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CiA-402-2-version-3.0.0.pdf
Cover
CONTENTS
1 Scope
2 Normative references
3 Abbreviations and definitions
4 Introduction
5 Data types
6 General object definitions
7 Error codes and error behaviour
8 Controlling the power drive system
8.4 Detailed object specifications
8.4.1 Object 6040 h : Controlword
8.4.2 Object 6041 h : Statusword
8.4.3 Object 603F h : Error code
8.4.4 Object 6007 h : Abort connection option code
8.4.5 Object 605A h : Quick stop option code
8.4.6 Object 605B h : Shutdown option code
8.4.7 Object 605C h : Disable operation option code
8.4.8 Object 605D h : Halt option code
8.4.9 Object 605E h : Fault reaction option code
8.4.10 Object 6060 h : Modes of operation
8.4.11 Object 6061 h : Modes of operation display
8.4.12 Object 6502 h : Supported drive modes
9 Factor group
9.1 General
9.2 Detailed object definitions
9.2.1 Object 608F h : Position encoder resolution
9.2.2 Object 6090 h : Velocity encoder resolution
9.2.3 Object 6091 h : Gear ratio
9.2.4 Object 6092 h : Feed constant
9.2.5 Object 607E h : Polarity
10 Profile position mode
10.1 General information
10.2 Functional description
10.3 General definitions
10.4 Use of controlword and statusword
10.5 Detailed object definitions
10.5.1 Object 607A h : Target position
10.5.2 Object 607B h : Position range limit
10.5.3 Object 607D h : Software position limit
10.5.4 Object 607F h : Max profile velocity
10.5.5 Object 6080 h : Max motor speed
10.5.6 Object 6081 h : Profile velocity
10.5.7 Object 6082 h : End velocity
10.5.8 Object 6083 h : Profile acceleration
10.5.9 Object 6084 h : Profile deceleration
10.5.10 Object 6085 h : Quick stop deceleration
10.5.11 Object 6086 h : Motion profile type
10.5.12 Object 60A3 h : Profile jerk use
10.5.13 Object 60A4 h : Profile jerk
10.5.14 Object 60C5 h : Max acceleration
10.5.15 Object 60C6 h : Max deceleration
11 Homing mode
11.1 General information
11.2 Functional description
11.3 General definitions
11.4 Use of controlword and statusword
11.5 Detailed object definitions
11.5.1 Object 607C h : Home offset
11.5.2 Object 6098 h : Homing method
11.5.3 Object 6099 h : Homing speeds
11.5.4 Object 609A h : Homing acceleration
11.5.5 Object 60B8 h : Touch probe function
11.5.6 Object 60B9 h : Touch probe status
11.5.7 Object 60BA h : Touch probe pos1 pos value
11.5.8 Object 60BB h : Touch probe pos1 neg value
11.5.9 Object 60BC h : Touch probe pos2 pos value
11.5.10 Object 60BD h : Touch probe pos2 neg value
12 Position control function
12.1 General information
12.2 Functional description
12.3 Detailed object definitions
12.3.1 Object 6062 h : Position demand value
12.3.2 Object 6063 h : Position actual internal value
12.3.3 Object 6064 h : Position actual value
12.3.4 Object 6065 h : Following error window
12.3.5 Object 6066 h : Following error time out
12.3.6 Object 6067 h : Position window
12.3.7 Object 6068 h : Position window time
12.3.8 Object 60F4 h : Following error actual value
12.3.9 Object 60FA h : Control effort
12.3.10 Object 60FC h : Position demand internal value
12.3.11 Object 60F2 h : Positioning option code
13 Interpolated position mode
13.1 General information
13.2 Functional description
13.2.1 General
13.2.2 Linear interpolated position mode with several axes
13.2.3 Buffer strategies for the interpolated position mode
13.2.4 Interpolated position mode FSA
13.3 General definitions
13.4 Use of controlword and statusword
13.5 Detailed object definitions
13.5.1 Object 60C0 h : Interpolation sub mode select
13.5.2 Object 60C1 h : Interpolation data record
13.5.3 Object 60C2 h : Interpolation time period
13.5.4 Object 60C4 h : Interpolation data configuration
14 Profile velocity mode
14.1 General information
14.2 Functional description
14.3 General definitions
14.4 Use of controlword and statusword
14.5 Detailed object definitions
14.5.1 Object 6069 h : Velocity sensor actual value
14.5.2 Object 606A h : Sensor selection code
14.5.3 Object 606B h : Velocity demand value
14.5.4 Object 606C h : Velocity actual value
14.5.5 Object 606D h : Velocity window
14.5.6 Object 606E h : Velocity window time
14.5.7 Object 606F h : Velocity threshold
14.5.8 Object 6070 h : Velocity threshold time
14.5.9 Object 60FF h : Target velocity
14.5.10 Object 60F8 h : Max slippage
15 Profile torque mode
15.1 General information
15.2 Functional description
15.3 General definitions
15.4 Use of controlword and statusword
15.5 Detailed object definitions
15.5.1 Object 6071 h : Target torque
15.5.2 Object 6072 h : Max torque
15.5.3 Object 6073 h : Max current
15.5.4 Object 6074 h : Torque demand
15.5.5 Object 6075 h : Motor rated current
15.5.6 Object 6076 h : Motor rated torque
15.5.7 Object 6077 h : Torque actual value
15.5.8 Object 6078 h : Current actual value
15.5.9 Object 6079 h : DC link circuit voltage
15.5.10 Object 6087 h : Torque slope
15.5.11 Object 6088 h : Torque profile type
16 Velocity mode
17 Cyclic synchronous position mode
18 Cyclic synchronous velocity mode
19 Cyclic synchronous torque mode
20 Optional application FE
CiA Draft Standard Proposal 402
Drives and motion control device profile
Part 2: Operation modes and application data
This DSP is for CiA members only and may be changed without notification.
Version: 3.0
14 December 2007
! CAN in Automation (CiA) e. V.
Drives and motion control device profile – Part 2: Operation modes and application data
HISTORY
The CiA 402 CANopen device profile for drives and motion control was submitted to IEC for
international standardization. The CiA 402 related clauses in the IEC 61800-7-1, IEC 61800-
7-201 and IEC 61800-7-301 standards are published in this set of profile specifications. This
set substitutes the CiA DSP 402 version 2.0 from July 2002. The device profile has been
entirely reviewed and restructured. There have been dropped several object dictionary entries
in order to simplify the implementation of this profile. On the other hand new operation modes
have been introduced.
EDITORIAL REMARK
Part 1 of this set of specifications provides general information and presents the annex A of
IEC 61800-7-1. Part 2 presents the IEC 61800-7-201 standard, and part 3 presents the
CANopen-relevant clauses in IEC 61800-7-301.
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.
Trademarks
CANopen® and CiA® are registered community trademarks of CAN in Automation. The use is
restricted for CiA members or owners of CANopen vendor ID. More detailed terms for the use
