mon setting

Commun The com to be lon cycle wit TxPDO p of the no Node‐Gu CANope from a s

r Product Applic

configurati ving a basic to use and h essary areas The common These are th The individu These are th communicat

d‐rate typica es. The total l in many syst r baud‐rate w ehavior of sev d‐rate settin

unlikely to c ble to send i rate or not ca

detection re n their detec

U co

nication Cyc mmunication ng enough fo th at least on per node the odes to hand uarding vs. H n originally d lave by send

cation Note 174

ion

understandi how to use th

of configura n settings of he baud‐rate, al configurat he PDO settin

tion error.

gs

ally is either length of the tems. If 30m will allow for veral axes, 1 ng of the nod change the b its boot‐mes an only be d equire others ction by occa

Using a fixed ompared to

cycle is defin or all nodes t

ne ms per no minimum sy dle the traffic Heartbeat defined the n ding a remote

ng of the ser hem.

ation are:

the commu , the SYNCH tion per nod ngs like mapp

125kBit/s, 25 e sub‐system m is not suffic shorter com Mbit/s agai des should no

aud‐rate on ssage until th one when a s to be talkin asional error

baud‐rate i auto‐baud d

ned by the in to send their ode and PDO ynch cycle w c.

node‐guardin e transfer re

rvices of a CA

nication.

interval and e:

ping and tra

50kBit/s, 500 m is limited to cient use 500 mmunication

n might be t ot be left at t

the fly. A no he real baud‐

message is r ng to be able

frames.

in all nodes detection.

nterval betw r PDOs within O. So if we do would be 10m

ng, where th equest of exa

ANopen sub‐

typically the

nsmission ty

0 kBit/s or 1 o around 30m 0 kBit/s. 250

cycles. Ther the choice.

the initial au ode being con

‐rate is detec received. So e to synchron

results in a

ween two SYN n the cycle. A o have 10 no ms. Numbers

he master req actly this mes

‐system ther

e type of nod

pe and the r

MBit/s. The m in case of kBit/s is for refore, if you

to‐baud det nfigured for cted. A decis not only do nize into the

more robus

NCH message At 1 Mbit/s o des connect

however de

quests an up ssage.

re are some

de‐guarding

reaction of a

re is no harm the 1 Mbit/s really large s u need to hav

ection. In an auto‐baud d sion of either nodes config speed, they

st system st

es. This sync our experien ted and 1 RxP epend on the

pdated state

Seite 29 von 3

hints on whi

to be used.

node to a

m in using th s. But that’s systems only ve a synchro

n application detection wil r having the gured for au can as well

tart behavior

h interval ha ce is to have PDO + 1 e capabilities

information

ich

Faulhaber

Remote the prefe All partic reduce t Drawbac Consum common the preo If we com factor of node is t secutive Heartbe during a layed. W the cycle explicit t

Node-i

PDO Ma The PDO The CiA 4 RxPDO1

 0 RxPDO2

 0

 0 RxPDO2

 0

Table 8

r Product Applic

transfer is v erred solutio cipants send the traffic slig

ck of the hea er and a pro n producer cy operational c

mpare a typi f 3 the maste temporarily o missing resp at on the oth situation wh We did observ e times are u tolerance ag

Ev n

individual

apping O mapping is

402 Servo D

0x6040.00 C

0x6040.00 C 0x607a.00 T

0x6040.00 C 0x60FF.00 Ta 8 Default m

cation Note 174

ery specific f on in the CAN

heartbeat m ghtly, as no R artbeat howe ducer heartb ycle for the m configuration

ical configura er will reque

overloaded, ponse.

her hand doe here a lot of ve masters h usually config ainst the tra

ven if heart ode‐guardin

settings

individual fo rive Profile i

Controlword

Controlword argetPositio

Controlword argetVelocity mappings of

for a CAN en Nopen literat messages cyc RTR frames a ever is its lac beat‐interva master. Usua n. Compared

ation of a no st a guarding the master w

es not offer s higher prio m handling this

gured by the ffic jam here

tbeat is the g seems to b

or each appli ncludes stan

f a CANope

nvironment a ture.

clically. Using are required ck of robustn l are usually ally the mast d to the node ode‐guarding g message ve will consider

such a tolera message suc

delay as a m e CANopen m

e meanwhile be the more

ication. Som ndard PDO m Tx

en servo-d

and therefore

g the same g .

ness.

configured p ter then sets e‐guarding th g, having a gu

ery 100ms. I r the slave to

ance. If any o ch as PDOs a missing node, master – iden

e recommen robust solut

e restriction mapping for t

xPDO1

 0x604 xPDO1

 0x604

 0x606 xPDO1

 0x604

 0x606 rive

e the heartb

guarding inte

parameters o s these cycles here is no tol

uarding cycle f there is no o be offline o

of the slaves re exchange , restarting t ntical for mas

nded version tion and shou

s should be he RxPDOs 1

1.00 Statusw

1.00 Statusw 4.00 Position

1.00 Statusw C.00 Velocity

beat had bee

erval the hea

of the slaves s to identica lerance.

