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Cia MOTION_402_2v03000115.pdf
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详细说明：CANopen Device profile for drives and motion control Part 2: Operation modes and application data 伺服通讯协议 最新版协议 Version: 3.0.1.15Drives and motion control device profile- Part 2: Operation modes and application data
CONTENTS
Scope
2 normative references
3 Abbreviations and definitions
3.1 Abbreviations
99999
3.2 Definitions
3.2.1 Local signal
4 Introduction
10
4.1 Operation modes
10
2 Object dictionary
10
5 Data types
11
5.1 Standard data types
5.2 Record definitions
6 General object definitions
12
6.1 General
12
6.2 Communication parameter objects
12
6.3 Additional identification and information objects
13
6.3. 1 object 6402n: Motor type
13
6.3.2 object 6403]: Motor catalogue number
14
6.3.3 object 6404 Motor manufacturer
14
6.3.4Object6405h:httpmotorcatalogueaddress
15
6.3.5 object 6406n: Motor calibration date
15
6.3.6 object 6407h: Motor service period
16
6.3.7 object 6503n: Drive catalogue number
16
6.3.8object6505n:httpdrivecatalogueaddress
17
7 Error codes and error behaviour
17
7. 1 Error codes
17
7.2 Error behavior
.22
8 Controlling the power drive system
22
8. 1 General
22
8.2 Finite state automaton
8. 3 Modes of operation
25
8. 4 Detailed object specifications....
26
8.4.1 object 6040n: Controlword
26
8.4.2 object 6041h: Statusword
27
8.4.3 object 603Fh: Error code
29
8.4. 4 object 6007h: Abort connection option code
.30
8.4.5 Object 605Ah: Quick stop option code
3
8.4.6○ bject605Bh: Shutdown option code.………32
8.4.7 Object 605Ch: Disable operation option code
32
8.4.8 Object 605Dn: Halt option code
33
8.4.9 Object 605En: Fault reaction option code.......
34
8.4.10 Object 6060n: Modes of operation
35
8.4.11 Object 6061h: Modes of operation display....................36
8.4.12 Object 6502n: Supported drive modes.....................36
9 Factor group
37
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Drives and motion control device profile- Part 2: Operation modes and application data
9.1 General
.37
9.2 Detailed object definitions
.:.::.;:·
39
9.2.1 Object 608Fh: Position encoder resolution
39
9.2.2 Object 6090n: Velocity encoder resolution.
40
9.2.3 Object 6091h: Gear ratio
41
9. 2. 4 object 6092h: Feed constant
.42
9.2.5 Object 6096h: Velocity factor
.44
9.2.6 object 6097h: Acceleration factor
9.2.7 Object 60A2: Jerk factor
46
9.2.8 object 607En: Polarity
.47
9.2. 9 Code table for application profile specific units ........................................47
9.2. 10 object 60A8n: SI unit position..
48
9. 2.11 object 60A9h: SI unit velocity
48
9.2.12 object 60AAh: SI unit acceleration
49
9.2. 13 object 60ABn: SI unit jerk
50
10 Profile position mode....
5
10.1 General information
51
10.2 Functional description…..…
52
10.2.1 General
52
10.2.2 Single set-point
翻面面
52
10.2.3 Set of set-points
53
10.2. 4 Usage of halt-bit in conjunction with new set-point bit
54
10. 3 Genera definitions
∴55
10.4 Use of controlword and statusword
.55
10.5 Detailed object definitio
56
10.5.1 Object 607Ah: Target position
56
0.5.2 object 607Bh: Position range limit
57
10.5.3 Object 607Dh: Software position limit ....
58
10.5.4 Object 607Fh: Max profile velocity
59
10.5.5 Object 6080n: Max motor speed....
60
10.5.6 Object 6081h: Profile velocity
60
10.5.7 object 6082h: End velocity
6
0.5.8 Object 6083n: Profile acceleration
..62
10.59 Object6084h: Profile deceleration……
a:.a“:
62
10.5. 10Object 6085h: Quick stop deceleration
63
10.5. 11Object 6086h: Motion profile type
63
10.5. 12object 60A3h: Profile jerk use
64
10.5.13Object 60A4h: Profile jerk
64
10.5. 14Object 60C5h: Max acceleration
66
0.5.15object 60C6h: Max deceleration..
