CANopen Interface for SG5 and SG7

CANopen Interface Manual

CANopen Interface for SG5 and SG7

User Manual

NTI AG / LinMot

®

This document applies to the following drives:

E12x0-xx-xx-xxx (SG5)

E14x0-xx-xx-xxx (SG5)

C11x0-xx-xx-xxx (SG7)

A11x0-xx-xx-xxx (SG7)

(with CANopen Interface SW installed)

www.LinMot.com

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© 2014 NTI AG

This work is protected by copyright.

Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying, recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole or in part, without the prior written consent of NTI AG.

LinMot® is a registered trademark of NTI AG.

The information in this documentation reflects the stage of development at the time of press and is therefore without obligation.

NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement.

Document version 1.91 / mk, May 2014


® www.LinMot.com

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Table of Contents

1 System overview..............................................................................................................4

2 Connecting the CAN bus.................................................................................................4

2.1 Pin assignment of the CMD Connector (X7, X8)........................................................4

2.2 Pin assignment of the Control Connector (X42, X43)................................................5

2.3 Pin assignment of the Mot / Periph I/O Connector (X44)...........................................5

2.4 CAN Termination.........................................................................................................6

2.4.1 Activating the termination resistor (E12xx/E14xx)...............................................6

2.4.2 Activating the termination resistor (C11xx)..........................................................7

2.4.3 Activating the termination resistor (A11xx)..........................................................7

3 CANopen Parameters......................................................................................................8

4 CANopen Variables........................................................................................................22

5 Mapping of the PDOs.....................................................................................................23

5.1 Default Mapping........................................................................................................23

5.1.1 Default Mapping of the Receive PDOs.............................................................23

5.1.2 Default Mapping of the Transmit PDOs.............................................................24

5.1.3 Default Identifier................................................................................................25

5.2 Using the Motion Command Interface in asynchronous transmission modes.........25

6 Object Dictionary...........................................................................................................26

6.1 Communication Profile Area (1000h - 1FFFh)..........................................................26

6.2 Manufacturer specific Profile Area (2000h – 5FFFh)...............................................34

6.2.1 UPID Commands..............................................................................................34

6.2.2 System Commands...........................................................................................38

6.2.3 Curve Service Commands................................................................................40

6.2.4 Error Log Commands........................................................................................45

6.2.5 Command Table Commands.............................................................................47

7 Examples........................................................................................................................53

7.1 Homing and motion commands................................................................................53

8 Reset Parameters to default values.............................................................................55

9 Configuration of the drive with an EDS File................................................................56

9.1 Configuring a PDO variable by UPID with the EDS file............................................56

9.1.1 Setting the UPIDs of the parameter to map to a PDO......................................56

9.1.2 Getting UPID PDO data into PLC variables......................................................56

9.1.3 Example.............................................................................................................57

10 Interface Error Codes..................................................................................................58

11 Contact Addresses.......................................................................................................60



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1 System overview

The LinMot CANopen drives comply with the following specifications:

–

CiA 102 DS V2.0 CAN physical layer for industrial applications

–

CiA 301 DS V4.0.2 – CANopen application layer and communication profile

–

CiA 303-3 DR V1.3: CANopen additional specification – Part 3: Indicator specification

–

CiA 306 DS V1.3: Electronic data sheet specification for CANopen

Further information on specifications can be found under: http://www.can-cia.org/

The following resources are available:

- 4 TxPDO

- 4 RxPDO

- 1 TxSDO

- 1 RxSDO

The supported protocols include:

NMT Error Control (Node Guarding Protocol or Heartbeat Protocol)

PDO (Transmission types 1-240, 250, 253 and 254)

-

SDO Upload and Download

-

NMT (Start, Stop, Enter PreOp, Reset Node, Reset Communication)

Boot-Up Message

An EDS (Electronic Data Sheet) file is provided for convenient configuration of all

CANopen functions of the drive via a PLC.

2 Connecting the CAN bus

The CANopen bus can be connected either via X7/8, X42/X43 or X44 depending on the drive type.

2.1 Pin assignment of the CMD Connector (X7, X8)

2 x RJ45 with 1:1 connected signals. Standard twisted pairs: 1/2, 3/6, 4/5, 7/8.

Use Ethernet cables according the EIA / TIA 568A standard.

Pin 1

Pin 2

Pin 3

Pin 4/5

Pin 6

Pin 7

Pin 8

RS485 A

RS485 B

RS485 Y

Ground

RS485 Z

CAN H

CAN L



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2.2 Pin assignment of the Control Connector (X42, X43)

2 x RJ45 with 1:1 connected signals. Standard twisted pairs: 1/2, 3/6, 4/5, 7/8.

Use Ethernet cables according the EIA / TIA 568A standard.

Pin 1

Pin 2

Pin 3

Pin 4/5

Pin 6

Pin 7

Pin 8

C Dig IN 1

C Dig IN 2

C Dig IN 3

Ground

C Dig OUT 1

CAN H

CAN L

2.3 Pin assignment of the Mot / Periph I/O Connector (X44)

Molex Micro-Fit 3.0™ (Molex Art.Nr.: 43045-1000)

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 10

DGND

MP DIG IN 1

MP DIG IN 2

CANGND

CAN H

24VDC OUT

MP DIG OUT 1

MP DIG IN 3

AnIn

CAN L



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2.4 CAN Termination

The CAN-bus must be terminated by two 120 Ohm resistors at both ends of the bus line, according to the following figure:

2.4.1 Activating the termination resistor (E12xx/E14xx)

For easy installation, the LinMot CANopen drives has built-in termination resistors, which can be activated, if the LinMot drive is at the end of the bus line, and if there is no termination in the connector.

S5

Switch 1: AnIn2 pull-down (4k7Ω Pulldown on X4.4). Set to ON, if X4.4 is used as digital output

Switch 2: Termination resistor for RS485 on CMD (120Ω between pin 1 and 2 on X7/X8) on/off

Switch 3: CAN termination on CMD (120Ω between pin 7 and 8 on X7/X8) on/off

Switch 4: CAN termination on ME (120Ω between pin 7 and 8 on X10/X11) on/off

( Factory setting: all switches “off” )

To activate the built-in termination resistors, switch 3 of S5 has to be set to ON.



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2.4.2 Activating the termination resistor (C11xx)


S4

Switch 1: RS232 / RS485 select

Switch 2: Termination resistor for RS485 on CMD (120Ω between pin 1 and 2 on X7/X8) on/off

Switch 3: CAN termination on CMD (120Ω between pin 7 and 8 on X7/X8) on/off

Switch 4: Bootstrap



2.4.3 Activating the termination resistor (A11xx)


S5

Switch 1: CAN termination (120Ω between CANL and CANH) on/off

Switch 2: Set all drive parameters to default

Switch 3: Bootstrap





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3 CANopen Parameters

The CANopen drives have an additional parameter tree branch, which can be configured with the distributed LinMot-Talk software. With these parameters, the CANopen behaviour can be defined.

The LinMot-Talk1100 software can be downloaded from http://www.linmot.com.

Depending on the specific drive type used, not all parameters may be present.

It is also possible to configure the drive via a PLC by writing to the appropriate CANopen dictionary entries. This has to be done when the drive is in the pre-operational state.

If the PLC reconfigures the drive, the changes are not reflected in the parameter section of the LinMot-Talk software. The values sent via the PLC will take precedence over the configuration seen in the

LinMot-Talk software!

Dis-/Enable With the Dis-/Enable parameter the LinMot drive can be run without the CANopen interface going online. So in a first step the system can be configured and run without any bus connection.

CANopen Interface\ Dis-/Enable

Disable The drive does not take part in the CANopen communication.

Enable The drive takes part in the CANopen communication.



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Baud Rate

In this section the parameters for the baud rate selection are located.

Baud Rate Source Select

Defines the source of the baud rate definition.

