Infranor XtrapulsCD1-k Manuel utilisateur

CD1-k 1

CANopen

Communication Profile

XtrapulsCD1-k

CANopen Drive

CD1-k CANopen Communication Profile

WARNING

This is a general manual describing the CANopen Communication Profile of the INFRANOR CD1-k drive

(hardware release version 2.0 and firmware release from version 11.E3). For the installation and commissioning of

the drive, please refer to the appropriate manuals (CD1-k Installation Guide and CD1k User Guide).

Instructions for storage, use after storage, commissioning as well as all technical details require the

MANDATORY reading of the manual before getting the amplifiers operational.

Maintenance procedures should be attempted only by highly skilled technicians having good knowledge

of electronics and servo systems with variable speed (EN 60204-1 standard) and using proper test

equipment.

The compliance with the standards and the "CE" approval is only valid if the items are installed according to the

recommendations of the amplifier manuals. Connections are the user's responsibility if recommendations and

drawings requirements are not met.

INFRANOR does not assume any responsibility for physical or material damage due to improper handling or

wrong descriptions of the ordered items.

Any intervention on the items, which is not specified in the manual, will immediately cancel the warranty.

Infranor reserves the right to change any information contained in this manual without notice.

Issue: 2.10.1

ELIMINATION

In order to comply with the 2002/96/EC directive of the European Parliament and of the Council of

27 January 2003 on waste electrical and electronic equipment (WEEE), all INFRANOR devices

have got a sticker symbolizing a crossed-out wheel dustbin as shown in Appendix IV of

the 2002/96/EC Directive.

This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not

with standard waste.

Any contact with electrical parts, even after power down, may involve severe physical damage.

Wait for at least 5 minutes after power down before handling the amplifiers (a residual voltage of several

hundreds of volts may remain during a few minutes).

ESD INFORMATION (ElectroStatic Discharge)

INFRANOR amplifiers are conceived to be best protected against electrostatic discharges. However,

some components are particularly sensitive and may be damaged if the amplifiers are not properly

stored and handled.

STORAGE

- The amplifiers must be stored in their original package.

- When taken out of their package, they must be stored positioned on one of their flat metal

surfaces and on a dissipating or electrostatically neutral support.

- Avoid any contact between the amplifier connectors and material with electrostatic potential

(plastic film, polyester, carpet…).

HANDLING

- If no protection equipment is available (dissipating shoes or bracelets), the amplifiers must

be handled via their metal housing.

- Never get in contact with the connectors.

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Content

CHAPTER 1 – OVERVIEW..................................................................................................................... 8

3.13 -REFERENCE ............................................................................................................................ 8

1.2 -DEFINITIONS................................................................................................................................... 8

1.3 -ARCHITECTURE............................................................................................................................... 9

CHAPTER 2 – COMMUNICATION PROFILE...................................................................................... 10

2.1 -COMMUNICATION OBJECTS ........................................................................................................... 10

2.1.1 - CAN Telegram..................................................................................................................... 10

2.1.2 - Default COB-ID.................................................................................................................... 10

2.1.3 - Network Management Objects (NMT)................................................................................. 11

2.1.4 - Synchronisation Object (SYNC).......................................................................................... 11

2.1.5 - Process Data Object (PDO) ................................................................................................ 12

2.1.5.1 - Communication parameters.......................................................................................................... 12

2.1.5.2 - PDO Mapping ............................................................................................................................... 13

2.1.5.3 - Multiplexed data............................................................................................................................ 13

2.1.6 - Service Data Object (SDO) ................................................................................................. 13

2.1.7 - Emergency Object (EMCY)................................................................................................. 14

2.1.7.1 - CD1-k Specific Error Field ............................................................................................................ 14

2.2 -NETWORK INITIALISATION AND SYSTEM BOOT-UP ........................................................................... 15

2.2.1 - NMT State machine............................................................................................................. 15

2.2.2 - Initialisation procedure......................................................................................................... 15

2.3 -OBJECT DICTIONARY..................................................................................................................... 16

2.3.1 - General information............................................................................................................. 16

2.3.1.1 - Object 1000h: Device Type........................................................................................................... 16

