DBM - CAN Application Manual

DBM - CAN Application Manual
DBM - CAN
Application Manual
GB-4536
- Dec/00
Introduction
This manual provides the necessary information for an effective use of DBM CAN Bus.
It must be used in conjunction with the "DBM 04 Installation Manual" and the "DBM 04
User's Manual".
This manual includes:
•
•
•
•
•
•
Description
Hardware differences between DBM-CAN and DBM 04 drive
Software configuration
Network management
Emergency
Objects
The following version, software code and checksums apply:
VERSION:
CODE:
EPROM DSP:
EPROM 8031:
EPROM C515:
V01.01
SW1067
LO: 8E56
HI: 9F42
2FCO
5D35
1
Section 1 - Description
CAN is a serial bus system with multi-master capabilities, that is, all CAN nodes are
able to transmit data and several CAN nodes can request the bus simultaneously. The
serial bus system with real-time capabilities is the subject of the ISO 11898 international
standard and covers the lowest two layers of the ISO/OSI reference model. In CAN
networks there is no addressing of subscribers or stations in the conventional sense,
but instead, prioritized messages are transmitted. A transmitter sends a message to all
CAN nodes (broadcasting). Each node decides on the basis of the identifier received
whether it should process the message or not. The identifier also determines the priority
that the message enjoys in competition for bus access.
Open fieldbus systems enable the construction of machines by connecting components
from multiple vendors while minimizing the effort required for interfacing. To achieve an
open networking system, it is necessary to standardize the various layers of
communication used.
CANopen uses the international CAN standard, ISO 11898 as the basis for
communication. This standard covers the lower two layers of communication specified
by the OSI model. Building on this, the CANopen profile family specifies standardized
communication mechanisms and device functionality for CAN-based systems. The
profile family wich is available and maintained by CAN in Automation (CiA) consists of
the application layer and communication profile (DS 301), various frameworks and
recommendations (CiA DS-30x) and various device profiles (CiA DS-40x).
2
Section 2 - Hardware differences between DBM-CAN and
DBM 04
Tab. 2.1 – J1A Connector - Sub-D 9 pos. - CANBUS Signals
Panel side: male
Wiring side: female with conductive shell
Pos.
1
Name
BUS_H
BUS High signal
2
BUS_H
BUS High signal
3
0V
Digital 0V
4
5
6
0V
N.C.
N.C.
Digital 0V
7
BUS_L
BUS Low signal
8
BUS_L
BUS Low signal
9
+5V
+5Vdc output
3
Section 3 – Software Configuration
AS - Node Show
Function:
Syntax:
Address type:
Unit of measure:
Range:
Default:
Password:
(∗) addressing:
Opposite to:
See also:
it allows display of the node identification, if unknown. To
avoid simultaneous answers on the line from more than one
module, it is necessary that serial flat J2 is connected only between
power supply and the questioned module. It is different from
SA command, which is used to change node identification.
data monitoring: „ ∗ AS <CR>
no
compulsory
SA
4
SA - Selection of the node identification.
Function:
Syntax:
Address type:
Unit of measure:
Range:
Default:
Password:
(∗) addressing:
Opposite to:
See also:
it is used to assign the module node identification different from
default. A module programmed as "node 1" will
automatically assign, for the other axes, the following nodes, i.e.
2 - 3 (if triple-axis) or 2 (if double-axis).
data input:
„ node SA n <CR>
axis
1 to 99
1
no
no
AS
REMARK: To perform SA command, only one module at the time must be connected
to J2 flat cable.
5
Section 4 – Network Management
The network management supports a simplified start of the network and can be
expanded modular according to system demand.
Tab.4.1 - Network Management
CAN header:
Byte
Byte0
Byte1
CAN data:
Byte
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
Byte9
C7
0
0
1
1
1
C6
0
0
0
0
0
C5
0
0
0
0
0
Bit7
0
0
Bit6
0
0
Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
0
0
0
0
0
0
0
0
0
0
1
0
Hex
00
02
Bit7
C7
A7
Bit6
C6
A6
Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
C5 C4 C3 C2 C1 C0
A5 A4 A3 A2 A1 A0
Hex
CMD
xx
C4
0
0
0
0
0
C3
0
0
0
0
0
C2
0
0
0
0
0
C1
0
1
0
0
1
C0
1
0
0
1
0
Hex
01
02
80
81
82
6
Node ID (00 => all Nodes)
CMD
Start
Stop
Pre Operational
Reset Node
Reset Communication Parameter
Section 5 – Emergency
The module status is transmitted in case of error via emergency telegrams with high
priority. these telegrams have a data length of 8 byte and contain extensive error
information.