are available from CiA.
© CiA 2007
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 2007 – All rights reserved
Drives and motion control device profile – Part 2: Operation modes and application data
CONTENTS
4
1 Scope ............................................................................................................................... 8
2 Normative references........................................................................................................ 8
3 Abbreviations and definitions ............................................................................................ 8
3.1 Abbreviations........................................................................................................... 8
3.2 Definitions ............................................................................................................... 8
Introduction....................................................................................................................... 8
4.1 Operation modes ..................................................................................................... 8
4.2 Object dictionary...................................................................................................... 9
5 Data types ........................................................................................................................ 9
5.1 Standard data types ................................................................................................ 9
5.2 Record definitions.................................................................................................. 10
6 General object definitions ............................................................................................... 11
6.1 General ................................................................................................................. 11
6.2 Communication parameter objects ......................................................................... 11
6.3 Additional identification and information objects..................................................... 12
6.3.1 Object 6402h: Motor type ........................................................................... 12
6.3.2 Object 6403h: Motor catalogue number ...................................................... 13
6.3.3 Object 6404h: Motor manufacturer ............................................................. 13
6.3.4 Object 6405h: http motor catalogue address............................................... 14
6.3.5 Object 6406h: Motor calibration date .......................................................... 14
6.3.6 Object 6407h: Motor service period ............................................................ 15
6.3.7 Object 6503h: Drive catalogue number....................................................... 15
6.3.8 Object 6505h: http drive catalogue address................................................ 16
7 Error codes and error behaviour...................................................................................... 16
7.1 Error codes............................................................................................................ 16
7.2 Error behavior........................................................................................................ 21
8 Controlling the power drive system ................................................................................. 21
8.1 General ................................................................................................................. 21
8.2 Finite state automaton ........................................................................................... 22
8.3 Modes of operation................................................................................................ 24
8.4 Detailed object specifications ................................................................................ 25
8.4.1 Object 6040h: Controlword ......................................................................... 25
8.4.2 Object 6041h: Statusword .......................................................................... 27
8.4.3 Object 603Fh: Error code ........................................................................... 28
8.4.4 Object 6007h: Abort connection option code............................................... 29
8.4.5 Object 605Ah: Quick stop option code........................................................ 29
8.4.6 Object 605Bh: Shutdown option code ......................................................... 30
8.4.7 Object 605Ch: Disable operation option code ............................................. 31
8.4.8 Object 605Dh: Halt option code.................................................................. 32
8.4.9 Object 605Eh: Fault reaction option code ................................................... 33
8.4.10 Object 6060h: Modes of operation.............................................................. 34
8.4.11 Object 6061h: Modes of operation display .................................................. 34
8.4.12 Object 6502h: Supported drive modes........................................................ 35
9 Factor group ................................................................................................................... 36
9.1 General ................................................................................................................. 36
! CiA 2007 – All rights reserved
3
Drives and motion control device profile – Part 2: Operation modes and application data
9.2 Detailed object definitions...................................................................................... 36
9.2.1 Object 608Fh: Position encoder resolution ................................................. 36
9.2.2 Object 6090h: Velocity encoder resolution.................................................. 37
9.2.3 Object 6091h: Gear ratio ............................................................................ 38
9.2.4 Object 6092h: Feed constant...................................................................... 39
9.2.5 Object 607Eh: Polarity................................................................................ 40
10 Profile position mode...................................................................................................... 41
10.1 General information............................................................................................... 41