e of 100ms a response e.

only after the

tries to send ed, it might a

the drive via ster and slav

n of life‐sta uld be prefe

noted thoug 1 – 3 and the

word

nActualValue

word

yActualValue

Seite 30 von 3

n added and

rtbeat will

s. There is on l values duri

and a life‐tim g. because t e third con‐

d its heartbe t least be de the CAN. As ve – there is

te checking rred.

gh.

e TxPDOs 1‐3

d is

ne ng

me‐

eat e‐

Faulhaber

Each of t ease the drive in related P There is by a risin In PP mo start bit variables So in a P Target Contro Unfortun PLC task PLC app changed change o last targ To avoid trolword

The driv received If (St C End IF As soon word. Th the wind If the Op Modes o target po Now if th OpMode

r Product Applic

the RxPDOs e commissio either Profi PDO is sent b

trap here. In ng edge in bi ode the drive

. Unfortunat s mapped in PLC applicatio

tPos := P olWord.Bi nately there k time will be

lication they d here. But – of the variab et position – d this, the co d must not b

If b ac

ve will flag th d it's safe to c tatusWord ControlWo F

as the drive his bit will be dow for the p

pMode has of Operation osition to the he idea is to e:= 1;

cation Note 174

contains the ning. Even w le Position M by the maste n PP mode a it 4 of the co e will start to tely, that is d nto the PDOs

on the code Pos A;

it4 := tr are no guar e shorter th y will all be u

depending o ble ControlW – which very ontrolword a e mapped to f Profile Posit e mapped to ctive PDO!

he new posi clear the sta d.Bit12) ord.Bit4:

leaves the t e set again, if position wind

to be chang n (0x6060.00 e actual valu :

e controlwor without any Mode (PP) o er.

s well as in H ntrolword – o move using

difficult to c s are directly

could like

rue;

rantees abou an the CAN updated afte on the timin Word. In such

likely is the a nd the targe o any other a tion Mode (P o the same R

tion with a s rt‐bit again.

then := 0;

target windo f the actual p dow time.

ged during th 0). During a ue and will ho

rd, each of th changes in or Profile Ve

Homing mod – it's a start b g the last tar control out o y mapped to

ut when and communicat er this code

g, it might e h a case the actual one. T et position sh active PDO.

PP) is used th RxPDO. The c

set bit 12 –

ow it will also position reac

he operation switch from old the actua

he TxPDOs co PDO mappin locity Mode

de the start o bit.

rget position of a PLC envi o global varia

in which se tion cycle. S sequence – ven be RxPD

drive will st Therefore, n hould be ma

he controlwo controlword

setpoint ack

o reset the ta ched the targ

n of an appl whatever O al position u

ontains the s ng a master

(PV). But th

of a moveme

received be ironment. In ables of the

quence the o if all three

at least the DO3 that is th

art its move o movement pped to the

ord and the t must not be

knowledge. O

arget reache get window a

lication, the OpMode to P

ntil a new m

statusword.

r will be able hat's true on

ent of the dr

efore the risi n such an en PLC runtime

PDOs are se e PDOs are m e controlwor

he first to be ement, but w t will occur a same RxPDO

target positi e mapped to

Only after th

ed bit (bit 10 again and re

same rule a PP the drive move is starte

Seite 31 von 3

That’s done e to operate nly, if only t

ive is trigger

ng edge of t vironment t e environme

nt. Usually t mapped to t rd should ha e sent after t will still use t

at all.

O and the co

on have to a second

his response

) in the statu emained with

applies for t e will reset t ed.

to e a the

red

he he nt.

the he ave he he

on‐

e is

us‐

hin

he he

Faulhaber

Target Contro The sam also has This can It is no p handsha

PDO tran The defa expected is mappe velocity a corrido CiA 402 So if a m 1 – cyclic

There m used (m course f the answ

3 Of cour reduce th If frequen have the

4 It is po (0x6061.0 target po

r Product Applic

tPos := P olWord.Bi me problem a to be assure be done by problem to ake here. So t

If as

nsmission ty ault transmis d to send it's ed into it an do not trigg or around an

Servo Drive master wants c every SYNC

In T m

might be one ultiples of 1 lag the react wer immedia

se the Modes he traffic, if th nt changes be

Modes of Op ossible to saf 00) back. If th osition will no

cation Note 174

Pos A;

it4 := tr arises. Of cou ed, it's receiv mapping con locate a targ the resulting

f the TxPDOs s a part of ea

ypes

ssion types o s update whe nd the conte

er a re‐trans nalog values

Profile.

to trace the CH cycle.

n many appl he transmiss mission type

exception to 0ms). In suc tion more o ately. It migh

s of Operation he change is n

etween PV an eration mapp ely change fr he new positio

longer be can rue;

urse, the Mo ved together ntrolword, m get velocity g mapping m

s are transfe ach TxPDO. A

of a FAULHA enever a val ents of the s smission as t to handle th

e movement

ications the sion of actua 1.