Tab.5.1 Emergency
CAN header:
Byte
Byte0
Byte1
CAN data:
Byte
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Error Code
Bit7
0
A2
Bit6
0
A1
Bit5
0
A0
Bit4
1
0
Bit3
A6
0
Bit2
A5
0
Bit1
A4
0
Bit0
A3
0
Hex
10
00
Bit7
0
x
0
0
0
0
0
0
Bit6
0
x
0
0
0
0
0
0
Bit5
0
x
0
0
0
0
0
0
Bit4
0
x
0
0
0
0
0
0
Bit3
0
0
0
0
0
0
0
0
Bit2
0
0
0
0
0
0
0
0
Bit1
0
0
0
0
0
0
0
0
Bit0
0
0
1
0
0
0
0
0
Hex
00
x0
01
00
00
00
00
00
0000
1000
8000
8100
8140
No Error - Fault Resetted
Generic Error
Communication Error (SYNC absence)
Communication warning reached
recovered from busoff
7
Error Code
Error Code
Error Register (Obj. 1001)
Specific error register
Specific error register
Specific error register
Specific error register
Specific error register
Section 6 - Objects
6.1 Object Dictionary
DBM – CAN Object Dictionary
OBJ
1000
1001
Name
Network management
Emergency
Device type
Error register
1004 Number of PDOs supported
1005
1006
100A
100B
Sync
Communication Cycle Period
Manufacturer SW version
Node ID
1010 Store Parameters
1018 Identity Object
Mapping Parameter
RxPDO1 (Node ID)
1600
RxPDO2 (Node ID + 1)
RxPDO3 (Node ID + 2)
TxPDO Communication Parameter
TxPDO1 (Node ID)
1800 TxPDO2 (Node ID + 1)
TxPDO3 (Node ID + 2)
Mapping Parameter
TxPDO1 (Node ID)
1A00
TxPDO2 (Node ID + 1)
TxPDO3 (Node ID + 2)
Type
VAR
VAR
Unsigned32
Unsigned8
Unsigned32
ARRAY Unsigned32
Unsigned32
VAR
Unsigned32
VAR
Unsigned32
VAR
Unsigned32
VAR
Unsigned16
Unsigned32
ARRAY
Unsigned32
Unsigned32
RECORD
Unsigned32
Unsigned32
Unsigned32
RECORD Unsigned32
Unsigned32
Unsigned32
Unsigned32
RECORD Unsigned32
Unsigned8
Unsigned32
Unsigned32
RECORD Unsigned32
Unsigned32
Unsigned32
Subindex
Description
00
N° of PDOs supported
01
N° synchronous PDOs
02
N°asynchronous PDOs
Version xx.xx
Node ID
Largest subindex supported
00
01
Save ALL parameters
00
Number of element
01
Vendor ID
00
Number of objects
01
1st object
02
2nd object
03
3rd object
04
4th object
00
Number of element
01
COB – ID
02
Transmission type
00
01
02
03
04
Number of objects
1st object
2nd object
3rd object
4th object
8
Data
FFFF0402
0X
00030003h
00030003h
00000000h
XXXXXXXX
XXXXXXXX
XXXX
01
XXXXXXXX
01
MOOG
0X
XXXXXXXX
XXXXXXXX
XXXXXXXX
XXXXXXXX
02
XX
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
SDO
PDO Mapping
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Axis
all
all
all
all
all
all
all
all
all
all
all
all
all
all
all
all
all
all
all
all
all
all
all
Note
wo
ro
ro
ro
ro
ro
ro
ro
rw
ro
ro
ro
rw
ro
ro
rw
rw
rw
rw
rw
ro
ro
rw
0X
XXXXXXXX
XXXXXXXX
XXXXXXXX
XXXXXXXX
SDO
SDO
SDO
SDO
SDO
No
No
No
No
No
all
all
all
all
all
rw
rw
rw
rw
rw
180h + Node ID
DBM – CAN Object Dictionary (continued)
OBJ Name
Type
2000 Activate / Deactivate TxPDO
VAR
6040
6041
6042
6043
6044
VAR
VAR
VAR
VAR
VAR
Controlword
Statusword
Target velocity
Velocity demand
Control effort
6046 Velocity min max amount
6048 Velocity acceleration
6049 Velocity deceleration
6060 Modes of operation
6061 Modes of operation display
604C Dimension Factor
6510 DBM Parameter
67FF Device type – ax1
Unsigned8
Unsigned16
Unsigned16
Integer16
Integer16
Integer16
Unsigned16
ARRAY Unsigned16
Unsigned16
Unsigned16
RECORD
Unsigned16
Unsigned16
RECORD
Unsigned16
VAR
Integer8
VAR
Integer8
Integer32
ARRAY
Integer32
Unsigned8
Integer8
ARRAY
Integer8
Integer8
VAR
Unsigned32
Subindex
Description
Data
-
-
0X
00
01
02
00
01
02
00
01
02
00
01
02
00
01
02
03
-
Axis 1 (Node ID)
Number of element