2.3.1.2 - Object 1001h: Error Register ........................................................................................................ 16

2.3.1.3 - Object 1008h: Manufacturer Device Name ................................................................................... 16

2.3.1.4 - Object 1009h: Manufacturer hardware version ............................................................................. 16

2.3.1.5 - Object 100Ah: Manufacturer software version .............................................................................. 17

2.3.1.6 - Object 100Ch: Guard Time........................................................................................................... 17

2.3.1.7 - Object 100Dh: Life Time factor ..................................................................................................... 17

2.3.1.8 - Object 1010h: Store Parameters .................................................................................................. 17

2.3.1.9 - Object 1018h: Identity Object........................................................................................................ 18

2.3.2 - Sync Object ......................................................................................................................... 18

2.3.2.1 - Object 1005h: COB-ID Sync message.......................................................................................... 18

2.3.2.2 - Object 1006h: Communication Cycle Period ................................................................................ 18

2.3.2.3 - Object 3006h: Communication Cycle Period adjustment .............................................................. 19

2.3.2.4 - Object 1007h: Synchronous Window Length ................................................................................ 20

2.3.3 - SDO Objects........................................................................................................................ 20

2.3.3.1 - Object 1200h: Server SDO Parameter ......................................................................................... 20

2.3.4 - Emergency Object............................................................................................................... 20

2.3.4.1 - Object 1014h: COB-ID Emergency message ............................................................................... 20

2.3.5 - PDO Objects........................................................................................................................ 21

2.3.5.1 - Object 1400h: 1st Receive PDO Communication Parameter......................................................... 21

2.3.5.2 - Object 1401h: 2nd Receive PDO Communication Parameter........................................................ 21

2.3.5.3 - Object 1402h: 3rd Receive PDO Parameter .................................................................................. 22

2.3.5.4 - Object 1600h: 1st Receive PDO Mapping ..................................................................................... 22

2.3.5.5 - Object 1601h: 2nd Receive PDO Mapping .................................................................................... 23

2.3.5.6 - Object 1602h: 3rd Receive PDO Mapping ..................................................................................... 23

2.3.5.7 - Object 1800h: 1st Transmit PDO Parameter ................................................................................. 24

2.3.5.8 - Object 1801h: 2nd Transmit PDO Parameter ................................................................................ 24

2.3.5.9 - Object 1802h: 3rd Transmit PDO Parameter ................................................................................. 25

2.3.5.10 - Object 1A00h: 1st Transmit PDO Mapping.................................................................................. 25

2.3.5.11 - Object 1A01h: 2nd Transmit PDO Mapping ................................................................................. 26

2.3.5.12 - Object 1A02h: 3rd Transmit PDO Mapping.................................................................................. 26

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CHAPTER 3 – DEVICE PROFILE........................................................................................................ 27

3.1 -PDO MAPPING ............................................................................................................................. 27

3.1.1 - Receive PDO....................................................................................................................... 27

3.1.2 - Transmit PDO...................................................................................................................... 27

3.2 -COMMON ENTRIES IN THE OBJECT DICTIONARY.............................................................................. 27

3.2.1 - Object Dictionary Entries..................................................................................................... 27

3.2.2 - Object Description ............................................................................................................... 27

3.2.2.1 - Object 6402h: Motor Type ............................................................................................................ 27

3.2.2.2 - Object 6410h: Motor Data............................................................................................................. 28

3.2.2.3 - Object 6502h: Supported Drive Modes ......................................................................................... 29

3.2.2.4 - Object 6504h: Drive Manufacturer ................................................................................................ 30

3.2.2.5 - Object 6510h: Drive Data.............................................................................................................. 30

3.2.2.6 - Object 60FDh: Digital Inputs ......................................................................................................... 31

3.2.2.7 - Object 60Feh: Digital Outputs....................................................................................................... 31

3.2.2.8 - Object 30FFh: Specific Outputs Configuration.............................................................................. 32

3.3 -DEVICE CONTROL ......................................................................................................................... 33

3.3.1 - Drive State Machine ............................................................................................................ 33

