 0x2F40: Configuration object...................................................................................... 13-32 Object 0x2F41: DS402 Configuration object.......................................................................... 13-33 Object 0x2F60 – Zero torque threshold .............................................................................. 13-34 Object 0x2F70 – CAN Encoder Range ................................................................................ 13-35 Chapter 14: Error Control Protocol ..................................................................................... 14-1 Chapter 15: Downloading Firmware .................................................................................. 15-1 Chapter 16: Initial CAN Communication Setup............................................................... 16-1 16.1 Setup Using RS-232................................................................................... 16-1 16.2 Bootup Protocol ....................................................................................... 16-2 Appendix A: Little and Big Endians ....................................................................................A-1
    CANopen DS 301 Implementation Guide MAN-CAN301IG (Ver. 2.1) Introduction 1-1 Chapter 1: Introduction This manual explains how to implement CANopen DS 301 communication with Elmo’s SimplIQ DSP-based digital servo drives. It provides a description of SimplIQ drives and the means of implementing communication based on the CiA CANopen protocols. Most SimplIQ functionality is standard, according to CiA documents DS 301, version 4.01, DSP 402 (proprietary) and the CiA OS interpreter. In this document, emphasis is placed on manufacturer-specific behaviors, although it also repeats certain CiA standard material, to enhance understanding and to complete certain descriptions. The manual does not contain all relevant CiA information, indicating that many objects are implemented, but are not documented herein. The user should therefore complement this manual with the CiA documents outlined in the following section. 1.1 Relevant Documentation 1.1.1 Elmo Documentation This manual is part of the Elmo SimplIQ documentation set, as outlined in the following diagram: Programming Setup Installation CANopen Implementation Guide SimplIQ Software Manual SimplIQ Command Reference Manual Composer User Manual Cello Installation Guide Basssoon Installation Guide Harmonica Installation Guide
    CANopen DS 301 Implementation Guide MAN-CAN301IG (Ver. 2.1) Introduction 1-2 In addition to this document, the SimplIQ documentation set includes: The SimplIQ Installation Guide, which provides full instructions for installing the SimplIQ digital servo drives The Composer User Manual, which includes explanations of all the software tools that are a part of Elmo’s Composer software environment The SimplIQ Command Reference Manual, which describes, in detail, each software command used to manipulate the SimplIQ motion controller. This is the main source of detailed explanations of all SimplIQ commands mentioned in this manual. The SimplIQ Software Manual, which describes the comprehensive software used with SimplIQ digital servo drives 1.1.2 CAN Documentation Document Name CAN Implementation Guidelines CiA DS 301 V 4.01: CANopen Communication Profile for Industrial Systems - based on CAL CiA DS 302 V 3.0: CANopen Framework for Programmable Devices CiA DS 305 V 1.0: CANopen Layer Setting Services and Protocol (LSS) CiA DSP 402 V 2.0: CANopen Device Profile CiA DS 202-2 V 1.1: CAN Application Layer (CAL ) - CMS Protocol Specification Author Gruhler G. and Drier B. Source STA Reutlingen CiA CiA CiA CiA CiA 1.2 Terms and Abbreviations The following terms and abbreviations are used in this manual: Term / Abbreviation Definition CAL CAN client or master A host — typically a PC — or other control equipment that CAN application layer. CAN server or CAN slave CMS COB supervises the nodes of a network. A node in the CAN network that can give service under control of the CAN master. CAN message specification. Communication object; a CAN message.
    CANopen DS 301 Implementation Guide MAN-CAN301IG (Ver. 2.1) Introduction 1-3 Term / Abbreviation Definition COB-ID EDS ID LSB LSS MSB Object OD PLC Receive Transmit A binary bit-field that includes the ID of the server with which the master talks, and the type of COB. Electronic data sheet; a standard form of all CAN objects supported by a device. The EDS is used by external CAN configurators. Identifier; the name by which a CAN device is addressed. Least Significant Bit (or Byte) Layer setting service: methods for configuring the ID and baud rate of a slave, using the standard DSP 305. Most Significant Bit (or Byte) A CAN message with a meaningful functionality and/or data. Objects are referenced according to addresses in the object dictionary. DO: Data object. Object dictionary, which is the full set of objects supported by the node. It is the interface between the application and communication (see “Object” below.) Programmable controller. A PLC can serve as a CAN master for SimplIQ digital servo drives. In this manual, “received” data is sent from the control equipment to the servo drive. In this manual, “transmitted” data is sent from the servo drive to the other equipment. Table 1-1: Terms and Abbreviations 1.3 SimplIQ Communication SimplIQ digital servo drives support two types of serial communication: RS-232 CANopen SimplIQ digital servo drives can simultaneously communicate using both CAN and RS- 232 communication lines, which are always open for communication. The communication parameters are set using the PP command.
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