velocity min amount
velocity max amount
Number of element
delta speed
delta time
Number of element
delta speed
delta time
Number of element
Numerator (MV)
Denominator
Number of element
Proportional gain (KP)
Integral gain (KI)
Current limit (IL)
-
00XX
0XXX
XXXX
XXXX
XXXX
02
XXXX
XXXX
01
XXXX
01
XXXX
0X
0X
01
XXXX
03
XX
XX
XX
00020402
9
PDO Mapping
Axis
Note
SDO
No
all
rw
PDO & SDO1
PDO & SDO1
PDO & SDO1
PDO & SDO1
PDO & SDO1
SDO1
PDO & SDO1
PDO & SDO1
SDO1
SDO1
SDO1
SDO1
SDO1
SDO1
SDO1
SDO1
SDO1
SDO1
SDO1
SDO1
SDO1
Yes
Yes
Yes
Yes
Yes
No
Yes
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
all
rw
ro
rw
ro
ro
ro
rw
rw
ro
rw
ro
rw
wo
ro
ro
rw
ro
rw
rw
rw
ro
DBM – CAN Object Dictionary (continued)
OBJ Name
Type
Subindex
6840
6841
6842
6843
6844
VAR
VAR
VAR
VAR
VAR
00
01
02
00
01
02
00
01
02
00
01
02
00
01
02
03
-
Controlword
Statusword
Target velocity
Velocity demand
Control effort
6846 Velocity min max amount
6848 Velocity acceleration
6849 Velocity deceleration
6860 Modes of operation
6861 Modes of operation display
684C Dimension Factor
6D10 DBM Parameter
6FFF Device type – ax2
7040
7041
7042
7043
7044
Controlword
Statusword
Target velocity
Velocity demand
Control effort
Unsigned16
Unsigned16
Integer16
Integer16
Integer16
Unsigned16
ARRAY Unsigned16
Unsigned16
Unsigned16
RECORD
Unsigned16
Unsigned16
RECORD
Unsigned16
VAR
Integer8
VAR
Integer8
Integer32
ARRAY
Integer32
Unsigned8
Integer8
ARRAY
Integer8
Integer8
VAR
Unsigned32
VAR
VAR
VAR
VAR
VAR
Unsigned16
Unsigned16
Integer16
Integer16
Integer16
-
Description
Axis 2 (Node ID +1 )
Number of element
velocity min amount
velocity max amount
Number of element
delta speed
delta time
Number of element
delta speed
delta time
Number of element
Numerator (MV)
Denominator
Number of element
Proportional gain (KP)
Integral gain (KI)
Current limit (IL)
Axis 3 (Node ID + 2)
-
10
Data
PDO Mapping
Axis
Note
00XX
0XXX
XXXX
XXXX
XXXX
02
XXXX
XXXX
01
XXXX
01
XXXX
0X
0X
01
XXXX
03
XX
XX
XX
00020402
PDO & SDO2
PDO & SDO2
PDO & SDO2
PDO & SDO2
PDO & SDO2
SDO2
PDO & SDO2
PDO & SDO2
SDO2
SDO2
SDO2
SDO2
SDO2
SDO2
SDO2
SDO2
SDO2
SDO2
SDO2
SDO2
SDO2
Yes
Yes
Yes
Yes
Yes
No
Yes
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
2
2
2
2
2
2
2
2
1
1
1
1
2
2
2
2
2
2
2
2
all
rw
ro
rw
ro
ro
ro
rw
rw
ro
rw
ro
rw
wo
ro
ro
rw
ro
rw
rw
rw
ro
00XX
0XXX
XXXX
XXXX
XXXX
PDO & SDO3
PDO & SDO3
PDO & SDO3
PDO & SDO3
PDO & SDO3
Yes
Yes
Yes
Yes
Yes
3
3
3
3
3
rw
ro
rw
ro
ro
DBM – CAN Object Dictionary (continued)
OBJ Name
7046 Velocity min max amount
7048 Velocity acceleration
7049 Velocity deceleration
7060 Modes of operation
7061 Modes of operation display
704C Dimension Factor
7510 DBM Parameter
77FF Device type – ax3
Type
Unsigned16
ARRAY Unsigned16
Unsigned16
Unsigned16
RECORD
Unsigned16
Unsigned16
RECORD
Unsigned16
VAR
Integer8
VAR
Integer8
Integer32
ARRAY
Integer32
Unsigned8
Integer8
ARRAY
Integer8
Integer8
VAR
Unsigned32
Subindex
00
01
02
00
01
02
00
01
02
00
01
02
00
01
02
03
-
Description
Number of element
velocity min amount
velocity max amount
Number of element
delta speed
delta time
Number of element
delta speed
delta time
Number of element
Numerator (MV)
Denominator
Number of element
Proportional gain (KP)
Integral gain (KI)
Current limit (IL)
-
Default PDO Mapping:
RxPDO1 – Obj. 6040 (byte 0,1); Obj. 6042 (byte 2,3)
TxPDO1 – Obj. 6041 (byte 0,1); Obj. 6044 (byte 2,3)
TxPDO are triggered by SYNC message.
