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Cia DSP402 V1.1- Device Profile for Drives and Motion Control.pdf
CiA Draft Standard Proposal DSP-402
Version 1.1
Date: October 8, 1998
CAN in Automation e.V.
not recommended for implementation
may be changed without notification
DSP-402 V 1.1
CANopen Device Profile for Drives and Motion Control
CiA
Changes made compared to revision 1.0
(old pages in brackets):
History
page 57 (page 56)
Bit 7 Fault Reset set to 0 except for the transition Fault Reset. See explanation page 54
State Transition 15.
page 193 (page 183)
Object 6058h, Subindex 1: vl_frequency_motor_min_amount.
page 24 (page 23)
Object 1000h: Device Type.
Adaption to DS301 for multi profile devices.
Additional information bits 16..23 bit-encoded.
page 62 (page 61)
controlword bit 13, Profile Velocity mode: max_slippage_error. See explenation
page 161.
page 161 (page 152)
Object 60F8h:
When the max_slippage has been reached, the corresponding bit 13 max_slippage_error
in the status message will be set to one.
page 78, 79 (page 76, 77)
Object 6089h, Object 608Ah: software_position_limit added.
page 124, 125, 126 ,128 (page 120, 121, 122, 123)
Object 6062h, Object 6064h, Object 6065h, Object 6067h
Units changed to position units.
page 100, 101, 102 (page 98, 99, 100)
Object 607Fh, Object 6081h, Object 6082h
Value Range changed to 0..(231-1).
page 57 (page 56)
controlword bit 6, Profile Position Mode: defined
0: absolute
1: relative
page 94 (page 92)
Figure 15: position_demand_value is index 60F2h.
page 111, 114 (page 108, 111)
Homing Methods: there is a new structure.
Object 6098h is adapted to the new structure.
page 120 (page 117)
Figure 31: Object 6063h position_actual_value* is a normalised parameter.
page 178 (page 170)
Figure 46: vl_velocity_target changed to vl_target_velocity see object 6042h.
page 38, 55 (page 37, 54)
Object 603Fh, Object 6040h
Data Type changed to Unsigned16, therefore Value Range changed to 0..65553.
page 129
Object 60F4h: New
following_error_actual_value: This object represents the actual value of the following
error.
page 19-26
Index attached.
page 153 (page 144)
Figure 40: target_velocity indexnumber (60FFh) added. Unit changed to velocity units.
page 154 (page 146)
Output Data Description wrong text deleted.
page 156 (page 148)
velocity_sensor_actual_value formatted.
page 156 (page 148)
velocity_actual_value changed to velocity_sensor_actual_value.
page 26,28 (page 25, 27)
4th RPDO second entry is target_velocity Index 60FFh.
page 78, 79 (page 76, 77)
target_velocity added.
DSP-402 V 1.1
CANopen Device Profile for Drives and Motion Control
CiA
DSP-402 V 1.1
CANopen Device Profile for Drives and Motion Control
CiA
Table of Contents
1
2
3
4
4.1
4.2
5
5.1
5.2
5.3
5.3.1
6
6.1
6.2
Scope _______________________________________________________ 6
References ___________________________________________________ 8
Definitions, Acronyms and Abbreviation___________________________ 9
Overview____________________________________________________ 10
Access to the Drive ____________________________________________ 10
Architecture of the Drive ________________________________________ 11
Operating Principle ___________________________________________ 15
Introduction __________________________________________________ 15
Standardisation via Profiling _____________________________________ 15
The Object Dictionary __________________________________________ 16
Index and sub-index usage __________________________________________ 17
Emergency Messages _________________________________________ 19
Principle_____________________________________________________ 19
Error Code Meanings___________________________________________ 19
Predefinitions________________________________________________ 24
7
7.1 Naming conventions ___________________________________________ 24
7.2
Predefined Objects ____________________________________________ 24
7.2.1 Object 1000h: Device Type___________________________________________ 24
7.2.2 Object 1001h: Error Register _________________________________________ 25
7.2.3 Object 67FFh: Single Device Type _____________________________________ 25
7.3
PDO Mapping ________________________________________________ 25
7.3.1 Receive PDOs ____________________________________________________ 26
7.3.2
Transmit PDOs____________________________________________________ 30
8
Object Dictionary _____________________________________________ 34
9
Common Entries in the Object Dictionary_________________________ 35
9.1 General Information____________________________________________ 35
9.1.1 Motor Data _______________________________________________________ 35
9.1.2 Drive Data________________________________________________________ 35
9.2 Object Dictionary Entries ________________________________________ 36
9.2.1 Objects defined in this Chapter _______________________________________ 36
9.3 Object Description _____________________________________________ 37
9.3.1 Object 6007h: abort_connection_option_code ____________________________ 37
9.3.2 Object 603Fh: error_code ____________________________________________ 38
9.3.3 Object 6402h: motor_type____________________________________________ 38
9.3.4 Object 6403h: motor_catalogue_number ________________________________ 39
9.3.5 Object 6404h: motor_manufacturer ____________________________________ 40
Only for internal use by CiA Members
- 1 -
DSP-402 V 1.1
CANopen Device Profile for Drives and Motion Control
CiA
9.3.6 Object 6405h: http_motor_catalog_address ______________________________ 40
9.3.7 Object 6406h: motor_calibration_date __________________________________ 41
9.3.8 Object 6407h: motor_service_period ___________________________________ 41