CANopen Interface\ Baud Rate \Baud Rate Source Select

By Hex Switch

S1

CAN bus baud rate dependent on S1:

0 = By BTR

1 = 125 kBit/s

2 = 250 kBit/s

3 = 500 kBit/s

4 = 1 Mbit/s

By Parameter The CAN bus baud rate is selected by the

“Baudrate Parameter”:

By BTR

- 125 kBit/s [1]

- 250 kBit/s [2]

- 500 kBit/s [3]

- 1 Mbit/s [4]

CAN bus baud rate is defined according to the Bit Timing Register

Baud Rate Parameter Definition

The baud rate parameter defines the CAN bus baud rate for the CANopen connection.

CANopen Interface\ Baud Rate\ Baud Rate Parameter

Definition

125 kBit/s

250 kBit/s

CAN bus baud rate = 125 kBit/s


500 kBit/s

1 Mbit/s


CAN bus baud rate = 1 Mbit/s

Advanced Bit Timing Setting

For special applications where no standard setting for the baud rate works, this parameter defines the bit timing for the CAN bus. The setting of the baud rate by

Bit Timing Register is only necessary on special bus configurations: For example, if there are devices on the bus that have slow optocouplers.



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Node-ID

In this section the Node-ID can be configured.

Node-ID Source Select

This parameter defines from which source the Node-ID is taken.

CANopen Interface\ Node-ID\ Node-ID Source Select

By Hex Switch

S2

By Hex Switches

S1 and S2

By Parameter

The Node-ID is determined by the hex switch

S2.

The Node-ID is determined by the two hex switches S1 and S2.

The Node-ID is determined via an additional parameter.

Node-ID Parameter Value

Used Node-ID, when “By Parameter” is selected as source.

The default value is 63 (3Fh).



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PDO Configuration

TxPDO 1..4 Enable

Selector for enabling/disabling the transmit PDO 1..4.

CANopen Interface\ PDO Configuration\ TxPDO 1..4\ TxPDO

1..4 Enable

Disable

Enable

The PDO is deactivated

The PDO is activated

Transmission Type

This defines the transmission type according to DS 301. The default value is 1

(cyclic synchronous). Type 253 (Asynchronous RTR only) and 254 (Asynchronous with inhibit time) are supported as well.

The transmission type 250 is LinMot specific (it is reserved according to DS 301).

If the transmission type 250 is selected, the transmit PDO is sent immediately after reception of the corresponding receive PDO (TxPDO 1 corresponds to RxPDO 1 and so on). It can be used to realize a simple Poll-Request / Poll-Response type bus structure.

No. of SYNC msgs between transmissions

Defines how many SYNC messages have to be received before the TxPDO is sent again (this configures transmission types 1-240).

Inhibit Time [us]

Defines the minimal time between two send events in multiples of 100us.

Event Time [ms]

Defines the maximal time between two send events in ms.



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RxPDO 1..4 Enable

Selector for enabling/disabling the receive PDO 1..4.

CANopen Interface\ PDO Configuration\ RxPDO 1..4\RxPDO

1..4 Enable

Disable The PDO is deactivated

Enable The PDO is activated

Transmission Type

This defines the transmission type according to DS 301. The default value is cyclic synchronous (transmission types 1-240). Type 254 (Asynchronous with inhibit

Time) is supported as well.

The transmission type 250 is LinMot specific (its reserved according to DS 301). If the transmission type 250 is selected, the transmit PDO is sent immediately after reception of the corresponding receive PDO (TxPDO 1 corresponds to RxPDO 1 and so on). It can be used to realize a simple Poll-Request / Poll-Response type bus structure.



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PDO Mapping

TxPDO 1

These parameters define the mapping of the transmit PDO 1.

Eight bytes can be mapped in total.

CANopen Interface\ PDO Mapping\ TxPDO 1

Status Word [16Bit] If this Boolean parameter is set, the status word is transmitted with TxPDO 1.

State Var [16Bit] If this Boolean parameter is set, the state var (high byte = state / low byte = sub state) is transmitted with TxPDO 1.

Actual Position

[32Bit]

If this Boolean parameter is set, the 32bit actual position is transmitted with

TxPDO 1.

By UPID [8-32Bit] This parameter can be used for free mapping of any parameter or variable to

TxPDO 1 (mapping through Unique

Parameter ID = UPID, 0 = no mapping).

The corresponding data size in TxPDO 1 is derived from the mapped UPID.

For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean.



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TxPDO 2




Demand Position [32Bit] If this Boolean parameter is set, the

32-bit demand position is transmitted with TxPDO 2.

Demand Current [32Bit] If this Boolean parameter is set, the

32-bit demand current value (= motor current) is transmitted with TxPDO 2.

By UPID [8-32Bit] This parameter can be used for free mapping of any parameter or variable to TxPDO 2 (mapping through Unique

Parameter ID = UPID, 0 = no mapping). The corresponding data size in TxPDO 2 is derived from the mapped UPID.




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TxPDO 3




Warn Word [16Bit] If this Boolean parameter is set, the warn word (= bit coded warnings) is transmitted with TxPDO 1.

Logged Error Code

[16Bit]

Motion Cmd Status

[16Bit]

If this Boolean parameter is set, the logged error code is transmitted with

TxPDO 1.

Feedback of the motion command header (toggle, etc..)




TxPDO 4









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RxPDO 1

These parameters define the mapping of the receive PDO 1.


CANopen Interface\ PDO Mapping\ RxPDO 1

Control Word [16Bit] If this Boolean parameter is set, the control word has to be transmitted with

RxPDO 1.

Motion Cmd Header

[16Bit]

Motion command interface header.

Motion Cmd Par Byte

0..3 [32Bit]

By UPID [8-32Bit]

The first 4 bytes of the command parameters of the motion command interface.

This parameter can be used for free mapping of any parameter or variable to RxPDO 1 (mapping through Unique

Parameter ID = UPID, 0 = no mapping). The corresponding data size in RxPDO 1 is derived from the mapped UPID.




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RxPDO 2




Motion Cmd Slave

Header [16Bit]

To ensure data consistency with asynchronous communication modes, the slave headers have to be used when spreading motion commands across several PDOs.

Motion Cmd Par Byte

4..7 [32Bit]

Motion Cmd Par Byte

8..9 [16Bit]

The second 4 bytes of the command parameters of the motion command interface.

The first half of the third 4 bytes of the command parameters of the motion command interface.

Motion Cmd Par Byte

8..11 [32Bit]

By UPID [8-32Bit]

The third 4 bytes of the command parameters of the motion command interface.






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RxPDO 3




Motion Cmd Slave

Header [16Bit]


Motion Cmd Par Byte

10..13 [32Bit]

Motion Cmd Par Byte

14..15 [16Bit]

The fourth 4 bytes of the command parameters of the Motion Command

Interface.

The second half of the fourth 4 bytes of the command parameters of the

Motion Command Interface.

Motion Cmd Par Byte

12..15 [32Bit]

Motion Cmd Par Byte

16..19 [32Bit]

By UPID [8-32Bit]

The fifth 4 bytes of the command parameters of the Motion Command

Interface.

The sixth 4 bytes of the command parameters of the Motion Command

Interface.






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RxPDO 4




Motion Cmd Slave

Header [16Bit]


Motion Cmd Par Byte

16..19 [32Bit]

By UPID [8-32Bit]

The sixth 4 bytes of the command parameters of the motion command interface.






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NMT Error Control

The heartbeat mechanism takes precedence over the node guarding protocol.

If object 1017h of the object dictionary (Producer Heartbeat Time) is different from zero, the heartbeat protocol is used.

If this entry is zero and the guard time multiplied with the life time factor is not zero, the node guarding protocol is used instead.

If all of these values are zero, no error control mechanism will be active.

The drive is also capable of consuming a heartbeat. If object 1016h sub 1 of the object dictionary (Consumer Heartbeat Time 1) is different from zero, a heartbeat is consumed with the node-ID and time (given in ms) taken from this entry.

Node Guarding Protocol

Directory for configuring the node guarding protocol.

CANopen Interface\ NMT Error Control\ Node Guarding

Protocol

Guard Time The guard time in ms, when the node guarding mechanism is active.

Life Time

Factor

Multiplier used with the Guard Time.

The total time that has to pass for a node to trigger a failure is called the node life time. The node life time is the guard time multiplied by the life time factor. Node Guarding starts with the reception of the first guarding message.