67
1 1 Homing mode
67
11.1 General information
.67
11.2 Functional description
67
11.3 General definitions
68
11.3.1 Method 1: Homing on negative limit switch and index pulse.
68
11.3.2 Method 2: Homing on positive limit switch and index pulse
69
11.3.3 Method 3 and 4: Homing on positive home switch and index pulse
69
1.3.4 Method 5 and 6: Homing on negative home switch and index pulse
70
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Drives and motion control device profile- Part 2: Operation modes and application data
11.3.5 Method 7 to 14: Homing on home switch and index pulse
70
11.3.6 Method 15 and 16: reserved
71
11.3.7 Method 17 to 30: Homing without index pulse
.71
11.3.8 Method 3 1 and 32: Reserved
71
11.3.9 Method 33 and 34: Homing on index pulse
72
11.3.10 Method35: Homing on current position( obsolete)………
..72
11.3. 1 1 Method 36: Reserved for compatibility reasons
72
11.3. 12 Method 37: Homing on current position
72
11 4 Use of controlword and statusword
72
11.5 Detailed object definitions
73
11.5. 1 Object 607Ch: Home offset
73
11.5.2 Object 6098h: Homing method
74
11.5.3 Object 60E3h: Supported homing methods
11.5. 4 Object 6099n: Homing speeds
.76
11.5.5 Object 609Ah: Homing acceleration
..77
12 Touch probe functionality
.78
12.1 Object 60BB Touch probe function
.78
12.2 Object 60B9h: Touch probe status
79
12.3 Object 60BAh: Touch probe 1 positive edge
.80
12.4 Object 60BBh: Touch probe 1 negative edge
.81
12.5 Object 60BCh: Touch probe 2 positive edge
81
12.6 Object 60BD: Touch probe 2 negative edge
82
12.7 Object6oD0h: Touch probe source………
82
12.8 Touch probe time stamp latch..
..84
12.8. 1 object 60D1h: Touch probe time stamp 1 positive valu
84
12.8.2 Object 60D2]: Touch probe time stamp 1 negative value..........84
12.8.3 Object 60D3h: Touch probe time stamp 2 positive value
85
12.8.4 Object60D4h: Touch probe time stamp2 negative value……….85
12. 9 Touch probe edge counter for continuous mode
86
12.9.1 Object 60D5n: Touch probe 1 positive edge counter
86
12.9.2 Object 60 D6n: Touch probe 1 negative edge counter. ................................87
12.9.3 Object 60D7h: Touch probe 2 positive edge counter
87
12.9. 4 Object 60D8n: Touch probe 2 negative edge counter
88
12.10 Timing diagram for touch probe example
a:.a“:
88
13 Position control function
90
13.1 General information
90
13.2 Functional description
90
13.3 Detailed object definitions
.92
3.3.1 Object 6062h: Position demand valu
..92
13.3.2 object 6063h: Position actual internal value
93
3.3.3 Object 6064h: Position actual valt
93
13.3.4 Object 6065h: Following error window
.94
3.3.5 Object 6066h: Following error time out
94
13.3.6 object 6067h: Position window
95
3.3.7 Object 6068h: Position window time
95
13.3.8 Object 60F4h: Following error actual value. ...............................................96
13.3.9 object 60FAh: Control effort
96
13.3. 10object 6OFCh: Position demand internal value
97
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5
Drives and motion control device profile- Part 2: Operation modes and application data