9.3.9 Object 6410h: motor_data____________________________________________ 42
9.3.10 Object 6502h: supported_drive_modes _________________________________ 43
9.3.11 Object 6503h: drive_catalogue_number _________________________________ 44
9.3.12 Object 6504h: drive_manufacturer _____________________________________ 44
9.3.13 Object 6505h: http_drive_catalog_address_______________________________ 45
9.3.14 Object 6510h: drive_data ____________________________________________ 45
9.3.15 Object 60FDh: digital_inputs __________________________________________ 46
9.3.16 Object 60FEh: digital_outputs _________________________________________ 47
10
Device Control _______________________________________________ 49
10.1 General Information___________________________________________ 49
10.1.1 Statemachine _____________________________________________________ 50
10.2 Object Dictionary Entries _______________________________________ 55
10.2.1 Objects defined in this Chapter _______________________________________ 55
10.3 Object Description ____________________________________________ 55
10.3.1 Object 6040h: controlword ___________________________________________ 55
10.3.2 Object 6041h: statusword ____________________________________________ 58
10.3.3 Object 605Bh: shutdown_option_code __________________________________ 63
10.3.4 Object 605Ch: disable_operation_option_code ___________________________ 64
10.3.5 Object 605Ah: quick_stop_option_code _________________________________ 65
10.3.6 Object 605Dh: stop_option_code ______________________________________ 66
10.3.7 Object 605Eh: fault_reaction_option_code _______________________________ 67
10.3.8 Object 6060h: modes_of_operation ____________________________________ 68
10.3.9 Object 6061h: modes_of_operation_display _____________________________ 69
10.4
Functional Description _________________________________________ 69
10.4.1 Modes of Operation Function _________________________________________ 69
10.4.2 Drive Disabeling Function____________________________________________ 71
10.4.3 Quick Stop Function ________________________________________________ 71
10.4.4 Stop Function _____________________________________________________ 72
10.4.5 Fault Reaction ____________________________________________________ 72
11
Factor Group ________________________________________________ 74
11.1 General Information___________________________________________ 74
11.1.1 Factors __________________________________________________________ 74
11.1.2 Relationship between Physical and Internal Units _________________________ 74
11.2 Object Dictionary Entries _______________________________________ 77
11.2.1 Objects defined in this Chapter _______________________________________ 77
11.3 Object Description ____________________________________________ 78
11.3.1 Object 6089h: position_notation_index __________________________________ 78
11.3.2 Object 608Ah: position_dimension_index ________________________________ 79
11.3.3 Object 608Bh: velocity_notation_index __________________________________ 80
11.3.4 Object 608Ch: velocity_dimension_index ________________________________ 81
11.3.5 Object 608Dh: acceleration_notation_index ______________________________ 82
11.3.6 Object 608Eh: acceleration_dimension_index ____________________________ 83
11.3.7 Object 608Fh: position_encoder_resolution ______________________________ 84
11.3.8 Object 6090h: velocity_encoder_resolution ______________________________ 85
11.3.9 Object 6091h: gear_ratio_____________________________________________ 86
11.3.10 Object 6092h: feed_constant _________________________________________ 87
Only for internal use by CiA Members
- 2 -
DSP-402 V 1.1
CANopen Device Profile for Drives and Motion Control
CiA
11.3.11 Object 6093h: position_factor _________________________________________ 88
11.3.12 Object 6094h: velocity_encoder_factor__________________________________ 89
11.3.13 Object 6095h: velocity_factor_1 _______________________________________ 90
11.3.14 Object 6096h: velocity_factor_2 _______________________________________ 91
11.3.15 Object 6097h: acceleration_factor _____________________________________ 92
11.3.16 Object 607Eh: polarity_______________________________________________ 93
Profile Position Mode _________________________________________ 94
12
12.1 General Information___________________________________________ 94
12.1.1 Input Data Description ______________________________________________ 95
12.1.2 Output Data Description _____________________________________________ 96
12.2 Object Dictionary Entries _______________________________________ 96
12.2.1 Objects defined in this Chapter _______________________________________ 96
12.2.2 Objects defined in other Chapters _____________________________________ 96
12.3 Object Description ____________________________________________ 97
12.3.1 Object 607Ah: target_position_________________________________________ 97
12.3.2 Object 607Bh: position_range_limit ____________________________________ 98
12.3.3 Object 607Dh: software_position_limit __________________________________ 99
12.3.4 Object 607Fh: max_profile_velocity ___________________________________ 100
12.3.5 Object 6080h: max_motor_speed _____________________________________ 101
12.3.6 Object 6081h: profile_velocity ________________________________________ 101
12.3.7 Object 6082h: end_velocity__________________________________________ 102
12.3.8 Object 6083h: profile_acceleration ____________________________________ 102
12.3.9 Object 6084h: profile_deceleration ____________________________________ 103
12.3.10 Object 6085h: quick_stop_deceleration ________________________________ 103
12.3.11 Object 6086h: motion_profile_type ____________________________________ 104
