Canopen应用Cia402协议

【核心代码】

CONTENTS
1 SCOPE..................................................................................................................9
2 REFERENCES.....................................................................................................10
3 DEFINITIONS AND ABBREVIATION....................................................................11
4 OVERVIEW .........................................................................................................12
4.1 Access to the drive.......................................................................................12
4.2 Architecture of the drive................................................................................13
5 OPERATING PRINCIPLE.....................................................................................17
5.1 Introduction.................................................................................................17
5.2 Standardization via profiling..........................................................................17
5.3 The object dictionary....................................................................................17
5.3.1 Index and sub-index usage.....................................................................18
6 EMERGENCY MESSAGES..................................................................................19
6.1 Principle......................................................................................................19
6.2 Error codes .................................................................................................19
7 PREDEFINITIONS ...............................................................................................24
7.1 Predefined objects.......................................................................................24
7.1.1 Object 1000 h : Device type......................................................................24
7.1.2 Object 1001 h : Error register....................................................................24
7.1.3 Object 67FF h : Single device type............................................................24
7.2 PDO mapping..............................................................................................24
7.2.1 Receive PDOs.......................................................................................25
7.2.2 Transmit PDOs......................................................................................28
8 OBJECT DICTIONARY........................................................................................32
9 COMMON ENTRIES.............................................................................................33
9.1 General information .....................................................................................33
9.1.1 Motor data.............................................................................................33
9.1.2 Drive data .............................................................................................33
9.2 Object dictionary entries...............................................................................34
9.2.1 Objects defined in this chapter................................................................34
9.3 Object description........................................................................................34
9.3.1 Object 6007 h : Abort connection option code ............................................34
9.3.2 Object 603F h : Error code........................................................................35
9.3.3 Object 6402 h : Motor type........................................................................35
9.3.4 Object 6403 h : Motor catalog number.......................................................36
9.3.5 Object 6404 h : Motor manufacturer...........................................................37
9.3.6 Object 6405 h : http motor catalog address................................................37
9.3.7 Object 6406 h : Motor calibration date........................................................37
9.3.8 Object 6407 h : Motor service period .........................................................38
9.3.9 Object 6410 h : Motor data........................................................................38
9.3.10 Object 6502 h : Supported drive modes.....................................................39
9.3.11 Object 6503 h : Drive catalog number........................................................40
9.3.12 Object 6504 h : Drive manufacturer ...........................................................40
9.3.13 Object 6505 h : http drive catalog address .................................................40
CONTENTS Drives and Motion Control CiA DSP 402 V 2.0
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9.3.14 Object 6510 h : Drive data ........................................................................41
9.3.15 Object 60FD h : Digital inputs....................................................................42
9.3.16 Object 60FE h : Digital outputs..................................................................42
10 DEVICE CONTROL..............................................................................................44
10.1 General information .....................................................................................44
10.1.1 State machine .......................................................................................45
10.2 Object dictionary entries...............................................................................48
10.2.1 Objects defined in this chapter................................................................48
10.3 Object description........................................................................................49
10.3.1 Object 6040 h : Controlword......................................................................49
10.3.2 Object 6041 h : Statusword.......................................................................50
10.3.3 Object 605B h : Shutdown option code ......................................................52
10.3.4 Object 605C h : Disable operation option code...........................................53
10.3.5 Object 605A h : Quick stop option code .....................................................53
10.3.6 Object 605D h : Halt option code...............................................................54
10.3.7 Object 605E h : Fault reaction option code.................................................55
10.3.8 Object 6060 h : Modes of operation...........................................................55
10.3.9 Object 6061h : Modes of operation display ...............................................56
10.4 Functional description..................................................................................57
10.4.1 Modes of operation function....................................................................57
10.4.2 Drive disabling function..........................................................................58
10.4.3 Quick stop function ................................................................................58
10.4.4 Stop function.........................................................................................58
10.4.5 Fault reaction ........................................................................................59
