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CiA 402_v02000001 Device Profile Drives and Motion Control(英文原版协议).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: 17. March 2005
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
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.
© CiA 2005-01-01
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.
Am Weichselgarten 26
DE - 91058 Erlangen, Germany
Tel.: +49-9131-69086-0
Fax: +49-9131-69086-79
Url: www.can-cia.org
Email: headquarters@can-cia.org
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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