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CiA 420-2 DS V3.0 CANopen profiles for extruder downstream devices – Part 2 Puller(EXTR_420_2v03000001)(英文原版协议).pdf

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    CiA Draft Standard 420 CANopen Profiles for extruder downstream devices Part 2: Puller Version: 3.0 31 January 2007  CAN in Automation (CiA) e. V.
    Profiles for extruder downstream devices – Part 2: Puller HISTORY Date 2002-10-22 2004-02-27 2007-01-31 Note: Changes Publication of version 1.0 as draft standard proposal Publication of version 2.0 as draft standard proposal Publication of version 3.0 as draft standard Editorial corrections and clarifications Load control function included Version 2.0 is not compatible to version 1.0 General information on licensing and patents CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such patent rights. Because this specification is licensed free of charge, there is no warranty for this specification, to the extent permitted by applicable law. Except when otherwise stated in writing the copyright holder and/or other parties provide this specification “as is” without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the correctness and completeness of the specification is with you. Should this specification prove failures, you assume the cost of all necessary servicing, repair or correction. © CiA 2008 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from CiA at the address below. CAN in Automation e. V. Kontumazgarten 3 DE - 90429 Nuremberg, Germany Tel.: +49-911-928819-0 Fax: +49-911-928819-79 Url: www.can-cia.org Email: headquarters@can-cia.org 2  CiA 2008 – All rights reserved
    Profiles for extruder downstream devices – Part 2: Puller CONTENTS 1 Scope ............................................................................................................................... 4 2 References ....................................................................................................................... 4 3 Abbreviations and definitions ............................................................................................ 4 3.1 Abbreviations........................................................................................................... 4 3.2 Definitions ............................................................................................................... 4 4 Operating principles .......................................................................................................... 4 4.1 General ................................................................................................................... 4 4.2 Load controller function ........................................................................................... 4 5 PDO specification ............................................................................................................. 4 5.1 Overview ................................................................................................................. 4 5.2 First TPDO .............................................................................................................. 5 5.3 Second TPDO.......................................................................................................... 8 5.4 First RPDO ............................................................................................................ 10 6 Application object specification ....................................................................................... 12 6.1 Object 6000h: Puller speed actual value................................................................. 12 6.2 Object 6001h: Puller speed real maximum.............................................................. 13 6.3 Object 6002h: Puller speed set value ..................................................................... 13 6.4 Object 6003h: Puller speed set maximum............................................................... 14 6.5 Object 6004h: Puller speed set echo ...................................................................... 14 6.6 Object 6005h: Puller speed step............................................................................. 15 6.7 Object 6006h: Puller load actual value ................................................................... 15 6.8 Object 6007h: Scaling factor .................................................................................. 16 6.9 Object 6008h: Product speed ................................................................................. 16 6.10 Object 6009h: Height adjustments ......................................................................... 17 6.11 Object 600Ah: Pressure set values ........................................................................ 18 6.12 Object 600Bh: Puller load set value ....................................................................... 19 6.13 Object 6010h: Configuration word .......................................................................... 20 6.14 Object 6020h: Control word.................................................................................... 21 6.15 Object 6030h: Status word ..................................................................................... 22  CiA 2008 – All rights reserved 3