11 FACTOR GROUP ................................................................................................60
11.1 General information .....................................................................................60
11.1.1 Factors..................................................................................................60
11.1.2 Relationship between physical and internal units......................................60
11.2 Object dictionary entries...............................................................................61
11.2.1 Objects defined in this chapter................................................................61
11.3 Object description........................................................................................61
11.3.1 Object 6089 h : Position notation index......................................................61
11.3.2 Object 608A h : Position dimension index ..................................................62
11.3.3 Object 608B h : Velocity notation index......................................................63
11.3.4 Object 608C h : Velocity dimension index ..................................................63
11.3.5 Object 608D h : Acceleration notation index...............................................64
11.3.6 Object 608E h : Acceleration dimension index............................................64
11.3.7 Object 608F h : Position encoder resolution ...............................................65
11.3.8 Object 6090 h : Velocity encoder resolution................................................66
11.3.9 Object 6091 h : Gear ratio.........................................................................67
11.3.10 Object 6092 h : Feed constant.............................................................68
11.3.11 Object 6093 h : Position factor.............................................................69
11.3.12 Object 6094 h : Velocity encoder factor................................................70
11.3.13 Object 6095 h : Velocity factor 1..........................................................71
11.3.14 Object 6096 h : Velocity factor 2..........................................................72
11.3.15 Object 6097 h : Acceleration factor......................................................73
11.3.16 Object 607E h : Polarity......................................................................74
12 PROFILE POSITION MODE.................................................................................75
12.1 General information .....................................................................................75
CONTENTS Drives and Motion Control CiA DSP 402 V 2.0
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12.1.1 Input data description.............................................................................76
12.1.2 Output data description..........................................................................76
12.1.3 Internal states........................................................................................76
12.2 Object dictionary entries...............................................................................77
12.2.1 Objects defined in this chapter................................................................77
12.2.2 Objects defined in other chapters............................................................78
12.3 Object description........................................................................................78
12.3.1 Object 607A h : Target position.................................................................78
12.3.2 Object 607B h : Position range limit...........................................................79
12.3.3 Object 607D h : Software position limit.......................................................80
12.3.4 Object 607F h : Max profile velocity ...........................................................81
12.3.5 Object 6080 h : Max motor speed..............................................................81
12.3.6 Object 6081 h : Profile velocity..................................................................81
12.3.7 Object 6082 h : End velocity......................................................................82
12.3.8 Object 6083 h : Profile acceleration ...........................................................82
12.3.9 Object 6084 h : Profile deceleration...........................................................83
12.3.10 Object 6085 h : Quick stop deceleration...............................................83
12.3.11 Object 6086 h : Motion profile type ......................................................83
12.3.12 Object 60C5 h : Max acceleration........................................................84
12.3.13 Object 60C6 h : Max deceleration........................................................84
12.4 Functional description..................................................................................85
13 HOMING MODE...................................................................................................87
13.1 General information .....................................................................................87
13.1.1 Input data description.............................................................................87
13.1.2 Output data description..........................................................................87
13.1.3 Internal states........................................................................................87
13.2 Object dictionary entries...............................................................................88
13.2.1 Objects defined in this chapter................................................................88
13.2.2 Objects defined in other chapters............................................................88
13.3 Object description........................................................................................88
13.3.1 Object 607C h : Home offset.....................................................................88
13.3.2 Object 6098 h : Homing method................................................................89
13.3.3 Object 6099 h : Homing speeds.................................................................90
13.3.4 Object 609A h : Homing acceleration.........................................................91
13.4 Functional description..................................................................................91
13.4.1 Homing methods ...................................................................................91
14 POSITION CONTROL FUNCTION........................................................................96
14.1 General information .....................................................................................96
14.1.1 Following error.......................................................................................96
14.1.2 Position reached....................................................................................97
14.1.3 Input data description.............................................................................97
14.1.4 Output data description..........................................................................97
14.2 Object dictionary entries...............................................................................97
14.2.1 Objects defined in this chapter................................................................97