TxPDOs are sent after 1 SYNC.
Speed change is triggered by SYNC message.
11
Data
02
XXXX
XXXX
01
XXXX
01
XXXX
0X
0X
01
XXXX
03
XX
XX
XX
00020402
SDO3
PDO & SDO3
PDO & SDO3
SDO3
SDO3
SDO3
SDO3
SDO3
SDO3
SDO3
SDO3
SDO3
SDO3
SDO3
SDO3
SDO3
PDO Mapping
No
Yes
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
Axis
3
3
3
1
1
1
1
3
3
3
3
3
3
3
3
all
Note
ro
rw
rw
ro
rw
ro
rw
wo
ro
ro
rw
ro
rw
rw
rw
ro
6.2 Object Description
Object 1000:
Device Type
Object Description
INDEX
Name
Object Code
Data Type
1000h
Device Type
Var
Unsigned 32
Value Description
Access
PDO Mapping
Value Range
Default Value
Read only
NO
Unsigned32
00020402h
Object 1001:
Error Register
Object Description
INDEX
Name
Object Code
Data Type
1001h
Error Register
Var
Unsigned 8
Value Description
Access
PDO Mapping
Value Range
Default Value
Read only
NO
Unsigned8
00h (no error)
(01h generic error)
12
Object 1004:
Number of PDOs supported
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
1004h
Number of PDOs supported
Array
02h
Unsigned32
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of PDOs supported
Read only
NO
Unsigned32
11h
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
Number of synchronous PDOs
Read Only
NO
Unsigned32
11h
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Number of asynchronous PDOs
Read Only
NO
Unsigned32
00h
Object 1005:
COB-ID SYNC message
Object Description
INDEX
Name
Object Code
Data Type
1005h
COB-ID SYNC message
Var
Unsigned 32
Value Description
Access
PDO Mapping
Value Range
Default Value
Read only
NO
Unsigned32
80h
13
Object 1006:
Object Description
INDEX
Name
Object Code
Data Type
Value Description
Access
PDO Mapping
Value Range
Default Value
Communication Cycle Period
1006h
Communication Cycle Period
Var
Unsigned 32
Read / Write
NO
Unsigned32
00000000h
(Communication Cycle Period not active)
It is not allowed to use both Communication Cycle Period and Nodeguarding at same time.
Object 100A:
Manufacturer Software Version
Object Description
INDEX
Name
Object Code
Data Type
100Ah
Manufacturer Software Version
Var
Unsigned 32
Value Description
Access
PDO Mapping
Value Range
Default Value
Read Only
NO
Unsigned32
xxxxxxxx
Object 100B:
(Version xx.xx)
Node ID
Object Description
INDEX
Name
Object Code
Data Type
100Bh
Node ID
Var
Unsigned 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read Only
NO
Unsigned16
01h
Data Type
Unsigned 8
14
Object 1010h:
Save Parameter
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
1010h
Save Parameter
Array
01h
Unsigned32
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Largest subindex supported
Read only
NO
Unsigned32
01h
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
Save all parameter (Kp, Ki, Ilimit, MV)
Read / Write
NO
Unsigned32
73617665h
(SAVE in ASCII)
write
00000001h
read
Device doesn't save parameters autonomously
Device saves parameters on command
Note the parameters that can be saved are: KP, KI, ILimit, MV.