o the rule. T ch a case wh r less immed ht even occu

n could altern ecessary only nd PP are use ped to a PDO.

rom one OpM on is sent onl nceled by an in

des of Opera r with the co modes of ope

or a target might look sim

rred synchro A single occu

BER servo d ue changed, statusword c this would fl he problem o

of a slave it

transmissio al values ba

That is the ca henever a ne diately. But ur, that the

atively be cha y after the init d during the Mode to ano y after the M nitial internal

ation has to ntrolword an eration and t

torque in an milar to what

onously it isn urrence is suf

rive is 255 – , the drive w changed. Ch ood the CAN of jitter at ac

is best pract

on type of th ck to the m

ase where a ew position c

as the cycle new positio

anged using th ial homing.

operational s ther one by Modes of Oper

target positio

be added to nd the target target positio ny of the oth t is given in F

n't necessary fficient.

asynchrono ill send its P anges of oth N. The CiA 40 ctual values.

tice to chang

he RxPDOs i aster is don

relatively lo command is

is a long on n is reached

he SDO servic tate of the m reading the ration signals on.

o one of the R t position⁴. on into the s her RxPDOs Figure 16.

y to have the

ously. That is DOs only if t her values li 01 I/O node That's not th

ge the transm

s 255 – asy e synchrono

ng commun received, th ne, the PLC w d, before the

ce. This might machine, it mig Modes of Op the PP being

Seite 32 von 3

RxPDOs³, but

same RxPDO as there is

e statusword

s, the master the statuswo ike position profile defin he case for t

mission type

nchronously ously ‐ trans‐

ication cycle he drive will will not recei e response h

be an option ght be better peration Disp active, the n

t it

. no

r is ord or nes he

‐

e is of ive has

to to lay ew

Faulhaber Product Application Note 174 Seite 33 von 35

been sent. In such a case the response might contain the setpoint acknowledge flag as well as the target reached flag. Depending of the implementation of a step‐sequence of commands at the master, this step sequence might be misled due to the target being reached more or less immediately.

In such a case, it might be better to have a single TxPDO occupied by the statusword only and having the transmission type of this PDO being 255. So it's updated immediately after every change of the status‐

word. The PDOs carrying the actual values – if used at all – will still have to be transferred synched.

Error handling (0x6007)

By default a CANopen servo drive will not be switched out of the switch on disabled state of the drive state machine of CiA 402, unless the communication is in operational state⁵. The Abort connection option code (0x6007.00) determines the reaction of the drive function, when the communication is lost after the drive has been started.

Options are:

 Don't care

 Switch into the fault state of the drive state machine, which will usually stop the drive

 Switch off the power

 switch into the quick‐stop state of the drive state machine

Don't care might not be a safe selection. If CAN is the active interface and the communication is disturbed, the drive should be stopped. Which one of the stops is selected depends on the application. The reaction of the drive when switched into the quick‐stop state or the fault state is configured using the quick‐stop option code or the fault reaction option code.

Literature

[1] CiA 102 Physical Layer for industrial applications

[2] CiA 301 CANopen application layer and communication profile [3] CiA 401 CANopen device profile for generic I/O modules [4] CiA 402 CANopen device profile for drives and motion control [5] CiA 305 Layer Setting Services

5 Drives having several interfaces might have a different behavior. For a FAULHABER MotionController generation V3.0 the behavior is configurable.

Faulhaber Product Application Note 174 Seite 34 von 35

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Industrial property rights. In publishing, handing over/dispatching or otherwise making available this Application Note Dr. Fritz Faulhaber & Co. KG does not expressly or implicitly grant any rights in industrial property rights nor does it transfer rights of use or other rights in such industrial property rights. This applies in particular to industrial property rights on which the applications and/or functions of this Application Note are directly or indirectly based or with which they are connected.

No part of contract; non‐binding character of the Application Note. The Application Note is not a constituent part of contracts concluded by Dr. Fritz Faulhaber & Co. KG and the content of the Application Note does not constitute any contractual quality statement for products, unless expressly set out otherwise in the respective contracts. The Appli‐

Faulhaber Product Application Note 174 Seite 35 von 35

cation Note is a non‐binding description of a possible application. In particular Dr. Fritz Faulhaber & Co. KG does not warrant or guarantee and also makes no representation that the processes and functions illustrated in the Applica‐

tion Note can always be executed and implemented as described and that they can be used in other contexts and environments with the same result without additional tests or modifications. The customer and any user must inform themselves in each case before concluding a contract concerning a product whether the processes and functions are applicable and can be implemented in their scope and environment.

No liability. Owing to the non‐binding character of the Application Note Dr. Fritz Faulhaber & Co. KG will not accept any liability for losses arising from its application by customers and other users. In particular, this Application Note and its use cannot give rise to any claims based on infringements of industrial property rights of third parties, due to

In document Setup and configuration of a CANopen sub‐system (pagina 29-35)