3.3.2 - Object Dictionary Entries..................................................................................................... 33

3.3.3 - Object Description ............................................................................................................... 34

3.3.3.1 - Object 6040h: Control Word ......................................................................................................... 34

3.3.3.2 - Object 6041h: Status Word........................................................................................................... 35

3.3.3.3 - Object 605Ah: Quick Stop Option Code........................................................................................ 36

3.3.3.4. Object 6060h: Mode of Operation .................................................................................................. 36

3.3.3.5. Object 6061h: Mode of Operation Display ..................................................................................... 36

3.4 –POSITION SENSOR GROUP............................................................................................................ 37

3.4.1 - Units..................................................................................................................................... 37

3.4.2 - Presentation......................................................................................................................... 37

3.4.3 - Object Dictionary Entries..................................................................................................... 37

3.4.4 - Object Description ............................................................................................................... 37

3.4.4.1 - Object 607Eh: Polarity .................................................................................................................. 37

3.4.4.2 - Object 608Fh: Position Resolution................................................................................................ 38

3.4.4.3 - Object 3080h: Encoder Input Selection......................................................................................... 39

3.4.4.4 - Object 308Fh: Encoder Input Resolution ...................................................................................... 39

3.4.4.5 - Object 3090h: Encoder Pulse Interpolation................................................................................... 39

3.4.4.6 - Object 3091h: Encoder Zero Mark Pitch....................................................................................... 40

3.4.4.7 - Object 3070h: Motor Feedback Selection ..................................................................................... 40

3.4.4.8 - Object 3098h: Motor Feedback Programming .............................................................................. 41

3.4.4.9 - Object 306Ah: Second Sensor Feedback ..................................................................................... 41

3.4.4.10 - Object 306Ch: Second Sensor Scaling factor............................................................................. 41

3.5 -PROFILE POSITION MODE.............................................................................................................. 42

3.5.1 - Object Dictionary Entries..................................................................................................... 42

3.5.2 - Object Description ............................................................................................................... 42

3.5.2.1 - Object 607Ah: Target Position ...................................................................................................... 42

3.5.2.2 - Object 6080h: Max Motor Speed .................................................................................................. 42

3.5.2.3 - Object 6081h: Profile Velocity....................................................................................................... 43

3.5.2.4 - Object 6082h: End Velocity........................................................................................................... 43

3.5.2.5 - Object 6083h: Profile Acceleration................................................................................................ 43

3.5.2.6 - Object 6084h : Profile Deceleration .............................................................................................. 43

3.5.2.7 - Object 6086h: Motion Profile Type................................................................................................ 44

3.5.2.8 - Object 607Dh: Software Position Limit.......................................................................................... 44

3.5.2.9 - Object 6067h: Position Window .................................................................................................... 45

3.5.2.10 - Object 307Fh: Position Modulo................................................................................................... 45

3.5.3 - Functional Description......................................................................................................... 45

3.6 -HOMING MODE ............................................................................................................................. 47

3.6.1 - Object Dictionary Entries..................................................................................................... 47

3.6.2 - Object Description ............................................................................................................... 47

3.6.2.1 - Object 607Ch: Homing Offset ....................................................................................................... 47

3.6.2.2 - Object 6098h: Homing Method ..................................................................................................... 47

3.6.2.3 - Object 6099h: Homing Speeds ..................................................................................................... 49

3.6.2.4 - Object 609Ah: Homing Acceleration ............................................................................................. 49

3.6.2.5 - Object 309Bh: Zero Shift .............................................................................................................. 49

3.6.2.6 - Object 309Ch: Homing Current Limit ............................................................................................ 50

3.6.3 - FUNCTIONAL DESCRIPTION............................................................................................ 50

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3.7 -POSITION CONTROL FUNCTION...................................................................................................... 51

3.7.1 - Object Dictionary Entries..................................................................................................... 51

3.7.2 - Object Description ............................................................................................................... 51

3.7.2.1 - Object 6063h: Position Actual Value* ........................................................................................... 51

3.7.2.2 - Object 6064h: Position Actual Value............................................................................................. 51