15
Object 1018:
Identity Object
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
1018h
Identity Object
Record
01h
Unsigned32
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of elements
Read only
NO
Unsigned32
1h
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
Identity
Read Only
NO
Unsigned32
(47 4F 4F 4D)h
Object 1600:
(MOOG in ASCII)
Receive PDO1 Mapping Parameter (Axis 1)
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
1600h
Receive PDO mapping
Record
01h - 04h
PDO Mapping
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of mapped application objects in PDO
Write only
NO
Unsigned32
2
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h - 04h
PDO mapping for the nth application object to be mapped
Write only
NO
Unsigned32
Sub-index 01: Obj 6040h
Sub index 02: Obj 6042h
16
Object 1600:
Receive PDO2 Mapping Parameter (Axis 2)
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
1600h
Receive PDO mapping
Record
01h - 04h
PDO Mapping
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of mapped application objects in PDO
Write only
NO
Unsigned32
2
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h - 04h
PDO mapping for the nth application object to be mapped
Write only
NO
Unsigned32
Sub-index 01: Obj 6840h
Sub index 02: Obj 6842h
17
Object 1600h:
Receive PDO3 Mapping Parameter (Axis 3)
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
1600h
Receive PDO mapping
Record
01h - 04h
PDO Mapping
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of mapped application objects in PDO
Write only
NO
Unsigned32
2
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
Object 1800:
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
01h - 04h
PDO mapping for the nth application object to be mapped
Write only
NO
Unsigned32
Sub-index 01: Obj 7040h
Sub index 02: Obj 7042h
Transmit PDO1 Communication Parameter (Axis 1)
1800h
Transmit PDO Communication Parameter
Record
01h – 02h
PDO Mapping
00h
Largest subindex supported
Read only
NO
2
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
COB ID used by PDO
Read only
NO
Unsigned32
180h + Node ID
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Transmission type
Read / write
NO
1 – 240 (only cyclic synchronous type)
1
18
Object 1800:
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Transmit PDO2 Communication Parameter (Axis 2)
1800h
Transmit PDO Communication Parameter
Record
01h – 02h
PDO Mapping
00h
Largest subindex supported
Read only
NO
2
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
COB ID used by PDO
Read only
NO
Unsigned32
180h + Node ID+1
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Transmission type
Read / write
NO
1 – 240 (only cyclic synchronous type)
1
19
Object 1800:
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Transmit PDO3 Communication Parameter (Axis 3)
1800h
Transmit PDO Communication Parameter
Record
01h – 02h
PDO Mapping
00h
Largest subindex supported
Read only
NO
2
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
COB ID used by PDO
Read only
NO
Unsigned32
180h + Node ID + 2
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Transmission type
Read / write
NO
1 – 240 (only cyclic synchronous type)
1
Object 1A00:
Transmit PDO1 Mapping Parameter (Axis 1)
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
1A00h
Transmit PDO mapping
Record
01h - 04h
PDO Mapping
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of mapped application objects in PDO
Write only
NO
Unsigned32
2
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h - 04h
PDO mapping for the nth application object to be mapped
Write only
NO
Unsigned32
Sub-index 01: Obj 6041h
Sub index 02: Obj 6044h
20
Object 1A00:
Transmit PDO2 Mapping Parameter (Axis 2)
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
1A00h
Transmit PDO mapping
Record
01h - 04h
PDO Mapping
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of mapped application objects in PDO
Write only
NO
Unsigned32
2
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
Object 1A00:
01h - 04h
PDO mapping for the nth application object to be mapped
Write only
NO
Unsigned32
Sub-index 01: Obj 6841h
Sub index 02: Obj 6844h
Transmit PDO3 Mapping Parameter (Axis 3)
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
1A00h
Transmit PDO mapping
Record
01h - 04h
PDO Mapping
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of mapped application objects in PDO
Write only
NO
Unsigned32
2
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h - 04h
PDO mapping for the nth application object to be mapped
Write only
NO
Unsigned32
Sub-index 01: Obj 7041h
Sub index 02: Obj 7044h
21
Object 2000:
Activate/Deactive TxPDO
Object Description
INDEX
Name
Object Code
Data Type
2000h
Activate/Deactivate TxPDO