14.2.2 Objects defined in other chapters............................................................98
14.3 Object description........................................................................................98
14.3.1 Object 6062 h : Position demand value......................................................98
14.3.2 Object 6063 h : Position actual value*........................................................99
14.3.3 Object 6064 h : Position actual value.........................................................99
CONTENTS Drives and Motion Control CiA DSP 402 V 2.0
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14.3.4 Object 6065 h : Following error window......................................................99
14.3.5 Object 6066 h : Following error time out...................................................100
14.3.6 Object 6067 h : Position window..............................................................100
14.3.7 Object 6068 h : Position window time......................................................101
14.3.8 Object 60F4 h : Following error actual value.............................................101
14.3.9 Object 60FA h : Control effort..................................................................102
14.3.10 Object 60FB h : Position control parameter set...................................102
14.3.11 Object 60FC h : Position demand value*............................................103
14.4 Functional description................................................................................104
15 INTERPOLATED POSITION MODE....................................................................105
15.1 General information ...................................................................................105
15.1.1 Input data description...........................................................................107
15.1.2 Output data description........................................................................107
15.1.3 Internal states......................................................................................108
15.2 Complex data types...................................................................................109
15.2.1 Interpolation time period record.............................................................109
15.2.2 Interpolation data configuration record...................................................110
15.3 Object dictionary entries.............................................................................110
15.3.1 Objects defined in this chapter..............................................................110
15.3.2 Objects defined in other chapters..........................................................110
15.4 Object descriptions ....................................................................................111
15.4.1 Object 60C0 h : Interpolation sub mode select .........................................111
15.4.2 Object 60C1 h : Interpolation data record.................................................111
15.4.3 Object 60C2 h : Interpolation time period.................................................113
15.4.4 Object 60C3 h : Interpolation sync definition.............................................114
15.4.5 Object 60C4 h : Interpolation data configuration.......................................115
15.5 Functional description................................................................................117
15.5.1 Interpolated position mode ...................................................................117
15.5.2 Linear interpolated position mode with several axles..............................117
15.5.3 Buffer strategies for the interpolated position mode................................118
16 PROFILE VELOCITY MODE ..............................................................................120
16.1 General Information...................................................................................120
16.1.1 Input data description...........................................................................123
16.1.2 Output data description........................................................................123
16.1.3 Internal states......................................................................................123
16.2 Object dictionary entries.............................................................................124
16.2.1 Objects defined in this chapter..............................................................124
16.2.2 Objects defined in other chapters..........................................................124
16.3 Object description......................................................................................124
16.3.1 Object 6069 h : Velocity sensor actual value ............................................125
16.3.2 Object 606A h : Sensor selection code.....................................................125
16.3.3 Object 606B h : Velocity demand value....................................................126
16.3.4 Object 606C h : Velocity actual value.......................................................126
16.3.5 Object 606D h : Velocity window.............................................................126
16.3.6 Object 606E h : Velocity window time ......................................................127
16.3.7 Object 606F h : Velocity threshold ...........................................................127
16.3.8 Object 6070 h : Velocity threshold time....................................................128
16.3.9 Object 60FF h : Target velocity................................................................128
16.3.10 Object 60F8 h : Max slippage............................................................128
CONTENTS Drives and Motion Control CiA DSP 402 V 2.0
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16.3.11 Object 60F9 h : Velocity control parameter set....................................129
16.4 Functional description................................................................................130
17 PROFILE TORQUE MODE.................................................................................131
17.1 General information ...................................................................................131
17.1.1 Internal states......................................................................................132
17.2 Object dictionary entries.............................................................................133
17.2.1 Objects defined in this chapter..............................................................133
17.2.2 Objects defined in other chapters..........................................................133
17.3 Object description......................................................................................134
17.3.1 Object 6071 h : Target torque..................................................................134
17.3.2 Object 6072 h : Max torque.....................................................................134
17.3.3 Object 6073 h : Max current....................................................................134
17.3.4 Object 6074 h : Torque demand value.....................................................135
17.3.5 Object 6075 h : Motor rated current .........................................................135
17.3.6 Object 6076 h : Motor rated torque..........................................................136