10.2 Functional description ........................................................................................... 42
10.2.1 General ..................................................................................................... 42
10.2.2 Single set-point ......................................................................................... 43
10.2.3 Set of set-points ........................................................................................ 44
10.3 General definitions ................................................................................................ 45
10.4 Use of controlword and statusword........................................................................ 45
10.5 Detailed object definitions ..................................................................................... 46
10.5.1 Object 607Ah: Target position .................................................................... 46
10.5.2 Object 607Bh: Position range limit ............................................................. 47
10.5.3 Object 607Dh: Software position limit......................................................... 48
10.5.4 Object 607Fh: Max profile velocity ............................................................. 49
10.5.5 Object 6080h: Max motor speed................................................................. 49
10.5.6 Object 6081h: Profile velocity..................................................................... 50
10.5.7 Object 6082h: End velocity......................................................................... 51
10.5.8 Object 6083h: Profile acceleration.............................................................. 51
10.5.9 Object 6084h: Profile deceleration ............................................................. 52
10.5.10 Object 6085h: Quick stop deceleration ....................................................... 52
10.5.11 Object 6086h: Motion profile type............................................................... 53
10.5.12 Object 60A3h: Profile jerk use.................................................................... 53
10.5.13 Object 60A4h: Profile jerk .......................................................................... 54
10.5.14 Object 60C5h: Max acceleration................................................................. 56
10.5.15 Object 60C6h: Max deceleration ................................................................ 57
11 Homing mode ................................................................................................................. 57
11.1 General information............................................................................................... 57
11.2 Functional description ........................................................................................... 57
11.3 General definitions ................................................................................................ 58
11.3.1 Method 1: Homing on negative limit switch and index pulse....................... 58
11.3.2 Method 2: Homing on positive limit switch and index pulse ........................ 59
11.3.3 Method 3 and 4: Homing on positive home switch and index pulse ............ 59
11.3.4 Method 5 and 6: Homing on negative home switch and index pulse ........... 59
11.3.5 Method 7 to 14: Homing on home switch and index pulse .......................... 60
11.3.6 Method 15 and 16: Reserved..................................................................... 61
11.3.7 Method 17 to 30: Homing without index pulse............................................ 61
11.3.8 Method 31 and 32: Reserved..................................................................... 61
11.3.9 Method 33 and 34: Homing on index pulse ................................................ 62
11.3.10 Method 35: Homing on index pulse............................................................ 62
11.3.11 Method 36: Homing with touch-probe......................................................... 62
11.4 Use of controlword and statusword........................................................................ 62
11.5 Detailed object definitions ..................................................................................... 63
11.5.1 Object 607Ch: Home offset ........................................................................ 63
4
! CiA 2007 – All rights reserved
Drives and motion control device profile – Part 2: Operation modes and application data
11.5.2 Object 6098h: Homing method ................................................................... 64
11.5.3 Object 6099h: Homing speeds.................................................................... 65
11.5.4 Object 609Ah: Homing acceleration ........................................................... 65
11.5.5 Object 60B8h: Touch probe function .......................................................... 66
11.5.6 Object 60B9h: Touch probe status ............................................................. 67
11.5.7 Object 60BAh: Touch probe pos1 pos value ............................................... 68
11.5.8 Object 60BBh: Touch probe pos1 neg value............................................... 69
11.5.9 Object 60BCh: Touch probe pos2 pos value............................................... 69
11.5.10 Object 60BDh: Touch probe pos2 neg value............................................... 70
12 Position control function ................................................................................................. 70
12.1 General information............................................................................................... 70
12.2 Functional description ........................................................................................... 71
12.3 Detailed object definitions ..................................................................................... 73
12.3.1 Object 6062h: Position demand value ........................................................ 73
12.3.2 Object 6063h: Position actual internal value............................................... 73
12.3.3 Object 6064h: Position actual value ........................................................... 74
12.3.4 Object 6065h: Following error window........................................................ 74
12.3.5 Object 6066h: Following error time out ....................................................... 75
12.3.6 Object 6067h: Position window................................................................... 76