    Profiles for extruder downstream devices – Part 2: Puller 1 Scope The CANopen application profile for extruder downstream devices includes several parts: Part 1 specifies general definitions Part 2 specifies the device profile for the puller downstream device Part 3 specifies the device profile for the corrugator downstream device Part 4 specifies the device profile for the saw downstream device Part 5 specifies the device profile for the co-extruder device Part 6 specifies the device profile for the calibration-table downstream device Note: All parts of Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27. this specification have been developed jointly with the European Committee of Machinery This part specifies the CANopen interface for the puller downstream device. 2 References /CiA420-1/ CiA 420, CANopen profile for extruder downstream devices — Part 1: General definitions The references given in /CiA420-1/ apply to this specification as well. 3 Abbreviations and definitions 3.1 Abbreviations The abbreviations given in /CiA420-1/ apply to this specification as well. 3.2 Definitions The definitions given in /CiA420-1/ apply to this specification as well. 4 Operating principles 4.1 General The puller downstream device interface shall support all mandatory functions of /CiA301/ and /CiA420-1/ as well as all mandatory functions defined in this specification. 4.2 Load controller function The load controller function is optional. 5 PDO specification 5.1 Overview Table 1 shows the process data mapped into TPDOs and RPDOs. 4  CiA 2008 – All rights reserved
    Profiles for extruder downstream devices – Part 2: Puller PDO number TPDO 1 TPDO 2 RPDO 1 Table 1 – TPDO and RPDO mapping Index/sub-index 6030 00h 6000 00h 6004 00h 6008 00h 6020 00h 6002 00h 600B 00h NOTE Name/description Status word Puller speed actual value Puller speed set echo Product speed Control word Puller speed set value Puller load set value Device-specific process data NOTE process data The RPDO 1 is able to map one and only one device-specific 5.2 First TPDO This TPDO shall be transmitted to the master-extruder. It contains by default the status word, the puller speed actual value, and the puller load actual value. Table 2 specifies the object description of the PDO communication parameter and Table 3 specifies the associated entry description. The values are defined in /CiA301/. The sub-index 04h is reserved for compatibility reasons and shall not be implemented. Table 2 — Object description Attribute Index Name Object code Data type Category Value 1800h TPDO 1 communication parameter Record PDO communication parameter record Mandatory Table 3 — Entry description Attribute Sub-index Description Entry category Access PDO mapping Value range Default value Sub-index Description Entry category Access PDO mapping Value range Default value Value 00h Highest sub-index supported Mandatory const No 02h to 05h Device-specific 01h COB-ID Mandatory rw No 4000 0180h + node-ID or C000 0180h + node-ID 4000 0180h + node-ID  CiA 2008 – All rights reserved 5
    Profiles for extruder downstream devices – Part 2: Puller Sub-index Description Entry category Access PDO mapping Value range Default value Sub-index Description Entry category Access PDO mapping Value range Default value Sub-index Description Entry category Access PDO mapping Value range Default value 02h Transmission type Mandatory rw Optional See /CiA301/ 01h 03h Inhibit time Optional rw No See /CiA301/ 0000h 05h Event timer Optional rw No See /CiA301/ 0000h Table 4 specifies the object description of the PDO mapping parameter and Table 5 specifies the associated entry description. The values are defined in /CiA301/. The unused bytes in the data field shall only be used for a manufacturer-specific second status word. Table 4 — Object description Attribute Index Name Object code Data type Category Value 1A00h TPDO 1 mapping parameter Record PDO mapping parameter record Mandatory 6  CiA 2008 – All rights reserved
    Profiles for extruder downstream devices – Part 2: Puller Attribute Sub-index Description Entry category Access PDO mapping Value range Default value Sub-index Description Entry category Access PDO mapping Value range Default value Sub-index Description Entry category Access PDO mapping Value range Default value Sub-index Description Entry category Access PDO mapping Value range Default value Sub-index Description Entry category Access PDO mapping Value range Default value Table 5 — Entry description Value 00h Highest sub-index supported Mandatory rw (const in NMT operational state) No 00h, 03h to 04h Device-specific 01h 1st application object Mandatory const No 6030 00 10h 6030 00 10h 02h 2nd application object Mandatory const No 6000 00 10h 6000 00 10h 03h 3rd application object Mandatory const No 6006 00 10h 6006 00 10h 04h 4th application object Optional const No See /CiA301/ Device-specific  CiA 2008 – All rights reserved 7
    Profiles for extruder downstream devices – Part 2: Puller 5.3 Second TPDO This TPDO shall be transmitted to the master-extruder. It contains by default the puller speed set echo, and the product speed. Table 6 specifies the object description of the PDO communication parameter and Table 7 specifies the associated entry description. The values are defined in /CiA301/. The sub-index 04h is reserved for compatibility reasons and shall not be implemented. Table 6 — Object description Attribute Index Name Object code Data type Category Value 1801h TPDO 2 communication parameter Record PDO communication parameter record Mandatory Table 7 — Entry description Attribute Sub-index Description Entry category Access PDO mapping Value range Default value Sub-index Description Entry category Access PDO mapping Value range Default value Sub-index Description Entry category Access PDO mapping Value range Default value Value 00h Highest sub-index supported Mandatory const No 02h to 05h Device-specific 01h COB-ID Mandatory const No See /CiA301/ 4000 0280h + node-ID 02h Transmission type Mandatory rw Optional See /CiA301/ 01h 8  CiA 2008 – All rights reserved
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