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CiA 420-4 DS V3.0 CANopen profiles for extruder downstream devices – Part 4 Saw(EXTR_420_4v03000001)(英文原版协议).pdf

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    CiA Draft Standard 420 CANopen Profiles for extruder downstream devices Part 4: Saw Version: 3.0 31 January 2007  CAN in Automation (CiA) e. V.
    Profiles for extruder downstream devices – Part 4: Saw 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 Start request for saw program included HISTORY Date 2002-10-22 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 4: Saw 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 Overview ................................................................................................................. 4 5.2 First TPDO .............................................................................................................. 5 5.3 Second TPDO.......................................................................................................... 7 5.4 First RPDO .............................................................................................................. 9 6 Application object specification ....................................................................................... 12 6.1 Object 6000h: Counter value .................................................................................. 12 6.2 Object 6001h: Actual saw counter .......................................................................... 12 6.3 Object 6002h: Product length set value .................................................................. 13 6.4 Object 6003h: Scaling factor .................................................................................. 13 6.5 Object 6004h: Saw minimum product length ........................................................... 14 6.6 Object 6005h: Saw sync speed set value ............................................................... 14 6.7 Object 6006h: Saw sync speed set maximum ......................................................... 15 6.8 Object 6007h: Product speed ................................................................................. 15 6.9 Object 6008h: Saw speed real maximum ................................................................ 16 6.10 Object 6009h: Height adjustments ......................................................................... 16 6.11 Object 600Ah: Saw cut depth ................................................................................. 17 6.12 Object 600Bh: Early warning length ....................................................................... 18 6.13 Object 6010h: Configuration word .......................................................................... 18 6.14 Object 6020h: Control word.................................................................................... 19 6.15 Object 6030h: Status word ..................................................................................... 21  CiA 2008 – All rights reserved 3
    Profiles for extruder downstream devices – Part 4: Saw 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 saw 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 saw downstream device interface shall support all mandatory functions of /CiA301/ and /CiA420-1/ as well as all mandatory functions defined in this specification. 5 PDO specification 5.1 Overview Table 1 shows the process data mapped into TPDOs and RPDOs. Table 1 – TPDO and RPDO mapping PDO number TPDO 1 Index/sub-index 6030 00h 6000 00h (See Note) Name/description Status word Counter value Device-specific process data 4  CiA 2008 – All rights reserved
    Profiles for extruder downstream devices – Part 4: Saw PDO number TPDO 2 RPDO 1 Index/sub-index 6001 00h 6007 00h 6020 00h 6005 00h 6002 00h Name/description Actual saw counter Product speed Control word Saw sync speed set value Product length value Note: process data The TPDO 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 and the counter 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 const 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 4: Saw 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 Table 5 — Entry description Attribute Sub-index Description Entry category Access PDO mapping Value range Default value Value 00h Highest sub-index supported Mandatory rw (constant in NMT operational state) No 00h, 02h to 03h 02h 6  CiA 2008 – All rights reserved
    Profiles for extruder downstream devices – Part 4: Saw 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 1st application object Mandatory const No 6030 00 10h 6030 00 10h 02h 2nd application object Mandatory const No 6000 00 20h 6000 00 20h 03h 3nd application object Mandatory const No See /CiA301/ Device-specific 5.3 Second TPDO This TPDO shall be transmitted to the master-extruder. It contains by default the actual saw counter, 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  CiA 2008 – All rights reserved 7
    Profiles for extruder downstream devices – Part 4: Saw 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 7 — Entry description 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 03h Inhibit time Optional rw No See /CiA301/ 0000h 05h Event timer Optional rw No See /CiA301/ 0000h Table 8 specifies the object description of the PDO mapping parameter and Table 9 specifies the associated entry description. The values are defined in /CiA301/. 8  CiA 2008 – All rights reserved
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