12.3.7 Object 6068h: Position window time ........................................................... 76
12.3.8 Object 60F4h: Following error actual value ................................................ 77
12.3.9 Object 60FAh: Control effort....................................................................... 77
12.3.10 Object 60FCh: Position demand internal value ........................................... 78
12.3.11 Object 60F2h: Positioning option code ....................................................... 78
13 Interpolated position mode ............................................................................................. 80
13.1 General information............................................................................................... 80
13.2 Functional description ........................................................................................... 81
13.2.1 General ..................................................................................................... 81
13.2.2 Linear interpolated position mode with several axes .................................. 82
13.2.3 Buffer strategies for the interpolated position mode ................................... 83
13.2.4 Interpolated position mode FSA................................................................. 84
13.3 General definitions ................................................................................................ 85
13.4 Use of controlword and statusword........................................................................ 85
13.5 Detailed object definitions ..................................................................................... 86
13.5.1 Object 60C0h: Interpolation sub mode select ............................................. 86
13.5.2 Object 60C1h: Interpolation data record ..................................................... 87
13.5.3 Object 60C2h: Interpolation time period ..................................................... 88
13.5.4 Object 60C4h: Interpolation data configuration........................................... 89
14 Profile velocity mode ...................................................................................................... 92
14.1 General information............................................................................................... 92
14.2 Functional description ........................................................................................... 92
14.3 General definitions ................................................................................................ 93
14.4 Use of controlword and statusword........................................................................ 93
14.5 Detailed object definitions ..................................................................................... 94
14.5.1 Object 6069h: Velocity sensor actual value ................................................ 94
14.5.2 Object 606Ah: Sensor selection code......................................................... 94
14.5.3 Object 606Bh: Velocity demand value ........................................................ 95
14.5.4 Object 606Ch: Velocity actual value ........................................................... 96
! CiA 2007 – All rights reserved
5
Drives and motion control device profile – Part 2: Operation modes and application data
14.5.5 Object 606Dh: Velocity window .................................................................. 96
14.5.6 Object 606Eh: Velocity window time........................................................... 97
14.5.7 Object 606Fh: Velocity threshold................................................................ 97
14.5.8 Object 6070h: Velocity threshold time ........................................................ 98
14.5.9 Object 60FFh: Target velocity .................................................................... 98
14.5.10 Object 60F8h: Max slippage....................................................................... 99
15 Profile torque mode ........................................................................................................ 99
15.1 General information............................................................................................... 99
15.2 Functional description ........................................................................................... 99
15.3 General definitions .............................................................................................. 100
15.4 Use of controlword and statusword...................................................................... 100
15.5 Detailed object definitions ................................................................................... 101
15.5.1 Object 6071h: Target torque..................................................................... 101
15.5.2 Object 6072h: Max torque ........................................................................ 102
15.5.3 Object 6073h: Max current ....................................................................... 102
15.5.4 Object 6074h: Torque demand ................................................................. 103
15.5.5 Object 6075h: Motor rated current............................................................ 103
15.5.6 Object 6076h: Motor rated torque............................................................. 104
15.5.7 Object 6077h: Torque actual value........................................................... 104
15.5.8 Object 6078h: Current actual value .......................................................... 105
15.5.9 Object 6079h: DC link circuit voltage........................................................ 105
15.5.10 Object 6087h: Torque slope ..................................................................... 106
15.5.11 Object 6088h: Torque profile type ............................................................ 106
16 Velocity mode............................................................................................................... 107
16.1 General information............................................................................................. 107
16.2 Functional description ......................................................................................... 108
16.2.1 Velocity limit function............................................................................... 108
16.2.2 Ramp function ......................................................................................... 108