12.3.12 Object 60C5h: max_acceleration _____________________________________ 105
12.3.13 Object 60C6h: max_deceleration _____________________________________ 106
12.4
Functional Description ________________________________________ 106
13
Homing Mode _______________________________________________ 109
13.1 General Information__________________________________________ 109
13.1.1 Input Data Description _____________________________________________ 109
13.1.2 Output Data Description ____________________________________________ 109
13.1.3 Internal States ___________________________________________________ 109
13.2 Object Dictionary Entries ______________________________________ 110
13.2.1 Objects defined in this Chapter ______________________________________ 110
13.2.2 Objects defined in other Chapters ____________________________________ 110
13.3 Object Description ___________________________________________ 110
13.3.1 Object 607Ch: home_offset _________________________________________ 110
13.3.2 Object 6098h: homing_method _______________________________________ 111
13.3.3 Object 6099h: homing_speeds _______________________________________ 112
13.3.4 Object 609Ah: homing_acceleration ___________________________________ 113
13.4
Functional Description ________________________________________ 113
13.4.1 Homing Methods _________________________________________________ 114
13.4.2 Homing Mode Sequence ___________________________________________ 119
14
Position Control Function_____________________________________ 120
14.1 General information __________________________________________ 120
14.1.1 Input Data Description _____________________________________________ 122
Only for internal use by CiA Members
- 3 -
DSP-402 V 1.1
CANopen Device Profile for Drives and Motion Control
CiA
14.1.2 Output Data Description ____________________________________________ 122
14.2 Object Dictionary Entries ______________________________________ 123
14.2.1 Objects defined in this Chapter ______________________________________ 123
14.2.2 Objects defined in other Chapters ____________________________________ 123
14.3 Object Description ___________________________________________ 124
14.3.1 Object 6062h: position_demand_value_________________________________ 124
14.3.2 Object 6063h: position_actual_value*__________________________________ 124
14.3.3 Object 6064h: position_actual_value __________________________________ 125
14.3.4 Object 6065h: following_error_window _________________________________ 126
14.3.5 Object 6066h: following_error_time_out ________________________________ 127
14.3.6 Object 6067h: position_window_______________________________________ 128
14.3.7 Object 6068h : position_window_time __________________________________ 129
14.3.8 Object 60F4h: following_error_actual_value_____________________________ 129
14.3.9 Object 60FAh: control_effort _________________________________________ 130
14.3.10 Object 60FBh: position_control_parameter_set __________________________ 131
14.3.11 Object 60FCh: position_demand_value*________________________________ 132
Functional Description ________________________________________ 133
14.4
Interpolated Position Mode____________________________________ 134
15
15.1 General Information__________________________________________ 134
15.1.1 Input Data Description _____________________________________________ 136
15.1.2 Output Data Description ____________________________________________ 136
15.1.3 Internal States ___________________________________________________ 137
15.1.4 State Transitions of the Internal States ________________________________ 137
15.2 Object Dictionary Entries ______________________________________ 138
15.2.1 Objects defined in this Chapter ______________________________________ 138
15.2.2 Objects defined in other Chapters ____________________________________ 139
15.3 Object Descriptions __________________________________________ 140
15.3.1 Object 60C0h: interpolation_submode_select ___________________________ 140
15.3.2 Object 60C1h: interpolation_data_record _______________________________ 140
15.3.3 Object 60C2h: interpolation_time_period _______________________________ 142
15.3.4 Object 60C3h: interpolation_sync_definition_____________________________ 143
15.3.5 Object 60C4h: interpolation_data_configuration__________________________ 144
15.4
Functional Description ________________________________________ 147
15.4.1 Interpolated Position Mode__________________________________________ 147
15.4.2 Linear Interpolated Position Mode with several Axles _____________________ 147
15.4.3 Buffer Strategies for the Interpolated Position Mode ______________________ 149
16
Profile Velocity Mode ________________________________________ 151
16.1 General Information__________________________________________ 151
16.1.1 Input Data Description _____________________________________________ 154
16.1.2 Output Data Description ____________________________________________ 154
16.2 Object Dictionary Entries ______________________________________ 154
16.2.1 Objects defined in this Chapter ______________________________________ 154
16.2.2 Objects defined in other Chapters ____________________________________ 155
16.3 Object Description ___________________________________________ 155
16.3.1 position_encoder _________________________________________________ 155
16.3.2 Object 6069h: velocity_sensor_actual_value ____________________________ 156
16.3.3 Object 606Ah: sensor_selection_code _________________________________ 156
16.3.4 Object 606Bh: velocity_demand_value _________________________________ 157
Only for internal use by CiA Members
- 4 -
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