Bamocar CAN Manual
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O:\Documents\unitek-tms\briefe\can tx 16-32 .docx Seite: 1 / 3 Stand: 17.12.2009 Valid from Gültig ab FW 378 Industrie Elektronik G m b H A short description of the CAN-Bus interface Ein kurze Erklärung des CAN-Bus Interfaces Receive Empfangen Transmit Senden 1. COB-ID DLC Byte1 Byte2 Byte3 COB-ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 RxID 3 RegID DATA07..00 DATA15..08 RxID 5 RegID DATA07..00 DATA15..08 DATA23..16 DATA31..24 COB-ID DLC Byte1 Byte2 Byte3 Byte4 COB-ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 TxID 4 RegID DATA07..00 DATA15..08 Stuff TxID 6 RegID DATA07..00 DATA15..08 DATA23..16 DATA31..24 Stuff As standard drive CAN-Bus command messages are 3 bytes long (16-bit data) or 5 bytes long (32-bit data). Standartmässig sind die Regler CAN-Bus Befehl-Telegramme 3 Byte lang (16-Bit Daten) oder 5 Byte lang (32-Bit Daten). ○ “Remote Transmit Requests” (RTR) will be ignored. “Remote Transfer Requests” (RTR) werden ignoriert. ○ If a 3 byte message (16-bit data) is received and 32-bit data expected, the value will be zero / sign extended as required. Wenn ein 3 Byte Telegramm(16-Bit Daten) ankommt und 32-Bit Daten erwartet wird, wirt der Wert nach Bedarf null- / vorzeichen-erweitert. ○ If a 5 byte message (32-bit data) is received and 16 bit data expected, the upper data will be thrown away. Wenn ein 5 Byte Telegramm(32-Bit Daten) ankommt und 32-Bit Daten erwartet wird, werden die oberen Daten wegwerfen 2. As standard drive CAN-Bus reply messages are 4 bytes long (16-bit data) or 6 bytes long (32-bit data). Standartmäsig sind die Regler CAN-Bus Antwort-Telegramme 4 Byte lang (16-bit Daten) oder 6 Byte lang (32-bit Daten). 3. To get the drive to send all replies as 6 byte messages (32-bit data) a bit in RegID 0xDC has to be manually modified. Daß der Regler alle Antworten als 6-Byte Telegramme schicken, muß ein Bit in RegID 0xDC manuell modifiziert werden. ○ ○ ○ ○ 4. In NDrive open “Manual Read/Write” in the Diagnostic window In NDrive “Manual Read/Write” in der Diagnose-Fenster aufmachen. Read / Lesen ID register change upper byte to ändere obere Byte zum 01 01 Write / Schreiben ID register 0xDC value 0x00nn (00 = standard configuration) (00 = Standartkonfiruration) 0xDC value 0x01nn Don’t forget to save using “Write 0” in the Settings window. Vergesse nicht mit “Schreibe 0” in den Einstellungen-Fenster zum sichern. Seite: 2 / 3 Stand: 17.12.2009 Valid from Gültig ab FW 378 O:\Documents\unitek-tms\briefe\can tx 16-32 .docx 5. Commands with 16-bit formats (as examples) Befehle mit 16-Bit Formate (als Beispiele) Command Befehl SPEED_COMMAND (send on requirement noch Bedarf schicken) STOP ≡ SPEED_COMMAND = 0 (send on requirement noch