Var
Unsigned 8
Value Description
Access
PDO Mapping
Value Range
Default Value
Read / Write
No
0-7
07h (TxPDO1, TxPDO2, TxPDO3 activated)
Value:
b7
0
0
0
0
0
0
0
0
b6
0
0
0
0
0
0
0
0
b5
0
0
0
0
0
0
0
0
b4
0
0
0
0
0
0
0
0
b3 b2 b1 b0
0 0
0
0
0 0
0
1
0 0
1
0
0 0
1
1
0 1
0
0
0 1
0
1
0 1
1
0
0 1
1
1
Ax3 Ax2 Ax1
TxPDO3
not active
not active
not active
not active
active
active
active
active
TxPDO2
not active
not active
active
active
not active
not active
active
active
22
TxPDO1
not active
active
not active
active
not active
active
not active
active
Fig.6.1 State Machine
Power Disabled
Fault
Start
Fault (0Fh)
Not Ready to Switch ON
Reset Fault
Switch ON Disabled (40h)
Shutdown
Quickstop
Ready to Switch ON (21h)
Disable
Voltage
Quickstop
Disable
Voltage
Switch ON
Shutdown
Shutdown
Switched ON (23h)
Enable Operation
Disable Operation
Operation Enable (07h)
Disable
Voltage
Quickstop Active (17h)
Quickstop
Power Enabled
23
Object 6040:
Controlword - Axis 1
Object Description
INDEX
Name
Object Code
Data Type
6040h
Controlword
Var
Unsigned 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read / Write
Possible
0 - 65535
(See Fig.6.1 State Machine Diagram)
24
Tab.6.2 Controlword
Transition
1
2
3
4
From
Not Ready to Switch On
Switch On Disabled
Ready to Switch On
Switched On
To
Switch On Disabled
Ready to Switch On
Switched On
Operation Enable
5
6
7
8
9
Operation Enable
Switched On
Ready to Switch On
Operation Enable
Operation Enable
Switched On
Ready to Switch On
Switch On Disabled
Ready to Switch On
Switch On Disabled
10
Switched On
Switch On Disabled
11
Operation Enable
Switch On Disabled
15
Fault
Switch On Disabled
Command
Standard
Moog Italiana
6040 (hex)
Shutdown
Switch On
Enable Operation
x x x x x 1 1 0 x x x x x 1 1 0
x x x x x 1 1 1 x x x x x 1 1 1
x x x x 1 1 1 1 x x x x 1 1 1 1
x6
x7
xF
Disable Operation
Shutdown
Quick Stop
Shutdown
Disable Voltage
Disable Voltage
Quick Stop
Quick Stop
x
x
x
x
x
x
x
x
1
0
x
0
x
x
x
x
x7
x6
x2
x6
x0
x0
x2
x2
1 x x x x x x x x x x x x x x x
b b b b b b b b b b b b b b b b
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
8x
Reset Fault
25
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
0
x
x
x
x
x
x
x
1
1
0
1
x
x
0
0
1
1
1
1
0
0
1
1
1
0
x
0
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
0
x
x
x
x
x
x
x
1
1
0
1
x
x
0
0
1
1
1
1
0
0
1
1
Object 6041:
Statusword - Axis 1
Object Description
INDEX
Name
Object Code
Data Type
6041h
Statusword
Var
Unsigned 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read only
Possible
0 - 65535
(See Fig.6.1 State Machine Diagram)
Tab.6.3 Statusword
State
Switch On Disabled
Ready to Switch On
Switched On
Operation Enabled
Quick Stop Active
Fault (SYNC absence)
Fault (generic)
x
x
x
x
x
x
b
7
1
0
0
0
0
0
b
6
Standard
x x 0 0
1 x 0 0
1 x 0 0
x x 0 1
0 x 0 1
- - - x x 1 1
b b b b
5 4 3 2
0
0
1
1
1
1
b
1
0
1
1
1
1
1
b
0
0
0
0
0
0
0
0
b
7
Moog Italiana
1 0 0 0 0 0
0 1 0 0 0 0
0 1 0 0 0 1
0 0 0 0 1 1
0 0 1 0 1 1
0 0 0 1 1 1
0 0 0 1 1 1
b b b b b b
6 5 4 3 2 1
26
0
1
1
1
1
1
1
b
0
6041 (hex)
40
21
23
07
17
0F
0F
Object 6042:
Target Velocity - Axis 1
Object Description
INDEX
Name
Object Code
Data Type
6042h
Target Velocity
Var
Integer 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read / Write
Possible
- 32768 / 32767
0
Object 6043:
Velocity Demand - Axis 1
Object Description
INDEX
Name
Object Code
Data Type
6043h
Velocity Demand
Var
Integer 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read Only
Possible
- 32768 / 32767
(drive output variable)
27
Object 6044:
Control Effort - Axis 1
Object Description
INDEX
Name
Object Code
Data Type
6044h
Control Effort
Var
Integer 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read Only
Possible
- 32768 / 32767
(drive output variable)
Object 6046:
Velocity min-max amount - Axis 1
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
6046h
Velocity min-max amount
Array
2
Unsigned 16
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
Velocity min amount
Read / Write
Possible
Unsigned 16
00h
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Velocity max amount
Read / Write
Possible
Unsigned16
0C00h
28
Object 6048:
Velocity acceleration - Axis 1
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
6048h
Velocity acceleration
Record
1
Unsigned 16
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Delta Time
Read / Write
NO
Unsigned 16
00h
Object 6049:
Velocity deceleration - Axis 1
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
6049h
Velocity deceleration
Record
1
Unsigned 16
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Delta Time
Read / Write
NO
Unsigned 16
00h
Object 6060:
Modes of Operation - Axis 1
Object Description
INDEX
Name
Object Code
Data Type
6060h
Modes of Operation