3.7.2.3 - Object 3067h: Position Loop Deadband ....................................................................................... 51

3.7.2.4 - Object 6065h: Following Error Window......................................................................................... 52

3.7.2.5 - Object 3031h: Position Following Error Dynamic Gain ................................................................. 52

3.7.2.6 - Object 3033h: Position Following Error Detection Mode............................................................... 52

3.7.2.7 - Object 3214h: Position Error......................................................................................................... 53

3.7.2.8 - Object 60FBh: Position Control Parameter Set............................................................................. 54

3.8 -INTERPOLATED POSITION MODE .................................................................................................... 55

3.8.1 - Object Dictionary Entries..................................................................................................... 55

3.8.2 - Object Description ............................................................................................................... 56

3.8.2.1 - Object 60C0h: Interpolation Submode Select ............................................................................... 56

3.8.2.2 - Object 60C1h: Interpolation Data Record ..................................................................................... 56

3.8.2.3 - Object 60C4h: Interpolation Data Configuration ........................................................................... 57

3.9 -PROFILE VELOCITY MODE ............................................................................................................. 58

3.9.1 - Object Dictionary Entries..................................................................................................... 58

3.9.2 - Object Description ............................................................................................................... 58

3.9.2.1 - Object 6069h: Velocity Sensor Actual Value................................................................................. 58

3.9.2.2 - Object 606Ah: Sensor Selection Code.......................................................................................... 59

3.9.2.3 - Object 606Bh: Velocity Demand Value ........................................................................................ 59

3.9.2.4 - Object 606Ch: Velocity Actual Value ............................................................................................ 59

3.9.2.5 – Object 606Dh: Velocity window.................................................................................................... 59

3.9.2.6 – Object 606Eh: Velocity window time ............................................................................................ 59

3.9.2.7 – Object 606Fh: Velocity threshold ................................................................................................. 60

3.9.2.8 – Object 6070h: Velocity threshold time.......................................................................................... 60

3.9.2.9 - Object 60FFh: Target Velocity ...................................................................................................... 60

3.9.2.10 - Object 604Fh: Ramp Function .................................................................................................... 60

3.9.2.11 - Object 60F9h: Velocity Control Parameter Set ........................................................................... 61

3.9.2.12 – Object 30F9h: Integrator low frequency limit .............................................................................. 62

3.9.2.13 - Object 30FBh: Regulator Gains Scaling ..................................................................................... 63

3.9.2.14 - Object 3422h: Time Interval for speed measurement ................................................................. 63

3.9.2.15 - Object 30F5h: Speed Following Error Limit ................................................................................ 63

3.10 -PROFILE TORQUE MODE ............................................................................................................. 63

3.10.1 - Object Dictionary Entries................................................................................................... 63

3.10.2 - Object Description ............................................................................................................. 64

3.10.2.1 - Object 6071h: Target Torque...................................................................................................... 64

3.10.2.2. Object 6087h: Torque Slope ........................................................................................................ 64

3.10.2.3 - Object 6088h: Torque profile type............................................................................................... 64

3.10.2.4 - Object 60F6h: Torque Control Parameter Set ............................................................................ 64

3.10.2.5 - Object 6078h: Filtered current monitor........................................................................................ 65

3.10.2.6 - Object 3078h: Current monitor filter............................................................................................ 65

3.11 –STEPPER EMULATION MODE....................................................................................................... 66

3.11.1 - Functional Description....................................................................................................... 66

3.11.2 – Parameter Setting............................................................................................................. 66

3.12 –ELECTRONIC GEARING MODE ..................................................................................................... 66

3.12.1 - Functional Description....................................................................................................... 67

3.12.2 – Parameter Setting............................................................................................................. 67

3.13 -MANUFACTURER DEVICE SPECIFIC .............................................................................................. 68

3.13.1 - Object Dictionary Entries................................................................................................... 68

3.13.2 - Error and Stop Function .................................................................................................... 69

3.13.2.1 - Object 3020h: Drive Error Code.................................................................................................. 69

3.13.2.2 - Object 3021h: Warning Code...................................................................................................... 69