Bedarf schicken) 6. Industrie Elektronik G m b H (PC (PC Drive) Range (16-Bit) Bereich Regler) COB-ID DLC Byte1 Byte2 Byte3 +100% +32767 0x7FFF RxID 3 31 0xNN 0xNN +50% +16384 0x4000 RegID Data07..00 Data15..08 COB-ID DLC Byte1 Byte2 Byte3 RxID 3 31 0x00 0x00 RegID Data07..00 Data15..08 0% 0 0x0000 −50% −16384 0xC000 −100% −32767 0x8001 FUNC_REF_START (send on requirement noch Bedarf schicken) COB-ID DLC Byte1 Byte2 Byte3 RxID 3 78 0xNN 0xNN RegID Data07..00 Data15..08 TORQUE_COMMAND (send on requirement noch Bedarf schicken) COB-ID DLC Byte1 Byte2 Byte3 +150% +32767 0x7FFF RxID 3 90 0xNN 0xNN +100% +21845 0x5555 RegID Data07..00 Data15..08 0% 0 0x0000 −100% −21845 0xAAAA −150% −32767 0x8001 Units Einheiten ±32767 ±100% ±32767 ±150% Commands with 32-bit formats (as examples) Befehle mit 32-Bit Formate (als Beispiele) Command Befehl POS_DEST (send on requirement noch Bedarf schicken) ±65536 Byte1 Byte2 Byte3 Byte4 Byte5 +2147483647 0x7FFF’FFFF 6E 0xNN 0xNN 0xNN 0xNN +1073741824 0x4000’0000 RegID Data07..00 Data15..08 Data23..16 Data31..24 +1048576 0x0010’000ß COB-ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 +65536 0x0001’0000 RxID 5 7E 0xNN 0xNN 0xNN 0xNN +32767 0x0000’7FFF RegID Data07..00 Data15..08 Data23..16 Data31..24 +16384 0x0000’4000 0 0x0000’0000 −16384 0xFFFF’C000 −32767 0xFFFF’8001 -65536 0xFFFF’0000 -1048576 0xFFF0’0000 COB-ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 RxID 5 D1 0xNN 0xNN 0xNN 0xNN RegID Data07..00 Data15..08 Data23..16 Data31..24 Byte1 Byte2 Byte3 Byte4 Byte5 COB-ID DLC RxID 5 D2 0xNN 0xNN 0xNN 0xNN RegID Data07..00 Data15..08 Data23..16 Data31..24 COB-ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 RxID 5 D3 0xNN 0xNN 0xNN 0xNN RegID Data07..00 Data15..08 Data23..16 Data31..24 COB-ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 RxID 5 D4 0xNN 0xNN 0xNN 0xNN RegID Data07..00 Data15..08 Data23..16 Data31..24 noch Bedarf schicken) VAR4 (send on requirement Units Einheiten 5 noch Bedarf schicken) VAR3 (send on requirement Range (32-Bit) Bereich DLC noch Bedarf schicken) VAR2 (send on requirement Regler) RxID noch Bedarf schicken) VAR1 (send on requirement Drive) COB-ID noch Bedarf schicken) POS_PRESET (send on requirement (PC (PC -1073741824 0xC000’0000 -2147483647 0x8000’0001 ≡ ±rev Seite: 3 / 3 Stand: 17.12.2009 Valid from Gültig ab FW 378 O:\Documents\unitek-tms\briefe\can tx 16-32 .docx 7. Industrie Elektronik G m b H Commands for an immediate reply request (as examples) Sofortiger Antwortanforderungsbefehl (als Beispiele) Request Anforderung (PC (PC Drive) Regler) Reply Antwort (Drive PC) (Regler PC) Range Units Bereich Einheiten SPEED_RPMMAX_INT (request once einmal anfordern) COB-ID DLC Byte1 Byte2 Byte3 RxID 3 0x3D 0xCE 0x00 Read RegID Time CURRENT_DEVICE (request once