Heartbeat Protocol

These parameters configure the heartbeat protocol.

CANopen Interface\ NMT Error Control\ Heartbeat Protocol

Producer Time Cycle time for producing a heartbeat in ms.

Time for the consumed heartbeat in ms.

Consumer

Time

Consumed

Node-ID

(Master)

Node-ID of the master, who's heartbeat is monitored.



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Legacy Sync Watchdog

These parameters configure the legacy watchdog of the sync telegram. This can be used together with heartbeat or node guarding.

This feature is not part of the DS 301 specifications and is LinMot specific.

The time between the arrival of two sync telegrams is measured. If the measured time exceeds 1.5 * LSW monitored cycle time an error is generated.

The Legacy Sync Watchdog is only active while the NMT-State of the drive is operational. Monitoring via the LSW starts automatically on the transition from

Pre-Operational to Operational state.

Watchdog Enable

Enabling/Disabling the legacy sync watchdog feature.

CANopen Interface\ NMT Error Control\ Legacy Sync

Watchdog\ LSW Enable

Disable

Enable

The sync watchdog is deactivated.

The sync watchdog is activated.

LSW monitored Cycle Time

The real expected sync cycle time can be configured here.



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4 CANopen Variables

CANopen

These variables show information about the status of the CANopen communication:

CANopen

NMT State

Node-ID

Baud Rate

Active Error

Control Protocol

SyncCycle

CAN Bit Timing

Shows the NMT state of the drives.

(INITIALISING, STOPPED,

PREOPERATIONAL, OPERATIONAL)

Active node-ID of the drive.

Active baud rate of the drive.

Shows if a guarding protocol is active.

(None, Heartbeat Protocol, Node Guarding

Protocol)

Time in [us] between the reception of two

SYNC messages.

Value of the CAN Bit Timing Register.

CANopen: Object Dictionary

All supported object dictionary entries can be read here.



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5 Mapping of the PDOs

5.1 Default Mapping

The PDOs are mapped by default according to the following scheme:

5.1.1 Default Mapping of the Receive PDOs

RxPDO 1

Control Word

Length

[16Bit]

Motion Cmd Header [16Bit]

Motion Cmd Par Byte 00..03

[32Bit]

RxPDO 2 Length


[32Bit]


[32Bit]

RxPDO 3 Length


[32Bit]


[32Bit]

RxPDO 4

A maximum of 4 parameters with a total maximum length of 64 Bit can be mapped by

UPID

Length

[64Bit]



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5.1.2 Default Mapping of the Transmit PDOs

TxPDO 1

Status Word

State Var

Actual Position

TxPDO 2

Demand Position

Demand Current

TxPDO 3

Warn Word

Logged Error Code

A maximum of 4 parameters with a total maximum length of 32 Bit can be mapped by UPID

TxPDO 4

A maximum of 4 parameters with a total maximum length of 64 Bit can be mapped by UPID

Length

[16Bit]

[16Bit]

[32Bit]

Length

[32Bit]

[32Bit]

Length

[16Bit]

[16Bit]

[32Bit]

Length

[64Bit]

If the application requires it, the mapping can be completely changed by the PDO Mapping parameter settings. Many applications do not require to use all resources.



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5.1.3 Default Identifier

The default identifiers (11 bit identifier) are allocated by the following scheme:

10 9

Function Code

8 7 6

Node ID

5 4 3 2 1 0

This results in the following table:

Object

NMT

SYNC

Emergency

TxPDO 1

TxPDO 2

TxPDO 3

TxPDO 4

RxPDO 1

RxPDO 2

RxPDO 3

RxPDO 4

TxSDO

RxSDO

NMT Error Control

(NodeGuarding,

Heartbeat)

0100b

0110b

1000b

1010b

1011b

1100b

1110b

Function Code

(binary)

0000b

0001b

0001b

0011b

0101b

0111b

1001b

COB ID

(hex)

00h

80h

COB ID

(dec)

0

128

81h – FFh 129-255

181h – 1FFh 385-511

281h – 2FFh 513-639

381h – 3FFh 641-767

481h – 4FFh 769-895

Object for Comm.

Parameter / Mapping

-

1005h / 1006h / 1007h

1014h

1800h / 1A00h

1801h / 1A01h

1802h / 1A02h

1803h / 1A03h

201h – 27Fh 897-1023 1400h / 1600h

301h – 37Fh 1025-1151 1401h / 1601h

401h – 47Fh 1153-1279 1402h / 1602h

501h – 57Fh 1281-1407 1403h / 1603h

581h – 5FFh 1409-1535 -

601h – 67Fh 1537-1663 -

701h – 77Fh 1793-1919 100Ch / 100Dh (NG)

1016h / 1017h (Heartbeat)

5.2 Using the Motion Command Interface in asynchronous transmission modes

Because the CMD interface of the LinMot drives consists of more than 8 bytes, it is necessary to link two or more RxPDOs together to ensure data consistency.

This is done by the “Motion CMD Slave Header”. In order to execute a command, the toggle bits of all headers have to be changed to the same new value. On the slave header only the last 4 bits are evaluated, so it is possible to simply copy the “CMD Header” from RxPDO 1 to the “Motion

CMD Slave Header” of RxPDOs 2-4.



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6 Object Dictionary

In this chapter all entries in the object dictionary, which are supported by the drives, are listed.

6.1 Communication Profile Area (1000h - 1FFFh)

Index

1000h

1001h

1005h

1006h

1007h

1008h

1009h

100Ah -

100Ch -

100Dh -

1014h -

-

-

-

-

-

-

-

Sub-Index Name

Device Type

Access Type Data Type ro Unsigned32

Always zero (= no standardized device profile).

Error register ro Unsigned8

Only bit 0 is supported, which indicates a generic error.

COB-ID SYNC rw Unsigned32

Defines the COB-ID of the Synchronization Object (SYNC).

Communication cycle period rw Unsigned32

This object defines the communication cycle period in μs. This period defines the

SYNC interval. It is 0 if not used. The object is only relevant for SYNC producers and is not used in CANopen slaves.

Synchronous window length rw Unsigned32

Contains the length of the time window for synchronous PDOs in μs.

It is 0 if not used.

This parameter is for compatibility only, it is not used in the LinMot drive.

Manufacturer Device Name const String

Contains the Device Name (including HW Revision) as an ASCII string.

Manufacturer HW Version const String

Contains the Device Serial Number as an ASCII string.

Manufacturer SW Version const String

Contains the version of the installed firmware as an ASCII string.

Guard Time rw Unsigned16

Contains the Guard Time used in the node guarding protocol.

Life Time Factor rw Unsigned8

Contains the Life Time Factor used in the node guarding protocol.

COB-ID Emergency Object rw Unsigned32

Defines the COB-ID of the emergency object (EMCY).



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Index

1016h

1017h

1018h -

0h

1h

-

-

Sub-Index Name

0h

1h

Consumer heartbeat time

Number of Entries

Consumer heartbeat time 1

-

Access Type Data Type

ro rw

Unsigned8

Unsigned32

The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat. Monitoring starts after the reception of the first heartbeat. If the consumer heartbeat time is 0 the corresponding entry is not used. The time has to be a multiple of 1ms.

Producer heartbeat time rw Unsigned16

The producer heartbeat time defines the cycle time of the heartbeat. If not used it is to be set to 0. The time has to be a multiple of 1ms.

Identity Object


ro

-

Unsigned8

2h

Vendor ID ro Unsigned32

The vendor ID contains a unique value allocated to each manufacturer of

CANopen devices. The vendor ID of LinMot is 0000 0156h.

Product Code ro Unsigned32

3h

4h

Contains the drive type.

Revision Number ro Unsigned32

Contains the drive version.

Serial Number ro Unsigned32

Contains the last four ASCII characters of the serial number.