Var
Integer 8
Value Description
Access
PDO Mapping
Value Range
Default Value
Write Only
NO
01h - 02h
02h (velocity mode)
29
Object 6061:
Modes of Operation Display - Axis 1
Object Description
INDEX
Name
Object Code
Data Type
6061h
Modes of Operation Display
Var
Integer 8
Value Description
Access
PDO Mapping
Value Range
Default Value
Write Only
NO
01 - 02h
02h (velocity mode)
Object 604C:
Dimension factor - Axis 1
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
604Ch
Numerator
Array
1
Integer 32
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
MV
Read / Write
NO
012Ch - 2710h
DBS Default
Vout ( d ) = Vin ( d )
MV( d )
4096 ( d )
30
Object 6510:
DBM Parameter
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
6510h
DBM Parameter
Array
3
Integer 8
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
KP - Proportional Gain
Read / Write
NO
00h - FFh
DBM default
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
KI – Integral Gain
Read / Write
NO
00h - FFh
DBM Default
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
03h
IL – Current Limit
Read / Write
NO
00 - 64h
DBM Default
Object 67FF:
Device Type – Axis 1
Object Description
INDEX
Name
Object Code
Data Type
67FFh
Device Type
Var
Unsigned 32
Value Description
Access
PDO Mapping
Value Range
Default Value
Read only
NO
Unsigned32
00020402h
31
Object 6840:
Controlword - Axis 2
Object Description
INDEX
Name
Object Code
Data Type
6840h
Controlword
Var
Unsigned 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read / Write
Possible
0 – 65535
(See Fig.6.1 State Machine Diagram)
Object 6841:
Statusword - Axis 2
Object Description
INDEX
Name
Object Code
Data Type
6841h
Statusword
Var
Unsigned 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read only
Possible
0 – 65535
(See Fig.6.1 State Machine Diagram)
Object 6842:
Target Velocity - Axis 2
Object Description
INDEX
Name
Object Code
Data Type
6842h
Target Velocity
Var
Integer 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read / Write
Possible
- 32768 / 32767
0
32
Object 6843:
Velocity Demand - Axis 2
Object Description
INDEX
Name
Object Code
Data Type
6843h
Velocity Demand
Var
Integer 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read Only
Possible
- 32768 / 32767
(drive output variable)
Object 6844:
Control Effort - Axis 2
Object Description
INDEX
Name
Object Code
Data Type
6844h
Control Effort
Var
Integer 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read Only
Possible
- 32768 / 32767
(drive output variable)
Object 6846:
Velocity min-max amount - Axis 2
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
6846h
Velocity min-max amount
Array
2
Unsigned 16
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
Velocity min amount
Read / Write
Possible
Unsigned 16
00h
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Velocity max amount
Read / Write
Possible
Unsigned16
0C00h
33
Object 6848:
Velocity acceleration - Axis 2
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
6848h
Velocity acceleration
Record
1
Unsigned 16
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Delta Time
Read / Write
NO
Unsigned 16
00h
Object 6849:
Velocity deceleration - Axis 2
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
6849h
Velocity deceleration
Record
1
Unsigned 16
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Delta Time
Read / Write
NO
Unsigned 16
00h
Object 6860:
Modes of Operation - Axis 2
Object Description
INDEX
Name
Object Code
Data Type
6860h
Modes of Operation
Var
Integer 8
Value Description
Access
PDO Mapping
Value Range
Default Value
Write Only
NO
01h - 02h
02h (velocity mode)
34
Object 6861:
Modes of Operation Display - Axis 2
Object Description
INDEX
Name
Object Code
Data Type
6861h
Modes of Operation Display
Var
Integer 8
Value Description
Access
PDO Mapping
Value Range
Default Value
Write Only
NO
01h – 02h
02h (velocity mode)
Object 684C:
Dimension factor - Axis 2
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
684Ch
Numerator
Array
1
Integer 32
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
MV
Read / Write
NO
012Ch – 2710h
DBS Default
Vout ( d ) = Vin ( d )
MV( d )
4096 ( d )
35
Object 6D10:
DBM Parameter - Axis 2
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
6510h
DBM Parameter
Array
3
Integer 8
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
KP – Proportional Gain
Read / Write
NO
00h – FFh
DBM default
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
KI – Integral Gain
Read / Write
NO
00h - FFh
DBM Default
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
03h
IL – Current Limit
Read / Write
NO
00 - 64h
DBM Default
Object 6FFF:
Device Type – Axis 2
Object Description
INDEX
Name
Object Code
Data Type
6FFFh
Device Type
Var
Unsigned 32
