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CIA 402 DSP 资源.pdf
CiA Draft Standard Proposal 402
CANopen
Device Profile Drives and Motion Control
This draft standard proposal is not recommended for implementation
Version 2.0
Date: 26. July 2002
CAN in Automation e.V.
CONTENTS
HISTORY
Date
Changes
Drives and Motion Control
CiA DSP 402 V 2.0
July 2002 Document completely revised;
Summary of changes:
insert record definition 0080h: Interpolation time period record
insert record definition 0081h: Interpolation data configuration record
insert record definition 0082h: vl velocity acceleration deceleration record
object 6406h: change data type from DATE to TIME_OF_DAY
object 60C1h: change object code from RECORD to ARRAY
object 60F9h: change object code from RECORD to ARRAY
object 60FEh: change object code from RECORD to ARRAY
object 6089h: change category from optional to conditional
object 608Ah: change category from optional to conditional
object 608Bh: change category from optional to conditional
object 608Ch: change category from optional to conditional
object 608Dh: change category from optional to conditional
object 608Eh: change category from optional to conditional
object 6084h: change category from mandatory to optional
object 606Ah: change category from mandatory to optional
2
CONTENTS
CONTENTS
Drives and Motion Control
CiA DSP 402 V 2.0
1
2
3
4
5
6
7
8
9
SCOPE..................................................................................................................9
REFERENCES.....................................................................................................10
DEFINITIONS AND ABBREVIATION....................................................................11
OVERVIEW .........................................................................................................12
Access to the drive.......................................................................................12
Architecture of the drive ...............................................................................13
OPERATING PRINCIPLE.....................................................................................17
Introduction .................................................................................................17
Standardization via profiling..........................................................................17
The object dictionary....................................................................................17
Index and sub-index usage.....................................................................18
5.3.1
EMERGENCY MESSAGES ..................................................................................19
Principle......................................................................................................19
Error codes .................................................................................................19
PREDEFINITIONS ...............................................................................................24
Predefined objects .......................................................................................24
Object 1000h: Device type ......................................................................24
Object 1001h: Error register ....................................................................24
Object 67FFh: Single device type ............................................................24
PDO mapping..............................................................................................24
Receive PDOs.......................................................................................25
Transmit PDOs......................................................................................28
7.1.1
7.1.2
7.1.3
7.2.1
7.2.2
OBJECT DICTIONARY ........................................................................................32
4.1
4.2
5.1
5.2
5.3
6.1
6.2
7.1
7.2
COMMON ENTRIES ............................................................................................33
9.1
General information .....................................................................................33
Motor data.............................................................................................33
Drive data .............................................................................................33
9.1.1
9.1.2
9.2
9.3
Object dictionary entries...............................................................................34
Objects defined in this chapter................................................................34
9.2.1
Object description........................................................................................34
Object 6007h: Abort connection option code ............................................34
Object 603Fh: Error code ........................................................................35
Object 6402h: Motor type........................................................................35
Object 6403h: Motor catalog number .......................................................36
Object 6404h: Motor manufacturer...........................................................37
Object 6405h: http motor catalog address ................................................37
Object 6406h: Motor calibration date........................................................37
Object 6407h: Motor service period .........................................................38
Object 6410h: Motor data........................................................................38
Object 6502h: Supported drive modes .....................................................39
Object 6503h: Drive catalog number........................................................40
Object 6504h: Drive manufacturer ...........................................................40
Object 6505h: http drive catalog address .................................................40
9.3.1
9.3.2
9.3.3
9.3.4
9.3.5
9.3.6
9.3.7
9.3.8
9.3.9
9.3.10
9.3.11
9.3.12
9.3.13
3
CONTENTS
Drives and Motion Control
CiA DSP 402 V 2.0
9.3.14
9.3.15
9.3.16
Object 6510h: Drive data ........................................................................41
Object 60FDh: Digital inputs....................................................................42
Object 60FEh: Digital outputs ..................................................................42
10
DEVICE CONTROL..............................................................................................44
10.1
General information .....................................................................................44
State machine .......................................................................................45
10.1.1
10.2
Object dictionary entries...............................................................................48
Objects defined in this chapter................................................................48
10.2.1
10.3
10.4
10.3.1
10.3.2
10.3.3
10.3.4
10.3.5
10.3.6
10.3.7
10.3.8
10.3.9
Object description........................................................................................49
Object 6040h: Controlword......................................................................49
Object 6041h: Statusword.......................................................................50
Object 605Bh: Shutdown option code ......................................................52
Object 605Ch: Disable operation option code...........................................53
Object 605Ah: Quick stop option code .....................................................53
Object 605Dh: Halt option code...............................................................54