13.3. 11object 60F2h: Positioning option code
97
14 Interpolated position mode
.:.::.;:·a“
101
14.1 General information
101
14.2 Functional description..
102
1421 General
102
14.2.2 Linear interpolated position mode with several axes
102
14.2.3 Buffer strategies for the interpolated position mode
104
14.2.4 Interpolated position mode fsa
105
14.3 General definitions
106
14.4 Use of controlword and statusword
106
14.5 Detailed object definitions
107
14.5.1 Object 60COn: Interpolation sub mode select
107
14.5.2 Object 60C1h: Interpolation data record
108
14.5.3 Object 60C2h: Interpolation time period
109
14.5. 4 Object 60C4h: Interpolation data configuration
110
15 Profile velocity mode
113
15.1 General information
113
15.2 Functional description
113
15.3 General definitions
114
15.4 Use of controlword and statusword
114
15.5 Detailed object definitions
115
15.5. 1 Object 6069h: Velocity sensor actual value
115
15.5.2 Object 606Ah: Sensor selection code
115
15.5.3 Object 606Bh: Velocity demand value
116
15.5. 4 Object 606Ch: Velocity actual value
117
15.5.5 Object 606Dh: Velocity window
117
15.5.6 Object 606Eh: Velocity window time
15.5.7 Object 606Fh: Velocity threshold..
118
15.5.8 Object 6070h: Velocity threshold time
119
15.5. 9 Object 60FFh: Target velocity
119
15.5. 100bject 60F8h: Max slippage
120
16 Profile torque mod
120
16.1 General in formation
120
16.2 Functional description
120
16.3 General definitions
121
16.4 Use of controlword and statusword
121
16.5 Detailed object definitions
122
16.5. 1 Object 6071n: Target torque
122
16.5. 2 object 6072h: Max torque
123
16.5.3 object 60EOn: Positive torque limit value
123
16.5.4 Object 60E1h: Negative torque limit value
124
16.5.5 Object 6073n: Max current..
124
16.5.6 Object 6074h: Torque demand
125
16.5. 7 Object 6075h: Motor rated current
125
16.5.8 object 6076h: Motor rated torque
126
16.5. 9 object 6077h: Torque actual value
..126
16.5. 10object 6078h: Current actual value
127
16.5.11object 6079n: DC link circuit voltage
127
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Drives and motion control device profile- Part 2: Operation modes and application data
16.5. 12object 6087h: Torque slope
128
16.5. 13object 6088: Torque profile type
∴128
17 Velocity mode
129
17.1 General information
129
17.2 Functional description
130
7.2.1 Ramp function
130
17.2.2 Velocity control function
130
17.2.3 Factor function
130
17.3 General definitions
174 Use of controlword and statusword
131
17.5 Detailed object definitions
132
17.5.1 Object 6042: vl target velocity
132
17.5.2 Object 6043 vI velocity demand
133
17.5.3 Object 6044h: v/ velocity actual value
133
7.5. 4 object 6046 vI velocity min max amount
134
7.5.5 Object 6049h: v/ velocity deceleration
135
7.5.6 object 6048: v/ velocity acceleration
137
17.5.7 Object 604Ah: v/ velocity quick stop
138
17.5.8 Object 604Bh: V/ set-point factor
140
17.5. 9 object 604Ch: vI dimension factor.
141
18 Cyclic synchronous position mode
142
18.1 General in formation
142
18.2 Functional description
142
18.3 Use of controlword and statusword
143
18 4 Detailed object detinitions..