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Index

1400h -

Sub-Index Name

Receive PDO Communication

Parameter 0 (RxPDO 1)

0h

1h


COB-ID ro ro

-


-

Unsigned8

Unsigned32

31

0: PDO is valid

1: PDO is invalid

30

0: RTR allowed

1: no RTR allowed

29

0: (11-bit ID)

1: (29-bit ID)

28-11

All 0 if 11-bit identifier

10-0

11-bit identifier

1401h

1402h -

-

2h

0h

1h

2h

0h

1h

2h

The PDO valid/not valid bit allows to select which PDOs are used in the operational state. Only this bit can be changed by writing to this parameter. The identifiers themselves cannot be changed. The default ID is 200h + Node-ID.

Transmission type rw Unsigned8

Only transmission types 1 (cyclic synchronous), 254 (asynchronous) and 250

(poll-request / poll-response) are supported. Type 250 is LinMot specific and not part of the CANopen standard. The Default is 1 (cyclic synchronous).



-


COB-ID ro ro

Unsigned8

Unsigned32

The default ID is 300h + Node-ID. See 1400h sub 1h for additional details.


The default is 1 (cyclic synchronous). See 1400h sub 2h for additional details.



-


COB-ID ro ro

Unsigned8

Unsigned32






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Index

1403h

1600h

16-31 index

1601h

1602h -

-

-

-

Sub-Index Name



0h

1h


COB-ID

2h

0h

1h-8h

-

Access Type ro ro

-

Data Type

Unsigned8

Unsigned32




Receive PDO Mapping


-

Number of mapped application objects in PDO rw Unsigned8

Number of valid mapping entries. Can be between 0 and 8.

PDO Mapping Entry 1-8 rw Unsigned32

Contains the mapping for RxPDO 1. A mapping entry is built as follows:

8-15 sub-index

0-7

Object length

0h

1h-8h

0h

1h-8h



Number of mapped application objects in PDO

rw

-

Unsigned8



Contains the mapping for RxPDO 2 See 1600h sub 1-8h for additional details.



-







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Index

1603h

1800h -

-

Sub-Index Name



0h Number of mapped application objects in PDO

1h-8h

0h

1h

-

Access Type rw

-

Data Type

Unsigned8




Transmit PDO

Communication Parameter 0

(TxPDO 1)

-


COB-ID ro ro

Unsigned8

Unsigned32

31

0: PDO is valid

1: PDO is invalid

2h

3h

4h

30

0: RTR allowed

1: no RTR allowed

29

0: (11-bit ID)

1: (29-bit ID)

28-11

All 0's if 11-bit identifier

10-0

11-bit identifier

The PDO valid/not valid bit allows to select which PDOs are used in the operational state. Only this bit can be changed by writing to this parameter. The identifiers themselves cannot be changed. The default ID is 180h + Node-ID.


Only transmission types 1 (cyclic synchronous), 254 (asynchronous) and 250

(poll-request / poll-response) are supported. Type 250 is LinMot specific and not part of the CANopen standard. The Default is 1 (cyclic synchronous).

Inhibit time rw Unsigned16

This time is a minimum interval for PDO transmission in asynchronous modes.

The value is defined as multiple of 100μs.

Reserved rw Unsigned8

5h Event timer rw Unsigned16

In asynchronous modes additionally an event time can be used for TPDOs. If an event timer exists for a TPDO (value not equal to 0) the elapsed timer is considered to be an event. The event timer elapses as a multiple of 1 ms . This event will cause the transmission of this TPDO in addition to otherwise defined events.



Page 30/60


Index

1801h

1802h -

-

Sub-Index Name

Transmit PDO


(TxPDO 2)

0h

1h

2h


COB-ID

-


-

Data Type

Unsigned8

Unsigned32




3h

4h

5h

Inhibit time rw

See 1800h sub 3h for additional details.

Reserved

-

rw

Event timer rw

Unsigned16

Unsigned8

Unsigned16

0h

1h

2h

3h

4h

5h


Transmit PDO


(TxPDO 3)

-

Number of Entries ro

-

Unsigned8

COB-ID ro Unsigned32




Inhibit time rw Unsigned16


Reserved rw

-

Event timer rw


Unsigned8

Unsigned16



Page 31/60


Index

1803h

1A00h -

1A01h -

-

Sub-Index Name

Transmit PDO


(TxPDO 4)

0h

1h

2h


COB-ID

-


-

Data Type

Unsigned8

Unsigned32




3h

4h

5h

Inhibit time rw


Reserved

-

rw

Event timer rw

Unsigned16

Unsigned8

Unsigned16

0h

1h-8h

0h

1h-8h


Transmit PDO Mapping

Parameter 0 (TxPDO 1)

-

Number of mapped application objects in PDO rw

-

Unsigned8



Contains the mapping for TxPDO 1 See 1600h sub 1-8h for additional details.



-







Page 32/60


Index

1A02h -

Sub-Index Name



0h Number of mapped application objects in PDO

1A03h -

1h-8h

0h

1h-8h

-

Access Type rw

-

Data Type

Unsigned8






-







Page 33/60


6.2 Manufacturer specific Profile Area (2000h – 5FFFh)

6.2.1 UPID Commands

Parameters can be modified via their UPIDs (Unique Parameter ID) via CANopen. To use a UPID command, an SDO read or write has to be performed on the index “2000h + UPID”. The sub-index specifies the command which is performed.

Index

2000h +

UPID

Sub-Index Description

01h RAM Value

Access Type Data Type rw Bool - Unsigned32

Read / Write the RAM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be read or written.

Read RAM Value by UPID

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

Data

SDO CS

40h

Byte 01 (LSB) yyh

Index

02 yyh

03

Sub-Index

01h

04

-

05

-

06

yy yy: 2000h + UPID

-

07

-

08 (MSB)

Write RAM Value by UPID

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

Data

SDO CS

23h


Index

02 yyh

03

Sub-Index

01h

04 xxh

05

Data xxh

06

yy yy: 2000h + UPID xx xx xx xx: Value to write (size depends on the UPID that will be written)

xxh

07

Data xxh

08 (MSB)



Page 34/60


Index

2000h +

UPID


02h ROM Value

Access Type rw

Data Type

Bool - Unsigned32

Read / Write the ROM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be read or written. If a value in the ROM is changed, it is not immediately reflected in the RAM. Values are read from the ROM to the RAM on startup of the drive. Use the “RAM/ROM Write” command (sub-index 06h) to change both values at the same time.

Read ROM Value by UPID


Data

SDO CS

40h


Index

02 yyh

03

Sub-Index

02h

04

-

05

-

06

yy yy: 2000h + UPID

Write ROM Value by UPID


Data

SDO CS

23h


Index

02 yyh

03

Sub-Index

02h

04 xxh

05

Data xxh

06


-

07

-

08 (MSB) xxh

07

Data xxh

08 (MSB)

Index

2000h +

UPID


03h Min Value

Access Type Data Type ro Bool - Unsigned32

The minimal possible value of the UPID is returned.

Read Min Value by UPID


Data

SDO CS

40h


Index

02 yyh

03

Sub-Index

03h

04

-

05

-

06

yy yy: 2000h + UPID

-

07

-

08 (MSB)



Page 35/60


Index

2000h +

UPID


04h Max Value

Access Type ro

Data Type


The maximal possible value of the UPID is returned.

Read Max Value by UPID


Data

SDO CS

40h


Index

02 yyh

03

Sub-Index

04h

04

-

05

-

06

yy yy: 2000h + UPID

-

07

-

08 (MSB)

Index

2000h +

UPID


05h Default Value

Access Type ro

The default value of the UPID is returned.

Data Type


Read Default Value by UPID


Data

SDO CS

40h


Index

02 yyh

03

Sub-Index

05h

04

-

05

-

06

yy yy: 2000h + UPID

-

07

-

08 (MSB)

Index

2000h

+ UPID


06h RAM/ROM Write

Access Type Data Type wo Bool - Unsigned32

Write the RAM and ROM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be written.

Write RAM/ROM Value by UPID


Data

SDO CS

23h


Index

02 yyh

03

Sub-Index

06h

04 xxh

05

Data xxh

06


xxh

07

Data xxh

08 (MSB)



Page 36/60


Index

2000h


20h Start Getting UPID List

Access Type wo

Data Type

Unsigned16

With this command, the starting UPID can be set from which the command “Get

Next UPID List item” begins returning info when called. This command has to be sent at least once before information on UPIDs can be retrieved via the “Get Next

UPID List item” command.