Object 605Eh: Fault reaction option code .................................................55
Object 6060h: Modes of operation ...........................................................55
Object 6061h: Modes of operation display ...............................................56
Functional description ..................................................................................57
10.4.1 Modes of operation function....................................................................57
Drive disabling function ..........................................................................58
10.4.2
10.4.3
Quick stop function ................................................................................58
Stop function .........................................................................................58
10.4.4
10.4.5
Fault reaction ........................................................................................59
11
FACTOR GROUP ................................................................................................60
11.1
General information .....................................................................................60
Factors..................................................................................................60
Relationship between physical and internal units......................................60
11.1.1
11.1.2
11.2
Object dictionary entries...............................................................................61
Objects defined in this chapter................................................................61
11.2.1
11.3
Object description........................................................................................61
Object 6089h: Position notation index ......................................................61
Object 608Ah: Position dimension index ..................................................62
Object 608Bh: Velocity notation index......................................................63
Object 608Ch: Velocity dimension index ..................................................63
Object 608Dh: Acceleration notation index...............................................64
Object 608Eh: Acceleration dimension index............................................64
Object 608Fh: Position encoder resolution ...............................................65
Object 6090h: Velocity encoder resolution................................................66
Object 6091h: Gear ratio.........................................................................67
Object 6092h: Feed constant.............................................................68
Object 6093h: Position factor.............................................................69
Object 6094h: Velocity encoder factor................................................70
Object 6095h: Velocity factor 1..........................................................71
Object 6096h: Velocity factor 2..........................................................72
Object 6097h: Acceleration factor ......................................................73
Object 607Eh: Polarity ......................................................................74
11.3.1
11.3.2
11.3.3
11.3.4
11.3.5
11.3.6
11.3.7
11.3.8
11.3.9
11.3.10
11.3.11
11.3.12
11.3.13
11.3.14
11.3.15
11.3.16
12
PROFILE POSITION MODE.................................................................................75
12.1
General information .....................................................................................75
4
CONTENTS
Drives and Motion Control
CiA DSP 402 V 2.0
12.1.1
12.1.2
12.1.3
Input data description.............................................................................76
Output data description ..........................................................................76
Internal states........................................................................................76
12.2
Object dictionary entries...............................................................................77
Objects defined in this chapter................................................................77
Objects defined in other chapters............................................................78
12.2.1
12.2.2
12.3
12.3.1
12.3.2
12.3.3
12.3.4
12.3.5
12.3.6
12.3.7
12.3.8
12.3.9
12.3.10
12.3.11
12.3.12
12.3.13
Object description........................................................................................78
Object 607Ah: Target position .................................................................78
Object 607Bh: Position range limit ...........................................................79
Object 607Dh: Software position limit.......................................................80
Object 607Fh: Max profile velocity ...........................................................81
Object 6080h: Max motor speed..............................................................81
Object 6081h: Profile velocity ..................................................................81
Object 6082h: End velocity......................................................................82
Object 6083h: Profile acceleration ...........................................................82
Object 6084h: Profile deceleration ...........................................................83
Object 6085h: Quick stop deceleration...............................................83
Object 6086h: Motion profile type ......................................................83
Object 60C5h: Max acceleration........................................................84
Object 60C6h: Max deceleration........................................................84
Functional description ..................................................................................85
12.4
13.3
13
HOMING MODE...................................................................................................87
13.1
General information .....................................................................................87
Input data description.............................................................................87
Output data description ..........................................................................87
Internal states........................................................................................87
13.1.1
13.1.2
13.1.3
13.2
Object dictionary entries...............................................................................88
Objects defined in this chapter................................................................88
Objects defined in other chapters............................................................88
13.2.1
13.2.2
13.3.1
13.3.2
13.3.3
13.3.4
Object description........................................................................................88
Object 607Ch: Home offset .....................................................................88
Object 6098h: Homing method ................................................................89
Object 6099h: Homing speeds.................................................................90
Object 609Ah: Homing acceleration.........................................................91
Functional description ..................................................................................91
Homing methods ...................................................................................91
13.4
13.4.1
14
POSITION CONTROL FUNCTION........................................................................96
14.1
General information .....................................................................................96