Value Description
Access
PDO Mapping
Value Range
Default Value
Read only
NO
Unsigned32
00020402h
36
Object 7040:
Controlword - Axis 3
Object Description
INDEX
Name
Object Code
Data Type
7040h
Controlword
Var
Unsigned 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read / Write
Possible
0 - 65535
(See Fig.6.1 State Machine Diagram)
Object 7041:
Statusword - Axis 3
Object Description
INDEX
Name
Object Code
Data Type
7041h
Statusword
Var
Unsigned 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read only
Possible
0 - 65535
(See Fig.6.1 State Machine Diagram)
Object 7042:
Target Velocity - Axis 3
Object Description
INDEX
Name
Object Code
Data Type
7042h
Target Velocity
Var
Integer 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read / Write
Possible
- 32768 / 32767
0
37
Object 7043:
Velocity Demand - Axis 3
Object Description
INDEX
Name
Object Code
Data Type
7043h
Velocity Demand
Var
Integer 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read Only
Possible
- 32768 / 32767
(drive output variable)
Object 7044:
Control Effort - Axis 3
Object Description
INDEX
Name
Object Code
Data Type
7044h
Control Effort
Var
Integer 16
Value Description
Access
PDO Mapping
Value Range
Default Value
Read Only
Possible
- 32768 / 32767
(drive output variable)
Object 7046:
Velocity min-max amount - Axis 3
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
7046h
Velocity min-max amount
Array
2
Unsigned 16
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
Velocity min amount
Read / Write
Possible
Unsigned 16
00h
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Velocity max amount
Read / Write
Possible
Unsigned16
0C00h
38
Object 7048:
Velocity acceleration - Axis 3
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
7048h
Velocity acceleration
Record
1
Unsigned 16
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Delta Time
Read / Write
NO
Unsigned 16
00h
Object 7049:
Velocity deceleration - Axis 3
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
7049h
Velocity deceleration
Record
1
Unsigned 16
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
Delta Time
Read / Write
NO
Unsigned 16
00h
Object 7060:
Modes of Operation - Axis 3
Object Description
INDEX
Name
Object Code
Data Type
7060h
Modes of Operation
Var
Integer 8
Value Description
Access
PDO Mapping
Value Range
Default Value
Write Only
NO
01h - 02h
02h (velocity mode)
39
Object 7061:
Modes of Operation Display - Axis 3
Object Description
INDEX
Name
Object Code
Data Type
7061h
Modes of Operation Display
Var
Integer 8
Value Description
Access
PDO Mapping
Value Range
Default Value
Write Only
NO
01h - 02h
02h (velocity mode)
Object 704C:
Dimension factor - Axis 3
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
704Ch
Numerator
Array
1
Integer 32
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
MV
Read / Write
NO
012Ch - 2710h
DBS Default
Vout ( d ) = Vin ( d )
MV( d )
4096 ( d )
40
Object 7510:
DBM Parameter - Axis 3
Object Description
INDEX
Name
Object Code
Number of elements
Data Type
7510h
DBM Parameter
Array
3
Integer 8
Value Description
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
KP – Proportional Gain
Read / Write
NO
00h - FFh
DBM default
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
02h
KI – Integral Gain
Read / Write
NO
00h - FFh
DBM Default
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
03h
IL – Current Limit
Read / Write
NO
00 – 64h
DBM Default
Object 77FF:
Device Type – Axis 3
Object Description
INDEX
Name
Object Code
Data Type
77FFh
Device Type
Var
Unsigned 32
Value Description
Access
PDO Mapping
Value Range
Default Value
Read only
NO
Unsigned32
00020402h
41
CAN data:
Byte
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Bit7
1
xx
xx
xx
AC0.7
AC1.7
EC0.7
CL1.7
Bit6
0
xx
xx
xx
AC0.6
AC1.6
EC0.6
CL1.6
Bit5
0
xx
xx
xx
AC0.5
AC1.5
EC0.5
CL1.5
Bit4
0
xx
xx
xx
AC0.4
AC1.4
EC0.4
CL1.4
Bit3
0
xx
xx
xx
AC0.3
AC1.3
EC0.3
CL1.3
Bit2
0
xx
xx
xx
AC0.2
AC1.2
EC0.2
CL1.2
Object NOT available:
AC 0 =
00
AC 1 =
00
EC 0 =
02
CL 1 =
06
Sub Index NOT available:
AC 0 =
11
AC 1 =
00
EC 0 =
09
CL 1 =
06
Value range exceeded:
AC 0 =
30
AC 1 =
00
EC 0 =
09
CL 1 =
06
Object cannot be mapped
AC 0 =
41
AC 1 =
00
EC 0 =
04
CL 1 =
06
Data cannot be stored
AC 0 =
20
AC 1 =
00
EC 0 =
00
CL 1 =
08
42
Bit1
0
xx
xx
xx
AC0.1
AC1.1
EC0.1
CL1.1
Bit0
0
xx
xx
xx
AC0.0
AC1.0
EC0.0
CL1.0
Hex
80
xx
xx
xx
xx
xx
xx
xx
LSB Index
MSB Index
subindex
AC 0
AC 1
EC 0
CL 1
Moog Italiana S.r.l.
Electric Division
Via Avosso, 94
16015 Casella GE
Italy
Phone: (+39) 010 9671
Fax: (+39) 010 9671 280
GB-4536 Dec/00
Moog Italiana Srl reserves the right to alter any dimensions or data without prior notice
Printed in Italy
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