Start getting UPID List


Data

SDO CS

23h


Index

02 yyh

03

Sub-Index

20h

04 xxh

05

Data xxh

06

xx xx xx xx: Any Data yy yy: 2000h + UPID

xxh

07

Data xxh

08 (MSB)

Index

2000h


21h Get Next UPID List item


With this command information on UPIDs can be read. After the initialization with the command “Start getting UPID List”, information on UIPIDs can be read with this command. The command can be repeatedly issued. With each new command, the information on the next existing UPID is sent.

When the end of the list is reached, the UPID FFFFh is sent.

Get Next UPID List item


Data

SDO CS

40h


Index

02 yyh

03

Sub-Index

21h

04

-

05

-

06

yy yy: 2000h + UPID

-

07

-

08 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

Data

SDO CS

42h


Index

02 yyh

03

Sub-Index

21h

04

Address Usage yyh yyh

05 06

yy yy: Address Usage xx xx: UPID which was found

Address Usage is interpreted as follows:

UPID found xxh xxh

07 08 (MSB

Bit Nr.: 0

(LSB)

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

(MSB)



Page 37/60


Index

2000h


22h Start Getting Modified UPID

List

Access Type wo

Data Type

Unsigned16

This command is used in the same way as the “Start Getting UPID List” command (2000h sub 20h). Only UPIDs with values that differ from their default values are returned.

Index

2000h


23h Get Next Modified UPID List item

Access Type ro

Data Type

Unsigned32

This command is used the in same way as the “Get Next UPID List item” command (2000h sub 21h). Only UPIDs with values that differ from their default values are returned.

6.2.2 System Commands

Index

2000h


07h Set ROM to default

(OS)

Access Type wo

Data Type

Unsigned8 - Unsigned32

Set all parameters of the OS to default values. The execution of this command can take several seconds. Any data can be written for the command to be executed.

Set ROM to default (OS)


Data

SDO CS

23h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

07h

04 xxh

05 xxh

06

Data xxh

07

xx xx xx xx: Any Data

xxh

08 (MSB)

Index

2000h



(MC SW)

Access Type wo

Data Type


Set all parameters of the MC SW to default values. he execution of this command can take several seconds. Any data can be written for the command to be executed.

Set ROM to default (MC SW)


Data

SDO CS

23h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

08h

04 xxh

05 xxh

06

Data xxh

07


xxh

08 (MSB)



Page 38/60


Index

2000h



(Interface)

Access Type wo

Data Type


Set all parameters of the Interface to default values. he execution of this command can take several seconds. Any data can be written for the command to be executed.

Set ROM to default (Interface)


Data

SDO CS

23h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

09h

04 xxh

05 xxh

06

Data xxh

07


xxh

08 (MSB)

Index

2000h


0Ah Set ROM to default

(Application)

Access Type wo

Data Type


Set all parameters of the Application to default values. he execution of this command can take several seconds. Any data can be written for the command to be executed.

Set ROM to default (Application)


Data

SDO CS

23h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

0Ah

04 xxh

05 xxh

06

Data xxh

07


xxh

08 (MSB)

Index Sub-Index Description Access Type Data Type

2000h 0Bh Reset Drive wo Unsigned8 - Unsigned32

Initiates a software reset of the drive. Any data can be written for the command to be executed.

Reset Drive


Data

SDO CS

23h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

0Bh

04 xxh

05 xxh

06

Data xxh

07


xxh

08 (MSB)



Page 39/60


Index

2000h


35h Stop MC and APPL Software

Access Type wo

Data Type


MC SW and Application SW are stopped. Any data can be written for the command to be executed.

Stop MC and APPL Software


Data

SDO CS

23h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

35h

04 xxh

05 xxh

06

Data xxh

07


xxh

08 (MSB

Index

2000h


36h Start MC and APPL Software

Access Type wo

Data Type


MC SW and Application SW are started. Any data can be written for the command to be executed.

Start MC and APPL Software


Data

SDO CS

23h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

36h

04 xxh

05 xxh

06

Data xxh

07


xxh

08 (MSB)

6.2.3 Curve Service Commands

See the “LinMot 1100 Drive Configuration over Fieldbus Interfaces” for additional detail on the use of curve commands and a description of the content of the curve info and data blocks.

Index

2000h


40h Curve Service: Save to Flash

(only available on SG5)

Access Type wo

Data Type


All curves are saved from the RAM to the flash and are thus permanently saved.

MC SW and application have to be stopped in order for this command to work

(see command 2000h sub 35: Stop MC and Application Software).

Any data can be written for the command to be executed.

Curve Service: Save to Flash


Data

SDO CS

23h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

40h

04 xxh

05 xxh

06

Data xxh

07


xxh

08 (MSB)



Page 40/60


Index

2000h


41h Curve Service: Delete all

Curves

Access Type wo

Data Type


All curves in the RAM (SG5) are deleted. This does NOT delete curves from the flash on SG5. On SG7 devices the curves are deleted directly from the flash.

After a system reset, the curves are loaded again from the flash to the RAM on

SG5 devices. Any data can be written for the command to be executed.

Curve Service: Delete all Curves


Data

SDO CS

23h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

41h

04 xxh

05 xxh

06

Data xxh

07


xxh

08 (MSB)

Index

2000h


42h Curve Service: Poll Flash


Access Type ro

Data Type

Unsigned8

Read Parameter to get the status of a flash operation:

Result = 00h : State = Idle

Result = 04h : State = Busy

This command can be used to check if a flash operation is still ongoing (e.g. command 2000h sub 40h: Curve Service:save to flash)

Curve Service: Poll Flash


Data

SDO CS

40h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

42h

04

-

05

-

06

-

07

-

08 (MSB)

Return Value


Data

SDO CS

42h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

42h

04

Result xxh

05

-

06

xx: Result

-

07

-

08 (MSB)



Page 41/60


Index

2000h


43h Curve Service: Get Last

Curve Service Command

Result

Access Type ro

Data Type

Unsigned32

This command is used the get the results of curve service commands which are initiated with an SDO write command from the PLC.

The result of the last executed curve service command is given in the following format:

Get Last Curve Service Command Result


Data

SDO CS

40h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

43h

04

-

05

-

06

-

07

-

08 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC: yy yy: xx:

SDO CS

Data 42h

Byte 01 (LSB)

zz:

00h

02

Index

20h

03

Sub-Index

43h

04

Result zzh

05

CSCindex yyh

06 yyh

07

CSCsubindex xxh

08 (MSB

Result of the executed command. See the corresponding command for details on how to interpret these results, as its meaning differs from command to command.

Index of the last executed curve service command which can have a result.

Sub-Index of the last executed curve service command which can have a result.

Index

2000h +

CurveID


50h Curve Service: Add Curve

Access Type wo

Data Type

Unsigned32

With this command a curve with the ID “CurveID” will be created. Up to 100 curves can be programmed into the drive. If a curve with the same ID already exists, an error will be generated which can be checked with the “Get

Last Curve Service Command Result” command:

00h: No Error

D4h: Curve already exists

Curve Service: Add Curve


Data

SDO CS

23h

Byte 01 (LSB)

Index

CurveID 20h

02 03

Sub-Index

50h

04

InfoBlockSize xxh xxh

05 06

xx xx: Size of the curve info block in bytes yy yy: Size of the curve data block in bytes

DataBlockSize yyh yyh

07 08 (MSB)



Page 42/60


Index

2000h +

CurveID



Data (32 Bit)

Access Type wo

Data Type

Unsigned32

The Curve Data Block can be written in increments of 4 Bytes at a time. This way one setpoint (32Bit) can be written at a time

To write the Data Block, this command has to be repeatedly called, with each call containing the next setpoint of the Data Block.