Following error.......................................................................................96
Position reached....................................................................................97
Input data description.............................................................................97
Output data description ..........................................................................97
14.1.1
14.1.2
14.1.3
14.1.4
14.2
Object dictionary entries...............................................................................97
Objects defined in this chapter................................................................97
Objects defined in other chapters............................................................98
14.2.1
14.2.2
14.3
Object description........................................................................................98
Object 6062h: Position demand value......................................................98
Object 6063h: Position actual value*........................................................99
Object 6064h: Position actual value .........................................................99
14.3.1
14.3.2
14.3.3
5
CONTENTS
Drives and Motion Control
CiA DSP 402 V 2.0
14.3.4
14.3.5
14.3.6
14.3.7
14.3.8
14.3.9
14.3.10
14.3.11
Object 6065h: Following error window......................................................99
Object 6066h: Following error time out...................................................100
Object 6067h: Position window..............................................................100
Object 6068h : Position window time......................................................101
Object 60F4h: Following error actual value.............................................101
Object 60FAh: Control effort..................................................................102
Object 60FBh: Position control parameter set...................................102
Object 60FCh: Position demand value*............................................103
Functional description ................................................................................104
14.4
15
INTERPOLATED POSITION MODE....................................................................105
15.1
General information ...................................................................................105
Input data description...........................................................................107
Output data description ........................................................................107
Internal states......................................................................................108
15.1.1
15.1.2
15.1.3
15.2
Complex data types ...................................................................................109
Interpolation time period record.............................................................109
Interpolation data configuration record...................................................110
15.2.1
15.2.2
15.3
Object dictionary entries.............................................................................110
Objects defined in this chapter..............................................................110
Objects defined in other chapters..........................................................110
15.3.1
15.3.2
15.4
15.5
Object descriptions ....................................................................................111
Object 60C0h: Interpolation sub mode select .........................................111
Object 60C1h: Interpolation data record.................................................111
Object 60C2h: Interpolation time period .................................................113
Object 60C3h: Interpolation sync definition.............................................114
Object 60C4h: Interpolation data configuration .......................................115
Functional description ................................................................................117
Interpolated position mode ...................................................................117
Linear interpolated position mode with several axles ..............................117
Buffer strategies for the interpolated position mode................................118
15.4.1
15.4.2
15.4.3
15.4.4
15.4.5
15.5.1
15.5.2
15.5.3
16
PROFILE VELOCITY MODE ..............................................................................120
16.1
General Information ...................................................................................120
Input data description...........................................................................123
Output data description ........................................................................123
Internal states......................................................................................123
16.1.1
16.1.2
16.1.3
16.2
Object dictionary entries.............................................................................124
Objects defined in this chapter..............................................................124
Objects defined in other chapters..........................................................124
16.2.1
16.2.2
16.3
Object description......................................................................................124
Object 6069h: Velocity sensor actual value ............................................125
Object 606Ah: Sensor selection code.....................................................125
Object 606Bh: Velocity demand value....................................................126
Object 606Ch: Velocity actual value.......................................................126
Object 606Dh: Velocity window .............................................................126
Object 606Eh: Velocity window time ......................................................127
Object 606Fh: Velocity threshold ...........................................................127
Object 6070h: Velocity threshold time ....................................................128
Object 60FFh: Target velocity................................................................128
Object 60F8h: Max slippage ............................................................128
16.3.1
16.3.2
16.3.3
16.3.4
16.3.5
16.3.6
16.3.7
16.3.8
16.3.9
16.3.10
6
CONTENTS
Drives and Motion Control
CiA DSP 402 V 2.0
16.3.11
Object 60F9h: Velocity control parameter set....................................129
Functional description ................................................................................130
16.4
17
PROFILE TORQUE MODE.................................................................................131
17.1
General information ...................................................................................131
Internal states......................................................................................132
17.1.1
17.2
Object dictionary entries.............................................................................133
Objects defined in this chapter..............................................................133
Objects defined in other chapters..........................................................133
17.2.1
17.2.2
17.3
Object description......................................................................................134
Object 6071h: Target torque..................................................................134
Object 6072h: Max torque.....................................................................134
Object 6073h: Max current ....................................................................134
Object 6074h: Torque demand value .....................................................135