3.13.2.3 - Object 3330h: Fault Reaction Mask 1......................................................................................... 69

3.13.2.4 - Object 3331h: Fault Reaction Mask 3......................................................................................... 70

3.13.2.5 - Object 3300h: Stop 1 Parameter ................................................................................................ 70

3.13.2.6 - Object 3301h: Stop 3 Parameter ................................................................................................ 71

3.13.2.7 - Object 305Ah: Inhibit Stop Option Code ..................................................................................... 71

3.13.2.8 - Object 3302h: Inhibit Current limit............................................................................................... 72

3.13.2.9 - Object 3310h: Low Speed Threshold.......................................................................................... 72

3.13.2.10 - Object 3320h: Motor Temperature Sensor................................................................................ 72

3.13.2.11 - Object 3321h: Motor Temperature Sensor Monitor................................................................... 73

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3.13.3 - Current Functions.............................................................................................................. 73

3.13.3.1 - Object 30D0h: Current Offset ..................................................................................................... 73

3.13.3.2 - Object 30D1h: Current Limitation................................................................................................ 74

3.13.3.3 - Object 30D4h: Current Monitor ................................................................................................... 74

3.13.3.4 - Object 30D5h: I²t Monitor............................................................................................................ 74

3.13.3.5 - Object 30E0h: Voltage Monitor ................................................................................................... 74

3.13.4 - Inputs/Outputs ................................................................................................................... 75

3.13.4.1 - Object 30FDh: Digital Inputs Bitmask ......................................................................................... 75

3.13.4.2 - Object 30C1h: Analog input 1 voltage......................................................................................... 75

3.13.4.3 - Object 30C2h: Analog input 1 low pass filter............................................................................... 75

3.13.4.4 - Object 30C4h: Analog input 1 offset compensation .................................................................... 76

3.13.4.5 - Object 30C0h: Analog input 1 set point selection........................................................................ 76

3.13.4.6 - Object 30C3h: Analog input 2 voltage......................................................................................... 76

3.13.5 - Position Control Function .................................................................................................. 77

3.13.5.1 - Object 3210h: Internal Raw Position........................................................................................... 78

3.13.5.2 - Object 3211h: Internal Position Offset ........................................................................................ 78

3.13.5.3 - Object 3212h: Motor Position...................................................................................................... 78

3.13.5.4 - Object 3213h: Second Sensor Position ...................................................................................... 78

3.13.5.5 - Object 3360h: Axis Type............................................................................................................. 79

3.13.5.6 - Object 3361h: Software position limit operation .......................................................................... 79

3.13.5.7 - Object 3350h: Absolute 16-bit Mode........................................................................................... 79

3.13.5.8 - Object 3217h: Position reference error flag ................................................................................ 80

3.13.6 - Servo On/Off Timing Function........................................................................................... 80

3.13.6.1 - Object 3304h: Amplifier Reaction Delay ..................................................................................... 80

3.13.6.2 - Object 3305h: Motor Brake Reaction Delay................................................................................ 80

3.13.7 - Position Capture Function................................................................................................. 82

3.13.7.1 - Object 3389h: Capture Input Selection ....................................................................................... 82

3.13.7.2 - Object 3380h: Capture Configuration.......................................................................................... 82

3.13.7.3 - Object 3381h: Capture Status..................................................................................................... 83

3.13.7.4 - Object 338Ah: Capture Time Filter ............................................................................................. 83

3.13.7.5 - Object 3382h: Capture Position Filter ......................................................................................... 84

3.13.7.6 - Object 3383h: Capture 1 Position ............................................................................................... 85

3.13.7.7 - Object 3384h: Capture 2 Position ............................................................................................... 85

3.13.7.8 - Object 3385h: Single Shot Capture Command (trigger).............................................................. 85

3.13.7.9 - Object 3386h: Single Shot Capture Status ................................................................................. 86

3.13.7.10 - Object 3387h: Single Shot Capture 1 Position.......................................................................... 86

3.13.7.11 - Object 3388h: Single Shot Capture 2 Position.......................................................................... 86

3.13.8 - TPDO3 Control.................................................................................................................. 87