With the “Get Last Curve Service Command Result” command, one can check if the Info Block has already been written:

00h: Data Block is finished

04h: Data Block is not finished

D0h: Error: Data Block was already finished

Curve Service: Add Curve Data (32Bit)


Data

SDO CS

23h

Byte 01 (LSB)

Index

CurveID 20h

02 03

Sub-Index

53h

04 xxh

05

InfoBlock Data xxh xxh

06 07

xx xx xx xx: Curve data block data: one setpoint as a 32Bit value

xxh

08 (MSB)

Index

2000h +

CurveID



Info Block (32 Bit)

Access Type wo

Data Type

Unsigned32

The Curve Info Block can be written in increments of 4 bytes at a time.

To write the info block, this command has to be repeatedly called, with each call containing the next 4 bytes of the info block.

With the “Get Last Curve Service Command Result” command, one can check if the info block has already been written:

00h: Info Block is finished

04h: Info Block is not finished

D0h: Error: Info Block was already finished

Curve Service: Add Curve Info Block (32Bit)


Data

SDO CS

23h

Byte 01 (LSB)

Index

CurveID 20h

02 03

Sub-Index

54h

04 xxh

05


06 07

xx xx xx xx: Curve info block data

xxh

08 (MSB)



Page 43/60


Index

2000h +

CurveID


60h Curve Service: Get Curve


The “Get Curve” command has to executed first in order to read a curve from the drive via SDO. With the commands “Get Curve Info Block” and “Get Curve

Data Block” the corresponding blocks of the curve can be read afterwards.

Curve Service: Get Curve


Data

SDO CS

40h

Byte 01 (LSB)

Index

CurveID 20h

02 03

Sub-Index

60h

04

-

05

-

06

-

07

-

08 (MSB)

Return Value


SDO CS

Data 42h

Byte 01 (LSB)

Index

CurveID 20h

02 03

Sub-Index

60h

04

Result CSInfoB lockSize xxh

05 yyh

06

xx: Result: 00h = Curve exists

D4h = Curve does not exist yy: zz zz:

Curve Info Block Size in Bytes

Curve Data Block Size in Bytes

CSDataBlockSize zzh

07 zzh

08 (MSB)

Index

2000h +

CurveID



Info Block

Access Type ro

Data Type

Unsigned32

The Curve Info Block can be read in increments of 4 Bytes.

To read the Info Block, this command has to be repeatedly called, with each call one can read the next 4 Bytes of the Info Block.

With the “Get Last Curve Service Command Result” command, one can check if the Info Block has already been read:

00h: Info Block is finished

04h: Info Block is not finished


Curve Service: Get Curve Info Block


Data

SDO CS

40h

Byte 01 (LSB)

Index

CurveID 20h

02 03

Sub-Index

61h

04

-

05

-

06

-

07

Return Value


Data

SDO CS

42h

Byte 01 (LSB)

Index

CurveID 20h

02 03

Sub-Index

61h

04 xxh

05


06 07

xx xx xx xx: Info Block Data

-

08 (MSB) xxh

08 (MSB)



Page 44/60


Index

2000h +

CurveID



Data

Access Type ro

Data Type

Unsigned32

The Curve Data Block can be read in increments of 4 Bytes.

To read the Data Block, this command has to be repeatedly called, with each call one can read the next 4 Bytes of the Data Block.

With the “Get Last Curve Service Command Result” command, one can check if the Data Block has already been read:

00h: Data Block is finished

04h: Data Block is not finished


Curve Service: Get Curve Data Block


Data

SDO CS

40h

Byte 01 (LSB)

Index

CurveID 20h

02 03

Sub-Index

62h

04

-

05

-

06

-

07

Return Value


Data

SDO CS

42h

Byte 01 (LSB)

Index

CurveID 20h

02 03

Sub-Index

62h

04 xxh

05

DataBlock Data xxh xxh

06 07

xx xx xx xx: Data Block Data

-

08 (MSB) xxh

08 (MSB)

6.2.4 Error Log Commands

With these commands the error log of a drive can be read.

Index

2000h


70h Get Error Log Entry Counter

Access Type ro

Data Type

Unsigned32

This command returns the number of logged errors as well as the total number of occurred errors.

Get Error Log Entry Counter


Data

SDO CS

40h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

70h

04

-

05

-

06

-

07

-

08 (MSB)

Return Value


Data

SDO CS

42h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

70h

04

NrOfLoggedErr xxh xxh

05 06

xx xx: Number of logged errors yy yy: Number of occurred errors

NrOfOccErr yyh yyh

07 08 (MSB)



Page 45/60


Index

2000h +

EntryNr


71h Get Error Log Entry Error

Code

Access Type ro

Data Type

Unsigned32

This command returns the corresponding error code to the entry number.

Get Error Log Entry Error Code


Data

SDO CS

40h

Byte 01 (LSB)

Index

EntryNr

02

20h

03

Sub-Index

71h

04

-

05

-

06

-

07

-

08 (MSB)

Return Value


Data

SDO CS

42h

Byte 01 (LSB)

Index

EntryNr

02

20h

03

Sub-Index

71h

04

SourceID xxh xxh

05 06

Error Code yyh yyh

07 08 (MSB)

xx xx: SourceID: ID of the part of the firmware which triggered the error:

1: OS

2: Motion Control Software

3: Interface (e.g. CANopen)

4: Application (e.g. EasySteps) yy yy: Error Code: Further Information on the meaning of the error codes can be found in the manuals of the respective firmware parts.

Index

2000h +

EntryNr


72h


Get Error Log Entry Time low ro Unsigned32

This command returns the lower 32 bits of the drive's system time when the error has occurred.

Get Error Log Entry Time low


Data

SDO CS

40h

Byte 01 (LSB)

Index

EntryNr

02

20h

03

Sub-Index

72h

04

-

05

-

06

-

07

-

08 (MSB)

Return Value


Data

SDO CS

42h

Byte 01 (LSB)

Index

EntryNr

02

20h

03

Sub-Index

72h

04 xxh

05

Time Low xxh xxh

06 07

xx xx xx xx: Lower 32 Bits of the system time the error occurred.

xxh

08 (MSB)



Page 46/60


Index

2000h +

EntryNr


73h Get Error Log Entry Time high

Access Type ro

Data Type

Unsigned32

This command returns the higher 32 bits of the drive's system time when the error happened.

Get Error Log Entry Time high


Data

SDO CS

40h

Byte 01 (LSB)

Index

EntryNr

02

20h

03

Sub-Index

73h

04

-

05

-

06

-

07

-

08 (MSB)

Return Value


Data

SDO CS

42h

Byte 01 (LSB)

Index

EntryNr 20h

02 03

Sub-Index

73h

04 xxh

05

Time High xxh xxh

06 07

xx xx xx xx: Higher 32 Bits of the system time the error occurred.

xxh

08 (MSB)

6.2.5 Command Table Commands

See the “LinMot 1100 Drive Configuration over Fieldbus Interfaces” for additional detail on the use of the command table and a description of the CT entry format.

Index

2000h


80h CT: Save to Flash


Access Type wo

Data Type


Write any data with this command to save the command table which is in the

RAM to the FLASH. The command table is loaded on startup from the FLASH to the RAM.

Any data can be written for the command to be executed.

Command Table: Save to Flash


Data

SDO CS

23h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

80h

04 xxh

05


06 07

xx xx xx xx: Any data

xxh

08 (MSB)



Page 47/60


Index

2000h


80h CT: Poll Flash


Access Type ro

Data Type

Unsigned8

Read Parameter to get the status of a flash operation:

Result = 00h: State = Idle

Result = 04h: State = Busy

This command can be used to check if a flash operation is still ongoing (e.g. command 2000h sub 80: CT: save to flash)

Command Table: Poll Flash


Data

SDO CS

40h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

80h

04

-

05

-

06

-

07

-

08 (MSB)

Return Value


Data

SDO CS

42h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

80h

04

Result xxh

05

-

06

xx: Result

-

07

-

08 (MSB)

Index

2000h


81h CT: Delete all Entries

Access Type wo

Data Type

Unsigned32

Write anything to delete the complete Command Table in the RAM on SG5, or in the FLASH on SG7. On SG5 drives the command “CT: Save to Flash” has to be issued afterwards to save the CT permanentely.

Command Table: Delete all Entries


Data

SDO CS

23h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

81h

04 xxh

05 xxh

06


Data xxh

07 xxh

08 (MSB)

Index

2000h +

EntryNr


82h CT: Delete Entry (Entry Nr.)