144
18.4.1 Object 60BO: Position offset
144
8.4.2 Object 60B1h: Velocity offset
145
18.4.3 Object 60B2: Torque offset
145
19 Cyclic synchronous velocity mode
146
19.1 General in formation
146
19.2 General definitions
147
19.3 Functional description
∴147
19.4 Use of controlword and statusword
148
20 Cyclic synchronous torque mode
149
20.1 General information
149
20.2 General definitions
149
20.3 Functional description
149
20.4 Use of controlword and statusword
,150
21 Cyclic synchronous torque mode with commutation angle (cstca)
150
21.1 General in formation
150
21.2 General definitions
151
21.3 Functional description
1,
151
21.4 Use of controlword and statusword
152
21.5 Additional object definitions for cstc mode
153
21.5. 1 Object 60EAh: Commutation angle
153
22 Support of additional sensor interfaces..........
153
22 1 Object 60E4n: Additional position actual valu
153
22.2 Object 60E5h: Additional velocity actual value
..154
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Drives and motion control device profile- Part 2: Operation modes and application data
22.3 Object 60E6h: Additional position encoder resolution -encoder increments...156
22. 4 Object 60EBh: Additional position encoder resolution motor revolutions
.157
22.5 Object 60E7h: Additional velocity encoder resolution -encoder increments
per second
158
22.6 Object 60ECh: Additional velocity encoder resolution -motor revolutions per
second1 59
22.7 Object 60E8h: Additional gear ratio -motor shaft revolutions...........160
22.8 Object 60EDh: Additional gear ratio-driving shaft revolutions
162
22.9 Object 60E9h: Additional feed constant-feed
163
22 10 Object 60EEn: Additional feed constant- driving shaft revolutions
164
23 Optional application FE
165
23.1 General
165
23.2 Object 60FDh: Digital inputs
165
23.3 Object 60F Eh: Digital outputs
166
24 Device information
168
24.1 Object 67FEn: Standard version
168
O CiA 2012-All rights reserved
Drives and motion control device profile- Part 2: Operation modes and application data
1 Scope
This specification specifies the CANopen device profile for drives and motion control. It
consists of three parts
Part 1: General definitions
Part 2: Operation modes and application data
Part 3: PDO mapping
Part 2 specifies the basic drive and additional application functional elements as defined in
lEC 61800-7-201. This includes the specification of drive operation modes and application
data for power drive systems like frequency converters, servo controllers, or stepper motor
controllers. It includes the definition of real-time control objects as well as of configuration
adjustment, identification and network management objects. There is also defined the PDs
finite state automaton (FSA), which may be controlled externally by a control device
communicating via a communication system to the drive device
2 Normative references
CiA301/
CiA 301, CANopen application layer and communication profile
/CiA402-3/ CiA 402-3, CANopen drive and motion control profile- Part 3: PDO mapping
/IEC61800-7-1/IEC 61800-7-1, Adjustable speed electrical power drive systems Generic
nterface and use of profiles for power drive systems -Interface definition
3 Abbreviations and definitions
3.1 Abbreviations
can Controller area network
COB Communication object
Fsa Finite state automaton
Identifier
LSB Least significant bit
MSB Most significant bit
PDo Process data object
PDs Power drive system
RPDO Receive process data object
SDo Service data object
TPDo Transmit process data object
3.2 Definitions
The definitions given in /CiA301/ and /IEC61800-7-1/ apply for this specification, too
3.2.1
Local signal
Signal generated by the drive derived from an event except the commands received from the
network. Local signal may be caused for example by
an analog or digital input
switching of the high-level power
O CiA 2012-All rights reserved
9
Drives and motion control device profile- Part 2: Operation modes and application data
a device-internal failure
4 Introduction
4.1 Operation modes
The device profile defines several modes of operation. They include profile position mode
homing mode, interpolated position mode, profile velocity mode, profile torque mode, velocity
ode, cyclic synchronous position mode, cyclic synchronous velocity mode, and cyclic
synchronous torque mode
4.2 object dictionary
All application objects described in this specification are grouped in the object dictionary, and
defined by attributes as defined in /CiA301/. All objects shall be accessible via the network in
an ordered pre-defined fashion by means of SDO. Each object within the dictionary shall be
addressed uniquely by using a 16-bit index and an 8-bit sub-index. The communication
related objects are defined in /CiA301/ and /CiA402-3
The standardised device profile area at indices 600o through fFF shall contain all
application objects common to this device profile specification. The following object indices
shall be reserved for compatibility reasons: 6045b, 6047, 604D 604Eh, 604 Fh, 6050 6051
6052h,6053h,6054h,6055h,6056h,6057h;6058h,6059,6089h,608An,608Bh;608Ch,608Dh,
608Eh,6093h,6094h,60955,60AOh,60A1h,60F6h,60F7h,60F9h,60FBh,6410h,6504h,and
6510h. The following object indices range shall be reserved for compatibility reasons with other
stand ards: from 6200 to 62FEh and from 6600h to 67Eh
The objects may be read respectively written via the network. Within this range of objects up
to 8 axes may be realised. Additionally it is possible to implement other device profiles(e. g
generic I/0 module or encoder)within the CANopen drive device. These other CANopen
device profiles may be implemented instead of one or several axes
For multi axes devices the object range 6000n to 67FFh shall be shifted as follows
6000 to 67FF. axis o
·6800nto6FFFh:axis1
7000 to 77FFh: axis 2
7800n to 7FFFh: axis 3
·8000to87FFh:axis4
8800n to 8FFFh: axis 5
9000 to 97FF: axis 6
·98001to9FFFh:axis7
The category and entry category attributes of an object indicate if the object shall be
implemented ( Mandatory or may be implemented(Optional)
The object code and data ty pe attributes are defined in detail in /CiA301/. The used data type
attributes are given in Clause 5. In the entry description, the access attribute indicating if an
application object is read only (ro), read/write(rw) or write only(wo)or constant(c)is defined
Read only indicates that this shall not be written via the bus read /write allows to read and to
write this object; and write only means that this application object shall be not read via the
The PDo mapping attribute shall indicate if this object shall be or may be or shall not be
mapped into Pdo. the detailed definition of these attributes is given in /CiA402-3/
10
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