3.13.8.1 - Object 33A0h: TPDO3 Count...................................................................................................... 87

3.13.8.2 - Object 33A1h: TPDO3 Control.................................................................................................... 87

3.13.9 - phasing Function ............................................................................................................... 87

3.13.9.1 - Object 3410h: Auto-phasing procedure ...................................................................................... 87

3.13.9.2 - Object 3414h: Motor phasing procedure..................................................................................... 88

3.13.10 - Auto-tuning Function ....................................................................................................... 88

3.13.10.1 - Object 3421h: Auto-tuning Time Interval Selection Mode ......................................................... 88

3.13.10.2 - Object 3430h: Auto-tuning Application Requirements............................................................... 88

3.13.10.3 - Object 3420h: Auto-tuning procedure ....................................................................................... 89

3.13.11 – Encoder Output............................................................................................................... 90

3.13.11.1 - Object 3487h: Encoder Emulation Output................................................................................. 90

3.13.12 – COGGING TORQUE COMPENSATION (OPTION) ...................................................... 92

3.13.12.1 - Object 3491h: Enable / Disable Cogging Torque Compensation .............................................. 92

3.13.12.2 - Object 3492h: Cogging torque acquisition procedure ............................................................... 92

3.13.13 - Digital Cam...................................................................................................................... 93

3.13.13.1 - Object 2500h: Cam Configuration Register .............................................................................. 93

3. 13.13.2 - Object 2501h: Cam Positions .................................................................................................. 94

3. 13.13.3 - Object 2502h: Cam Status....................................................................................................... 95

3.13.14 – Absolute encoder feedback............................................................................................ 95

3.13.14.1 - Object 3216h: Absolute encoder Position ................................................................................. 95

3.13.14.2 - Object 3215h: Absolute encoder position Reset procedure ...................................................... 96

3.13.14.3 - Object 3219h: Absolute encoder Position offset ....................................................................... 96

3.13.14.4 - Object 3218h: Absolute Position Range ................................................................................... 97

3.13.15 – SinCos inputs calibration................................................................................................ 97

Object 3496h: SinCos inputs error compensation....................................................................................... 97

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APPENDIX 1 - OBJECT DICTIONARY................................................................................................ 98

COMMUNICATION .................................................................................................................................. 98

COMMON ENTRIES IN THE OBJECT DICTIONARY ..................................................................................... 99

DEVICE CONTROL............................................................................................................................... 100

POSITION SENSOR GROUP .................................................................................................................. 100

PROFILE POSITION MODE.................................................................................................................... 100

HOMING MODE ................................................................................................................................... 100

POSITION CONTROL FUNCTION............................................................................................................ 101

INTERPOLATED POSITION MODE .......................................................................................................... 101

PROFILE VELOCITY MODE ................................................................................................................... 101

PROFILE TORQUE MODE ..................................................................................................................... 102

MANUFACTURER SPECIFIC .................................................................................................................. 102

APPENDIX 2 - QUICK START........................................................................................................... 105

A2.1 -OVERVIEW ............................................................................................................................... 105

A2.2 -INSTALLATION........................................................................................................................... 105

A2.2.1 - Wiring .............................................................................................................................. 105

A2.2.2 - Powering ......................................................................................................................... 105

A2.2.3 - Commissioning................................................................................................................ 105

A2.3 -OPERATION.............................................................................................................................. 106

A2.3.1 - Start communication (NMT) ............................................................................................106

A2.3.2 - Setting communication parameters (SDO) ..................................................................... 106

A2.3.3 - Start Synchronisation (SYNC)......................................................................................... 106

A2.3.4 - Exchange data (PDOs)................................................................................................... 107

A2.3.5. Servo on / Servo off.......................................................................................................... 107

A2.3.6 - Move on........................................................................................................................... 107

A2.3.7 - Other considerations....................................................................................................... 107

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Overview

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CANopen Communication Profile

Chapter 1 – Overview

3.13- REFERENCE

CiA DS-201..207 CAN Application Layer for Industrial Applications Version 1.1

CiA DS-301 Application Layer and Communication Profile Version 4.01

CiA DSP-402 Device Profile: Drive and Motion Control Version 1.1

1.2 - DEFINITIONS

CAN Controller Area Network

CiA CAN in Automation e. V. CAN-Bus international manufacturer and user organisation.