Access Type Data Type wo Unsigned32

Write anything to delete the CT entry with the corresponding number in the RAM.

The ROM entry of the CT entry is not deleted this way.

Command Table: Delete Entry (Entry Nr.)


Data

SDO CS

23h

Byte 01 (LSB)

Index

EntryNr

02

20h

03

Sub-Index

82h

04 xxh

05 xxh

06

Data xxh

07


xxh

08 (MSB)



Page 48/60


Index

2000h +

EntryNr


83h CT: Write Entry (Entry Nr.)


This command has to be executed first if one wants to write a CT entry to the RAM (SG5) or FLASH (SG7). This command writes the block size of the CT entry. Afterwards the data for the entry can be written with the command

“CT: Write Entry Data”. The result of this command

can be checked with the

“

CT: Get Last CT Service Command Result” command:

00h: No Error

D1h: Invalid block size

D4h: Invalid entry number

Command Table: Write Entry (Entry Nr.)


Data

SDO CS

23h

Byte 01 (LSB)

Index

EntryNr

02

20h

03

Sub-Index

83h

04

Block Size xxh xxh

05 06

xx xx: Block size of CT entry

-

07

-

08 (MSB)

Index

2000h +

EntryNr


84h CT: Write Entry Data


The CT entry data can be written in increments of 4 Bytes.

To write the entry data, this command has to be repeatedly called, while each call contains the next 4 bytes of data.

The entry will be activated when the last byte of the entry data has been written. This can be checked with the “

CT: Get Last CT Service

Command Result” command:

00h: Entry Data Block is finished

04h: Entry Data Block is not finished

D0h: Error: Entry Data Block was already finished

Command Table: Write Entry Data


Data

SDO CS

23h

Byte 01 (LSB)

Index

EntryNr

02

20h

03

Sub-Index

84h

04 xxh

05

CT Entry Data xxh xxh

06 07 xxh

08 (MSB)

xx xx xx xx: CT entry Data



Page 49/60


Index Sub-Index Description Access Type Data Type

2000h +

EntryNr

85h CT: Get Entry (Entry Nr.) ro Unsigned32

Read the block size of a CT Entry.

Command Table: Get Entry (Entry Nr.)


Data

SDO CS

40h

Byte 01 (LSB)

Index

EntryNr 20h

02 03

Sub-Index

85h

04

-

05

-

06

-

07

Return Value


Data

SDO CS

42h

Byte 01 (LSB)

Index

EntryNr 20h

02 03

Sub-Index

85h

04

Block Size xxh xxh

05 06

xx xx: Block size

-

07

-

08 (MSB)

-

08 (MSB)

Index

2000h +

EntryNr


86h CT: Get Entry Data


The CT entry data can be read in increments of 4 Bytes.

To read the entry data, this command has to be repeatedly called, while the response to each call contains the next 4 bytes of data.

Command Table: Get Entry Data


Data

SDO CS

40h

Byte 01 (LSB)

Index

EntryNr 20h

02 03

Sub-Index

86h

04

-

05

-

06

-

07

Return Value


Data

SDO CS

42h

Byte 01 (LSB)

Index

EntryNr 20h

02 03

Sub-Index

86h

04 xxh

05

Entry Data xxh xxh

06 07

xx xx xx xx: Entry data

-

08 (MSB) xxh

08 (MSB)



Page 50/60


Index

2000h


87h CT: Get Entry List (Entry

0..31)


With this command a bitfield is read, which indicates the presence of a CT entry (0 = CT entry present, 1 = No CT entry present).

CT: Get Entry List (Entry 0..31)


Data

SDO CS

40h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

87h

04

-

05

-

06

-

07

-

08 (MSB)

Return Value


Data

SDO CS

42h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

87h

04 xxh

05

Entry presence bitfield xxh xxh

06 07 xxh

08 (MSB)

xx xx xx xx: Entry presence bitfield

Index

2000h



32..63)

Access Type ro

See command 2000h sub 87h for details.

Data Type

Unsigned32

Index

2000h



64..95)

Access Type ro


Data Type

Unsigned32

Index

2000h


8Ah CT: Get Entry List (Entry

96..127)

Access Type ro


Data Type

Unsigned32

Index

2000h


8Bh CT: Get Entry List (Entry

128..159)

Access Type ro


Data Type

Unsigned32



Page 51/60


Index

2000h


8Ch CT: Get Entry List (Entry

160..191)

Access Type ro


Data Type

Unsigned32

Index

2000h


8Dh CT: Get Entry List (Entry

192..223)

Access Type ro


Data Type

Unsigned32

Index

2000h


8Eh CT: Get Entry List (Entry

224..255)

Access Type ro


Data Type

Unsigned32

Index

2000h


8Fh CT: Get Last CT Service

Command Result

Access Type ro

Data Type

Unsigned32

This command is used the get the results of command table commands which are initiated with an SDO write command from the PLC.

The result of the last executed command table service command is returned in the following format:

Get Last Command Table Service Command Result


Data

SDO CS

40h

Byte 01 (LSB)

00h

Index

02

20h

03

Sub-Index

8Fh

04

-

05

-

06

-

07

-

08 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC: zz: yy yy: xx:

SDO CS

Data 42h

Byte 01 (LSB)

00h

02

Index

20h

03

Sub-Index

8Fh

04

Result zzh

05

CSCindex yyh

06 yyh

07

CSCsubindex xxh

08 (MSB)

Result of the executed command. See the corresponding command for details on how to interpret these results, as its meaning differs from command to command.

Index of the last executed CT service command which can have a result.

Sub-Index of the last executed CT service command which can have a result.



Page 52/60


7 Examples

7.1 Homing and motion commands

For details on the use of motion commands, consult the manual “Usermanual

MotionCtrlSW 1100”.

The following example shows the homing procedure and execution of a motion command via CANopen with the default PDO mapping:

1) Homing (Control Word = 083Fh)

RxPDO 1

Data

Byte

ControlWord

3Fh 08h

01 (LSB) 02

MCHeader

00h 00h

03 04

00h

05

MC Par Bytes 0..3

00h 00h

06 07

00h

08 (MSB)

2) Enter Operational State (Control Word = 003Fh)

RxPDO 1

Data

Byte

ControlWord

3Fh 00h

01 (LSB) 02

MCHeader

00h 00h

03 04

00h

05


00h 00h

06 07

00h

08 (MSB)

3) Execute Motion Command : VAI 16Bit Go To Pos (090xh)

CMD Header

Par Byte 0…1

Par Byte 2…3

Par Byte 4…5

Par Byte 6…7











Target Position :50mm

Maximal Velocity :

Acceleration :

Deceleration :

1m/s

10m/s

2

10m/s 2

01F4h

0901h

03E8h

0064h

0064h

RxPDO 1

Data

Byte

ControlWord

3Fh 00h

01 (LSB) 02

RxPDO 2

Data

Byte

64h

01 (LSB)

MCHeader

01h 09h

03 04


00h 64h

02 03

00h

04

F4h

05

00h

05


01h E8h

06 07

03h

08 (MSB)


00h 00h

06 07

00h

08 (MSB)



Page 53/60


In the LinMot-Talk1100 Control Panel, one can check the last executed motion command by pressing the «Read Command» button. It should look like this now that the command has been executed:



Page 54/60


8 Reset Parameters to default values

There are three options to reset the parameters of a LinMot drive to default values:

1) By manipulating the two rotary hex switches (resets ALL parameters):

1. Power off the drive

2. Set the switches to FFh or set the Para Def. switch to on

3. Power on the drive (Error and Warn LEDs flash alternating)

4. Set the switches to 00h or set the Para Def. switch to off

5. Wait until Enable and Warn LED start to turn off and on

6. Power off the drive

(not available on all drive types)

2) By writing index 2000h sub-index 7h, 8h, 9h, Ah of the object dictionary.

After resetting the ROM values, a reset should be performed either by sending a

“NMT Reset” command or by turning the drive off and on again. This has to be done to reload the RAM values from the ROM.

