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CiA 420-5 DS V2.0 CANopen profiles for extruder downstream devices - Part 5 Simple and advanced co-extruder(EXTR_420_5v02000001)(英文原版协议).pdf

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    CiA Draft Standard 420 CANopen Profiles for extruder downstream devices Part 5: Simple and advanced co-extruder Version: 2.0 31 January 2007  CAN in Automation (CiA) e. V.
    Profiles for extruder downstream devices – Part 5: Simple and advanced co-extruder Changes Publication of version 1.0 as draft standard proposal Publication of version 2.0 as draft standard Editorial corrections and clarifications HISTORY Date 2004-02-27 2007-01-31 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 5: Simple and advanced co-extruder 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 5 PDO specification ............................................................................................................. 4 5.1 General ................................................................................................................... 4 5.2 First TPDO .............................................................................................................. 5 5.3 Second TPDO.......................................................................................................... 8 5.4 First RPDO for simple co-extruder ......................................................................... 10 5.5 First RPDO for advanced co-extruder .................................................................... 12 6 Application object specification ....................................................................................... 15 6.1 Object 6000h: Speed actual value .......................................................................... 15 6.2 Object 6001h: Speed real maximum ....................................................................... 15 6.3 Object 6002h: Speed set value............................................................................... 16 6.4 Object 6003h: Speed set maximum ........................................................................ 16 6.5 Object 6004h: Speed set value back ...................................................................... 17 6.6 Object 6005h: Speed step ...................................................................................... 17 6.7 Object 6006h: Motor load actual value.................................................................... 18 6.8 Object 6007h: Speed ramp value............................................................................ 18 6.9 Object 600Bh: Actual temperatures ........................................................................ 19 6.10 Object 600Ch: Set temperatures ............................................................................ 20 6.11 Object 6045h: Melt temperature ............................................................................. 21 6.12 Object 6046h: Melt pressures ................................................................................ 22 6.13 Object 6047h: Output............................................................................................. 23 6.14 Object 6010h: Configuration word .......................................................................... 24 6.15 Object 6020h: Control word.................................................................................... 25 6.16 Object 6030h: Status word ..................................................................................... 26  CiA 2008 – All rights reserved 3
    Profiles for extruder downstream devices – Part 5: Simple and advanced co-extruder 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 simple and advanced co-extruder. 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 co-extruder downstream device interface shall support all mandatory functions of /CiA301/ as well as all mandatory functions defined in this specification. 5 PDO specification 5.1 General This specification describes two different co-extruder functionalities: • Simple co-extruder • Advanced co-extruder The device type object (see /CiA420-1/) indicates, which co-extruder class is supported. The simple co-extruder shall support the first TPDO. The second TPDO may be implemented if the melt pressure function is supported. The first RPDO is different for simple and advanced co-extruder. They shall be supported accordingly. 4  CiA 2008 – All rights reserved
    Profiles for extruder downstream devices – Part 5: Simple and advanced co-extruder Table 1 shows the process data mapped into TPDOs and RPDOs. Table 1 – TPDO and RPDO mapping Index/sub-index 6030 00h 6000 00h 6006 00h 6004 00h 6046 01h 6046 02h 6046 03h 6047 00h 6020 00h 6002 00h Name/description Status word Speed set value Motor load actual value Speed set value back Melt pressure 1 Melt pressure 2 Melt pressure 3 Output Control word Speed set value 6020 00h 6002 00h 6007 00h Control word Speed set value Speed ramp value PDO number TPDO 1 TPDO 2 RPDO 1 (simple co- extruder) RPDO 1 (advanced co-extruder) 5.2 First TPDO This TPDO shall be transmitted to the master-extruder. It contains by default the status word the speed actual value, the motor load actual value and the speed set value back. 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 Value 00h Highest sub-index supported Mandatory const No 02h to 05h Device-specific  CiA 2008 – All rights reserved 5
    Profiles for extruder downstream devices – Part 5: Simple and advanced co-extruder 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 01h COB-ID Mandatory const No 4000 0180h + node-ID 4000 0180h + node-ID 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/. 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 5: Simple and advanced co-extruder Table 5 — Entry description Value 00h Highest sub-index supported Mandatory  CiA 2008 – All rights reserved 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 const No 04h 04h 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 Mandatory const No 6004 00 10h 6004 00 10h 7
    Profiles for extruder downstream devices – Part 5: Simple and advanced co-extruder 5.3 Second TPDO This TPDO may be transmitted to the master-extruder. It contains by default the melt pressure1 to 3, and the output. 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 Optional 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 4000 0280h + node-ID 4000 0280h + node-ID 02h Transmission type Mandatory rw Optional See /CiA301/ 01h 8  CiA 2008 – All rights reserved
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