FAULHABER Motion Control Systems LM-Motors ... - MicroMo

More documents

Recommendations

Info

3 CANopen protocol description3.6 NMT (network management)The possible values for the Command Specifier CS are listed in the following table:State transition Command Specifier CS Explanation(1) – The initialisation status is reached autonomously on switching on.(2) – Following initialisation the pre-operational status is reached automatically,at the same time the boot-up message is sent.(3), (6) CS = 0x01 (1d) Start_Remote_Node. Starts the device and releases the transmission ofPDOs.(4), (7) CS = 0x80 (128d) Enter_Pre-Operational. Stops the PDO transmission, SDO continues tobe active.(5), (8) CS = 0x02 (2d) Stop_Remote_Node. Device changes to error state, SDO and PDO areswitched off.(9), (10), (11) CS = 0x81 (129d) Reset_Node. Performs a reset. All objects are reset to power-on defaults.(12), (13), (14) CS = 0x82 (130d) Reset_Communication. Resets the communication functions.Boot-Up message:Following the initialisation phase, the FAULHABER Motion Controller sends the Boot-Up Message,a CAN message with one data byte (Byte0 = 0x00) on the identifier of the node guarding message(0x700 + Node ID):j11 bit identifier 1 bytes user data0x700 (1792d) + Node ID 0x00The boot-up message signals the end of the initialisation phase of a newly activated module, whichcan then be configured or started.Node guarding / life guarding:The node guarding object can be used to query the momentary state of the device. To do this, bysetting a remote frame, the master sends a request (request message frame) on the guarding identifierof the node to be monitored. This then replies with the guarding message, which contains thecurrent status of the node and a toggle bit.The following diagram describes the node guarding protocol:NMT MasterNode/Life GuardingCOB-ID = 1792 + Node-IDRemote transmit requestNMT Slavet: Toggle bit. Initially 0, changes its value ineach guarding message frame.NodeLifeTimeNodeGuardTimerequestconfirmrequestconfirm0 17tCOB-ID = 1792 + Node-IDRemote transmit request0 17t6…0s6…0sindicationresponseindicationresponses: Status:s = 0x04 (4d): Stoppeds = 0x05 (5d): Operationals = 0x7F (127d): Pre-operationalNode Guarding Event*Life Guarding Event*indicationindication*if guarding errorIf a node life time > 0 is set (objects 0x100C and 0x100D), a life-guarding-error is set, if no more nodeguarding queries of the master arrive within the given life time (life-guarding).The response to a life-guarding-error can be set via the error mask of the FAULHABER error register(object 0x2321). By default the emergency telegram 0x8130 is sent.26
3 CANopen protocol description3.6 NMT (network management)Heartbeat:The Motion Controller can not only be set as the Heartbeat Producer but also as the Heartbeat Consumer.A heartbeat producer cyclically sends a message, which is received by one or several heartbeat consumersin the network. Application of a heartbeat consumer can therefore respond, if no heartbeatmessage of the heartbeat producer to be monitored arrives within the heartbeat consumer time.The following diagram describes the Heartbeat protocol:HeartbeatProducerrequestHeartbeatProducerTimerequestCOB-ID = 1792 + Node-ID0 17r6…0s0 17r6…0sHeartbeatConsumerindicationindicationindicationHeartbeatConsumerTimeindicationindicationindicationr: Reserved (always 0)s: Status of the Heartbeat Producers = 0x00 (0d): Bootups = 0x04 (4d): Stoppeds = 0x05 (5d): Operationals = 0x7F (127d): Pre-operationalHeartbeatConsumerTimeHeartbeat EventIf a producer heartbeat time > 0 is set (object 0x1017) the Motion Controller functions as a heartbeatproducer and sends a heartbeat message at the set time interval.After switching on the bootup message corresponds to the first heartbeat message. Further heartbeatsfollow at intervals equal to the heartbeat producer time.NOTEOnly one of the two monitoring mechanisms, lifeguarding or heartbeat, may be activated!If an attempt is made to set a node guarding time > 0 while heartbeat producer is activated, the SDOerror 0x08000020 is sent.If a producer heartbeat time > 0 is set, the node guarding times are set to 0.The Motion Controller can also act as a heartbeat consumer, in order to monitor the presence of themaster.If, in addition to the producer heartbeat time, a consumer heartbeat time > 0 is set (object0x1016.01) this monitoring mechanism is activated in the Motion Controller. In this case the node IDof the master to be monitored and the monitoring time (heartbeat consumer time) must be enteredhere; this must always be larger than the heartbeat producer time of the master.If the Motion Controller then does not receive any heartbeat message from the master within the setheartbeat consumer time, a heartbeat event is triggered. The response to a heartbeat event can beset using the error mask of the FAULHABER error register (Object 0x2321). By default, the emergencytelegram 0x8130 is sent.NOTEIn the event of fatal communication errors by default the FAULHABER Motion Controllers switch tothe NMT “Pre-Operational” state. If another behaviour is required it can be set using object 0x1029.27
Page 1 and 2: Motion ControlSeries MCLM 300x COCo
Page 3 and 4: OverviewOverview of the FAULHABER M
Page 5 and 6: Table of Contents4.9 Technical info
Page 13 and 14: 2 Quick Start2.4 Operation using ow
Page 15 and 16: 3 CANopen protocol descriptionGuide
Page 17 and 18: 3 CANopen protocol description3.1 I
Page 19 and 20: 3 CANopen protocol description3.2 P
Page 21 and 22: 3 CANopen protocol description3.3 S
Page 23 and 24: 3 CANopen protocol description3.4 E
Page 25: 3 CANopen protocol description3.6 N
Page 36 and 37: 4 Functional description4.1 Device
Page 43: 4 Functional description4.2 Factor
Page 47 and 48: 4 Functional description4.3 Profile
Page 49 and 50: 4 Functional description4.4 Homing
Page 51 and 52: 4 Functional description4.4 Homing
Page 57 and 58: 4 Functional description4.7 Inputs
Page 63 and 64: 4 Functional description4.8 Error h
Page 65 and 66: 4 Functional description4.9 Technic
Page 73 and 74: 5 Commissioning5.1 Node number and
Page 75 and 76: 5 Commissioning5.3 Configuration us
Page 77 and 78:
5 Commissioning5.3 Configuration us
Page 79 and 80:
Page 81 and 82:
Page 83 and 84:
6 Parameter description6.1 Communic
Page 86 and 87:
6 Parameter description6.1 Communic
Page 90 and 91:
6 Parameter description6.2 Manufact
Page 92 and 93:
6 Parameter description6.2 Manufact
Page 95 and 96:
6 Parameter description6.3 Drive pr
Page 97 and 98:
Page 99:
Page 102 and 103:
Notes102
Page 104:
DR. FRITZ FAULHABERGMBH & CO. KGAnt
show all

FAULHABER Motion Control Systems LM-Motors ... - MicroMo

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?