3) Reinstalling the firmware will always reset all parameters to default values



Page 55/60


9 Configuration of the drive with an EDS File

The EDS file for the LinMot drives is compliant with the standard:

“CiA 306 DS V1.3: Electronic data sheet specification for CANopen”.

Visit http://www.can-cia.org/ for detailed information.

The EDS file is part of the Lintalk1100 software which can be downloaded from http://www.LinMot.com.

The EDS file is located at “..\Firmware\Interfaces\CanOpen\EDS” in the installation folder of the LinMot-Talk1100 software.

Consult the user manual of your PLC for details on how to use an EDS file with it.

If an EDS file is used, in most cases the PLC will automatically download this configuration via SDO commands to the drive.

This is done before the drive is set to the operational state.

Any configuration settings that have been done in the

LinMot-Talk1100 software are overwritten this way!

9.1 Configuring a PDO variable by UPID with the EDS file

For every PDO a maximum of 4 parameters can be mapped by their UPIDs.

If a parameter is configured to a PDO via its UPID, the used space in the PDO is dependent on the data type of the configured parameter. If a boolean variable is configured, one byte of the PDO is used.

9.1.1 Setting the UPIDs of the parameter to map to a PDO

The UPIDs to map can be set via the dictionary entries 4F01h sub 1-4h for RxPDO1 to

4F08h sub 1-4h for TxPDO4. The drive automatically maps those parameters to the

PDOs. If too much data would be mapped to one PDO, an error is generated.

9.1.2 Getting UPID PDO data into PLC variables

Since any parameter with a UPID can be mapped this way, it is not possible to reflect this with the EDS file. The user has to configure the PDO mapping on the PLC with dummy variables for the UPIDs. This way the PLC recognizes that data will be transmitted at the according bytes in the PDO. For every PDO there are several of those placeholders

(Objects 4F01h sub 5-Ah for RxPDO1 to 4F08h sub 5-Ah for TxPDO4).

The mapping entries in the object dictionary contain the entries for mapped UPIDs

(4F01h – 4F08h) and NOT the placeholder-objects for the PLC.



Page 56/60


9.1.3 Example

Configuration of TxPDO4 to transmit the following parameters:

–

X4.4 Analog Voltage (UPID 1CA4h), UInt16

–

Diff Analog Voltage (UPID 1CA6h), SInt16

–

Difference Velocity (UPID 1B91h), Sint32

1. Configuring the UPIDs:

Object dictionary entry to write Value

4F08h sub 1h (TPDO4 UPIDs 1) 1CA4h

4F08h sub 2h (TPDO4 UPIDs 2) 1CA6h

4F08h sub 3h (TPDO4 UPIDs 3) 1B91h

2. Set the PDO mapping in the PLC:

Object dictionary entry to map

4F08h sub 7h (TPDO4 2 Byte UPID mapped)



3. The TxPDO4 now contains the following data:

TxPDO 4

Data

Byte

X4.4 Analog

Voltage xxh

01 (LSB) xxh

02 yyh

03

Diff Analog

Voltage yyh

04 zzh

05

Map entry to

TPDO4

TPDO4

TPDO4

Difference Velocity zzh

06 zzh

07 zzh

08 (MSB)

The PDO mapping entries in the object dictionary look like this:

Mapping entry

1A03h sub 1h

(Transmit PDO Mapping Parameter 3: PDO mapping entry 1)

1A03h sub 2h


1A03h sub 3h


Value

4F080110h

4F080210h

4F080320h



Page 57/60


10 Interface Error Codes

Please refer to “Usermanual Motion Control Software” for the error codes of the MC software. The CANopen interface has the following additional error codes:

Error Code Error Description

C1h

C2h

C5h

C6h

C7h

C8h

C9h

CAh

CBh

CCh

CDh

CFh

D0h

D1h

D2h

D3h

D4h

The drive is not compatible with CANopen

Recommended Actions

The drive does not support CANopen interface software. Download an appropriate firmware to the drive.

Select a valid node address.

The configured ID is not valid (switches or parameter)

CANopen Error: Bus error

CANopen Error: general Bus error

CANopen Error: Bus error, stuff error

CANopen Error: Bus error, form error

CANopen Error: Bus error, ack error

CANopen Error: Bus error, bit 1 error

Check CAN termination, baud rate and cabling.






CANopen Error: Bus error, bit 0 error

CANopen Error: Bus error, CRC error



CANopen Error: Error Control Timeout CANopen Timeout.

Is the master running?

CANopen Error: Invalid ID by Hex Switch S1 Invalid baud rate selected by S1. Check S1.

Only 1..4 are valid settings.

CANopen Error: Invalid Mapping in TxPDO 1 More than 8 byte data mapped into TPDO 1.

Verify the mapping (by UPID should be 0 to be deactivated).







CANopen Error: Invalid Mapping in RxPDO 1 More than 8 byte data mapped into RPDO 1.




Page 58/60


Error Code Error Description

D5h

D6h

D7h

D8h

D9h

DAh

DBh

DCh

DDh

DEh

DFh

Recommended Actions







CANopen Error: Invalid UPID in TxPDO 1

Mapping


Mapping


Mapping

Check the UPID, which is configured by

“mapping by UPID”.






Mapping

CANopen Error: Invalid UPID in RxPDO 1

Mapping


Mapping


Mapping


Mapping













Page 59/60


11 Contact Addresses

SWITZERLAND NTI AG

Haerdlistr. 15

CH-8957 Spreitenbach

Sales and Administration:

Tech. Support:

Tech. Support (Skype) :

Fax:

Web:

USA LinMot, Inc.

204 E Morrissey Dr.

Elkhorn, WI 53121

Sales and Administration:

Tech. Support:

Fax:

E-Mail:

Web:

+41-(0)56-419 91 91 [email protected]

+41-(0)56-544 71 00 [email protected]

skype:support.linmot

+41-(0)56-419 91 92 http://www.linmot.com/

877-546-3270

262-743-2555

877-804-0718

262-743-1284

800-463-8708

262-723-6688 [email protected] http://www.linmot-usa.com/

Please visit http://www.linmot.com/ to find the distributor closest to you.

Smart solutions are…



Page 60/60

CANopen Interface for SG5 and SG7

CANopen Interface for SG5 and SG7

User Manual

Table of Contents

1 System overview

2 Connecting the CAN bus

2.1 Pin assignment of the CMD Connector (X7, X8)

2.2 Pin assignment of the Control Connector (X42, X43)

2.3 Pin assignment of the Mot / Periph I/O Connector (X44)

2.4 CAN Termination

2.4.1 Activating the termination resistor (E12xx/E14xx)

2.4.2 Activating the termination resistor (C11xx)

2.4.3 Activating the termination resistor (A11xx)

3 CANopen Parameters

Baud Rate

Node-ID

PDO Configuration

PDO Mapping

NMT Error Control

Legacy Sync Watchdog

4 CANopen Variables

CANopen

CANopen: Object Dictionary

5 Mapping of the PDOs

5.1 Default Mapping

5.1.1 Default Mapping of the Receive PDOs

5.1.2 Default Mapping of the Transmit PDOs

5.1.3 Default Identifier

5.2 Using the Motion Command Interface in asynchronous transmission modes

6 Object Dictionary

6.1 Communication Profile Area (1000h - 1FFFh)

6.2 Manufacturer specific Profile Area (2000h – 5FFFh)

6.2.1 UPID Commands

6.2.2 System Commands

6.2.3 Curve Service Commands

6.2.4 Error Log Commands

6.2.5 Command Table Commands

7 Examples

7.1 Homing and motion commands

8 Reset Parameters to default values

9 Configuration of the drive with an EDS File

9.1 Configuring a PDO variable by UPID with the EDS file

9.1.1 Setting the UPIDs of the parameter to map to a PDO

9.1.2 Getting UPID PDO data into PLC variables

9.1.3 Example

10 Interface Error Codes

11 Contact Addresses

Related manuals

LinMot

CANopen SG6

ICP DAS USA

I-8123W

NTI AG

LinMot E1250-PN-UC

LinMot

C1250-CM-XC S Series

NTI AG

LinMot E4000-CO

Table of contents