17.3.7 Object 6077 h : Torque actual value ........................................................136
17.3.8 Object 6078 h : Current actual value........................................................136
17.3.9 Object 6079 h : DC link circuit voltage......................................................137
17.3.10 Object 6087 h : Torque slope............................................................137
17.3.11 Object 6088 h : Torque profile type....................................................138
17.3.12 Object 60F7 h : Power stage parameters ...........................................138
17.3.13 Object 60F6 h : Torque control parameters ........................................139
18 VELOCITY MODE..............................................................................................141
18.1 General description....................................................................................141
18.1.1 Input data description...........................................................................141
18.1.2 Output data description........................................................................142
18.1.3 Structure of the velocity mode...............................................................142
18.1.4 Sub-function description.......................................................................144
18.1.5 Internal states......................................................................................144
18.2 Complex data types...................................................................................146
18.2.1 vl velocity acceleration deceleration record............................................146
18.3 Object dictionary entries.............................................................................146
18.3.1 Objects defined in this chapter..............................................................146
18.3.2 Objects defined in other chapters..........................................................147
18.4 Object description......................................................................................147
18.4.1 Object 6042 h : vl target velocity..............................................................147
18.4.2 Object 6043 h : vl velocity demand..........................................................148
18.4.3 Object 6053 h : vl percentage demand.....................................................148
18.4.4 Object 6054 h : vl actual percentage........................................................149
18.4.5 Object 6055 h : vl manipulated percentage...............................................149
18.4.6 Object 604E h : vl velocity reference........................................................149
18.4.7 Object 604C h : vl dimension factor.........................................................150
18.4.8 Object 604B h : vl set-point factor............................................................152
18.4.9 Object 604D h : vl pole number...............................................................153
18.4.10 Object 6046 h : vl velocity min max amount........................................153
18.4.11 Object 6047 h : vl velocity min max....................................................155
18.4.12 Object 6058 h : vl frequency motor min max amount...........................156
18.4.13 Object 6059 h : vl frequency motor min max.......................................158
18.4.14 Object 6056 h : vl velocity motor min max amount..............................159
CONTENTS Drives and Motion Control CiA DSP 402 V 2.0
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18.4.15 Object 6057 h : vl velocity motor min max..........................................161
18.4.16 Object 6048 h : vl velocity acceleration ..............................................162
18.4.17 Object 6049 h : vl velocity deceleration..............................................164
18.4.18 Object 604A h : vl velocity quick stop.................................................165
18.4.19 Object 604F h : vl ramp function time.................................................166
18.4.20 Object 6050 h : vl slow down time......................................................167
18.4.21 Object 6051 h : vl quick stop time......................................................168
18.4.22 Object 6044 h : vl control effort..........................................................168
18.4.23 Object 6045 h : vl manipulated velocity..............................................169
18.4.24 Object 6052 h : vl nominal percentage...............................................169
18.5 Functional description................................................................................170
18.5.1 Percentage function.............................................................................170
18.5.2 Factor function and reverse factor function............................................170
18.5.3 Pole number function...........................................................................171
18.5.4 Velocity limit function............................................................................171
18.5.5 Velocity motor limit function..................................................................172
18.5.6 Ramp function.....................................................................................172
18.5.7 Ramp min function...............................................................................173
18.5.8 Reference calculation...........................................................................173
18.5.9 Closed open loop control function.........................................................174
19 APPENDIX........................................................................................................175
19.1 Object dictionary by chapter .......................................................................175
19.1.1 Common Entries..................................................................................175
19.1.2 Device Control.....................................................................................176
19.1.3 Factor Group.......................................................................................176
19.1.4 Profile Position Mode...........................................................................178
19.1.5 Homing Mode......................................................................................179
19.1.6 Position control function.......................................................................179
19.1.7 Interpolated position mode ...................................................................180
19.1.8 Profile velocity mode............................................................................181
19.1.9 Profile Torque Mode ............................................................................182
19.1.10 Velocity Mode................................................................................183
19.2 Object dictionary by index ..........................................................................186
19.3 Object dictionary by name..........................................................................192
19.4 Definition of dimension indices....................................................................198
19.4.1 Dimension index table..........................................................................198
19.4.2 Notation index table.............................................................................199