Object 6075h: Motor rated current .........................................................135
Object 6076h: Motor rated torque ..........................................................136
Object 6077h: Torque actual value ........................................................136
Object 6078h: Current actual value........................................................136
Object 6079h: DC link circuit voltage......................................................137
Object 6087h: Torque slope ............................................................137
Object 6088h: Torque profile type....................................................138
Object 60F7h: Power stage parameters ...........................................138
Object 60F6h: Torque control parameters ........................................139
17.3.1
17.3.2
17.3.3
17.3.4
17.3.5
17.3.6
17.3.7
17.3.8
17.3.9
17.3.10
17.3.11
17.3.12
17.3.13
18
VELOCITY MODE..............................................................................................141
18.1
General description....................................................................................141
Input data description...........................................................................141
Output data description ........................................................................142
Structure of the velocity mode...............................................................142
Sub-function description.......................................................................144
Internal states......................................................................................144
18.1.1
18.1.2
18.1.3
18.1.4
18.1.5
18.2
Complex data types ...................................................................................146
vl velocity acceleration deceleration record............................................146
18.2.1
18.3
Object dictionary entries.............................................................................146
Objects defined in this chapter..............................................................146
Objects defined in other chapters..........................................................147
18.3.1
18.3.2
18.4
Object description......................................................................................147
Object 6042h: vl target velocity..............................................................147
Object 6043h: vl velocity demand ..........................................................148
Object 6053h: vl percentage demand.....................................................148
Object 6054h: vl actual percentage........................................................149
Object 6055h: vl manipulated percentage...............................................149
Object 604Eh: vl velocity reference........................................................149
Object 604Ch: vl dimension factor .........................................................150
Object 604Bh: vl set-point factor............................................................152
Object 604Dh: vl pole number ...............................................................153
Object 6046h: vl velocity min max amount........................................153
Object 6047h: vl velocity min max....................................................155
Object 6058h: vl frequency motor min max amount...........................156
Object 6059h: vl frequency motor min max.......................................158
Object 6056h: vl velocity motor min max amount ..............................159
18.4.1
18.4.2
18.4.3
18.4.4
18.4.5
18.4.6
18.4.7
18.4.8
18.4.9
18.4.10
18.4.11
18.4.12
18.4.13
18.4.14
7
CONTENTS
Drives and Motion Control
CiA DSP 402 V 2.0
18.4.15
18.4.16
18.4.17
18.4.18
18.4.19
18.4.20
18.4.21
18.4.22
18.4.23
18.4.24
18.5.1
18.5.2
18.5.3
18.5.4
18.5.5
18.5.6
18.5.7
18.5.8
18.5.9
Object 6057h: vl velocity motor min max ..........................................161
Object 6048h: vl velocity acceleration ..............................................162
Object 6049h: vl velocity deceleration ..............................................164
Object 604Ah: vl velocity quick stop.................................................165
Object 604Fh: vl ramp function time.................................................166
Object 6050h: vl slow down time......................................................167
Object 6051h: vl quick stop time ......................................................168
Object 6044h: vl control effort..........................................................168
Object 6045h: vl manipulated velocity ..............................................169
Object 6052h: vl nominal percentage ...............................................169
Functional description ................................................................................170
Percentage function .............................................................................170
Factor function and reverse factor function ............................................170
Pole number function ...........................................................................171
Velocity limit function............................................................................171
Velocity motor limit function ..................................................................172
Ramp function .....................................................................................172
Ramp min function...............................................................................173
Reference calculation...........................................................................173
Closed open loop control function .........................................................174
18.5
19
APPENDIX ........................................................................................................175
19.1
Object dictionary by chapter .......................................................................175
Common Entries..................................................................................175
Device Control.....................................................................................176
Factor Group .......................................................................................176
Profile Position Mode ...........................................................................178
Homing Mode......................................................................................179
Position control function .......................................................................179
Interpolated position mode ...................................................................180
Profile velocity mode............................................................................181
Profile Torque Mode ............................................................................182
Velocity Mode................................................................................183
19.1.1
19.1.2
19.1.3
19.1.4
19.1.5
19.1.6
19.1.7
19.1.8
19.1.9
19.1.10
19.2
19.3
19.4
Object dictionary by index ..........................................................................186
Object dictionary by name ..........................................................................192
Definition of dimension indices....................................................................198
Dimension index table..........................................................................198
Notation index table .............................................................................199
19.4.1
19.4.2
8
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