CAL CAN Application Layer. The Application layer for CAN as specified by CiA.

COB Communication Object is a CAN message. Data must be sent accross a CAN network

inside a COB.

COB-ID COB-Identifier. Each CAN message has a single identifier. There are 2032 different

identifiers in a CAN network.

NMT Network Management. One of the services of the application layer. It performs

initialisation, configuration and error handling in a CAN network.

PDO Process Data Object.

SDO Service Data Object.

Pp Profile Position Mode

pv Profile Velocity Mode

hm Homing Mode

ip Interpolated Position Mode

tq Profile Torque Mode

pc Position Control Function

CD1-k Infranor C range servo drive with resolver and encoder feedback input

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CANopen Communication Profile

Cha

ter 1

Overview

1.3 - ARCHITECTURE

Device Control: The drive starting and stopping are executed by the state machine.

The state machine - handled with a control word and a status word via CAN bus - gives the possibility to control

the state of the drive: servo on/off, start/stop movement, fault reset...

Operation modes: The operation mode defines the behaviour of the drive :

Homing Mode: In this mode, various methods can be used to find a home position.

Profile Position Mode: In this mode, a trapezoidal trajectory generator gives the drive the possibility to

execute a positioning with pre-set parameters such as target position, profile speed and acceleration.

Interpolated Position Mode: In this mode, the drive interpolates the continuous position reference from a

coordinator controller. This mode provides the possibility for multiaxis synchronisation.

Profile Velocity Mode: This is the simple speed mode with speed reference from a host controller.

Profile Torque Mode: Only current loops are closed in this mode.

By default, CD1-k drives are working in Interpolated Position Mode.

CD1-k

CAN Node

Communication Profile DS-301

Drive Profile DSP-402

Device Control

State machine

Mode of Operation

Homing Mode Position

Profile Mode

Interpolated

Position

Mode

Profile

Velocity

Mode

Profile

Torque Mode

CAN network

10 Chapter 2 – Communication Profile

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CANopen Communication Profile

Chapter 2 – Communication Profile

2.1 - COMMUNICATION OBJECTS

2.1.1 - CAN TELEGRAM

SOM COB-ID RT

CTRL Data segment CRC ACK EOM

SOM : Start Of Message

COB-ID : COB-Identifier of 11 bits

RTR : Remote Transmission Request

CTRL: Control field

Data : up to 8 bytes

CRC : Cyclic Redundancy Check

ACK : Acknowledge

EOM : End Of Message

2.1.2 - DEFAULT COB-ID

The COB-ID is of 11 bits. Node-ID (bits 0 - 6) is the drive address from 1 to 127.

10 9 8 7 6 5 4 3 2 1 0

Function Code NODE-ID

Default COB-ID for the CD1-k drive:

Broadcast objects of the pre-defined connection set:

Object Function Code Resulting COB-ID Communication Parameter at Index

NMT 0000 0 -

SYNC 0001 128 (80h) 1005h, 1006h, 1007h

Peer-to-peer objects of the pre-defined connection set:

Object Function Code Resulting COB-ID Communication Parameter at Index

EMERGENCY 0001 129 (81h) - 255 (FFh) 1014h

PDO1 (TX) 0011 385 (181h) - 511 (1FFh) 1800h

PDO1 (RX) 0100 513 (201h) - 639 (27Fh) 1400h

PDO2 (TX) 0101 641 (281h) - 767 (2FFh) 1801h

PDO2 (RX) 0110 769 (301h) - 895 (37Fh) 1401h

PDO3 (TX) 0111 897 (381h) - 1023 (3FFh) 1802h

PDO3 (RX) 1000 1025 (401h) - 1151 (47Fh) 1402h

SDO (TX) 1011 1409 (581h) - 1535 (5FFh) 1200h

SDO (RX) 1100 1537 (601h) - 1663 (67Fh) 1200h

TX = Transmit from drive to master

RX = Receive by drive from master

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