16.2.3 Velocity control function .......................................................................... 108
16.2.4 Factor function ........................................................................................ 108
16.3 General definitions .............................................................................................. 109
16.4 Use of controlword and statusword...................................................................... 109
16.5 Detailed object definitions ................................................................................... 110
16.5.1 Object 6042h: vl target velocity ................................................................ 110
16.5.2 Object 6043h: vl velocity demand............................................................. 111
16.5.3 Object 6044h: vl velocity actual value ...................................................... 111
16.5.4 Object 6046h: vl velocity min max amount................................................ 112
16.5.5 Object 6049h: vl velocity deceleration ...................................................... 113
16.5.6 Object 6048h: vl velocity acceleration ...................................................... 115
16.5.7 Object 604Ah: vl velocity quick stop ......................................................... 116
16.5.8 Object 604Bh: vl set-point factor .............................................................. 117
16.5.9 Object 604Ch: vl dimension factor............................................................ 118
17 Cyclic synchronous position mode................................................................................ 120
17.1 General information............................................................................................. 120
17.2 Functional description ......................................................................................... 120
17.3 Use of controlword and statusword...................................................................... 121
17.4 Detailed object definitions ................................................................................... 122
17.4.1 Object 60B0h: Position offset ................................................................... 122
6
! CiA 2007 – All rights reserved
Drives and motion control device profile – Part 2: Operation modes and application data
17.4.2 Object 60B1h: Velocity offset ................................................................... 123
17.4.3 Object 60B2h: Torque offset..................................................................... 123
18 Cyclic synchronous velocity mode ................................................................................ 124
18.1 General information............................................................................................. 124
18.2 General definitions .............................................................................................. 125
18.3 Functional description ......................................................................................... 125
18.4 Use of controlword and statusword...................................................................... 126
19 Cyclic synchronous torque mode .................................................................................. 127
19.1 General information............................................................................................. 127
19.2 General definitions .............................................................................................. 127
19.3 Functional description ......................................................................................... 127
19.4 Use of controlword and statusword...................................................................... 128
20 Optional application FE ................................................................................................ 128
20.1 General ............................................................................................................... 128
20.2 Object 60FDh: Digital inputs ................................................................................ 128
20.3 Object 60FEh: Digital outputs .............................................................................. 129
! CiA 2007 – All rights reserved
7
Drives and motion control device profile – Part 2: Operation modes and application data
1 Scope
This specification specifies the CANopen device profile for drives and motion control. It
consists of three parts:
• Part 1: General definitions
• Part 2: Operation modes and application data
• Part 3: PDO mapping
Part 2 specifies the basic drive and additional application functional elements as defined in
IEC 61800-7-201. This includes the specification of drive operation modes and application
data for power drive systems like frequency converters, servo controllers, or stepper motor
controllers. It includes the definition of real-time control objects as well as of configuration,
adjustment, identification and network management objects. There is also defined the PDS
finite state automaton (FSA), which may be controlled externally by a control device
communicating via a communication system to the drive device.
2 Normative references
/CiA301/
CiA 301, CANopen application layer and communication profile
/CiA402-3/
CiA 402-3, CANopen drive and motion control profile – Part 3: PDO mapping
/IEC61800-7-1/ IEC 61800-7-1, Adjustable speed electrical power drive systems – Generic
interface and use of profiles for power drive systems – Interface definition
3 Abbreviations and definitions
3.1 Abbreviations
CAN Controller area network
COB Communication object
Finite state automaton
FSA
ID
Identifier
LSB
Least significant bit
MSB Most significant bit
PDO Process data object
PDS Power drive system
RPDO Receive process data object
SDO Service data object
TPDO Transmit process data object
3.2 Definitions
The definitions given in /CiA301/ and /IEC61800-7-1/ apply for this specification, too.
4 Introduction
4.1 Operation modes
The device profile defines several modes of operation. They include profile position mode,
homing mode, interpolated position mode, profile velocity mode, profile torque mode, velocity
mode, cyclic synchronous position mode, cyclic synchronous velocity mode, and cyclic
synchronous torque mode.
8
! CiA 2007 – All rights reserved
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