einmal anfordern) COB-ID DLC Byte1 Byte2 Byte3 RxID 3 0x3D 0xC6 0x00 Read RegID Time CURRENT_200PC (request once einmal anfordern) COB-ID DLC Byte1 Byte2 Byte3 RxID 3 0x3D 0xD9 0x00 Read RegID Time SPEED_ACTUAL (request on requirement noch Bedarf anfordern) COB-ID DLC Byte1 Byte2 Byte3 COB-ID DLC Byte1 Byte2 Byte3 Byte4 RxID 3 0x3D 0x30 0x00 TxID 4 0x30 0xNN 0xNN Stuff Read RegID Time RegID Data07..00 Data15..08 COB-ID DLC Byte1 Byte2 Byte3 Byte4 TxID 4 0xCE 0xNN 0xNN Stuff RegID Data07..00 Data15..08 COB-ID DLC Byte1 Byte2 Byte3 Byte4 TxID 4 0xC6 0xNN 0xNN Stuff RegID Data07..00 Data15..08 COB-ID DLC Byte1 Byte2 Byte3 Byte4 TxID 4 0xD9 0xNN 0xNN Stuff RegID Data07..00 Data15..08 16-bit rpm U/min 16-bit dA 16-bit ADC units ±32767 16-bit ≡ ±100% CURRENT_ACTUAL (request on requirement noch Bedarf anfordern) COB-ID DLC Byte1 Byte2 Byte3 COB-ID DLC Byte1 Byte2 Byte3 Byte4 RxID 3 0x3D 0x20 0x00 TxID 4 0x20 0xNN 0xNN Stuff Read RegID Time RegID Data07..00 Data15..08 STATUS (request on requirement noch Bedarf anfordern) COB-ID DLC Byte1 Byte2 Byte3 RxID 3 0x3D 0x40 0x00 Read RegID Time 16-bit ADC units 32-bit Bit-Map 16-bit Bit-Map 32-bit Bit-Map 16-bit Bit-Map 16-bit Bit-Map LOGICMAP_ERRORS (request on requirement noch Bedarf anfordern) COB-ID DLC Byte1 Byte2 Byte3 RxID 3 0x3D 0x8F 0x00 Read RegID Time LOGICMAP_IO (request on requirement noch Bedarf anfordern) COB-ID DLC Byte1 Byte2 Byte3 RxID 3 0x3D 0xD8 0x00 Read RegID Time POS_ACTUAL (request on requirement noch Bedarf anfordern) COB-ID DLC Byte1 Byte2 Byte3 RxID 3 0x3D 0x6E 0x00 Read RegID Time ฑܰ = ሾ % ሿ ௧ (units conversions Einheiten-Umstellung) % 〈 ሿ 〈 〉ሾሿ ∙ 〈 DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 TxID 6 0x40 0xNN 0xNN 0xNN 0xNN Stuff RegID Data07..00 Data15..08 Data23..16 Data31..24 COB-ID DLC Byte1 Byte2 Byte3 Byte4 TxID 4 0x40 0xNN 0xNN Stuff RegID Data07..00 Data15..08 COB-ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 TxID 6 0x8F 0xNN 0xNN 0xNN 0xNN Stuff RegID Data07..00 Data15..08 Data23..16 Data31..24 COB-ID DLC Byte1 Byte2 Byte3 Byte4 TxID 4 0x8F 0xNN 0xNN Stuff RegID Data07..00 Data15..08 COB-ID DLC Byte1 Byte2 Byte3 Byte4 TxID 4 0xD8 0xNN 0xNN Stuff RegID Data07..00 Data15..08 COB-ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 TxID 6 0x6E 0xNN 0xNN 0xNN 0xNN Stuff RegID Data07..00 Data15..08 Data23..16 Data31..24 ฑܰ = ሾሿ 〉ሾሿ 32767 100 ∙ ൭ ݈ܵܽݑݐܿܣ݀݁݁ ௧ = 200 ൭ 200 ሾ ௧ 8. COB-ID 〉ሾሿ 〈 〉ሾሿ ∙ 〈 〈 〉ሾሿ 〉ሾሿ ±65536 32-bit ≡ ±rev 32767 ൭ ݈ܵܽݑݐܿܣ݀݁݁ 〉ሾሿ = 102 ൭ 200 ሾ ሿ ௧ ∙ 〈 〈 〉ሾሿ ∙ Up to 8 time-triggered reply requests can be activated Bis 8 zeitgesteuerte Antwortanforderungen können aktiviert werden ○ ○ The format is as above , with the “Time” entry setup as follows: Der Format ist wie oben, mit dem „Time“ Feld folgendes definiert: 0x00 Time ○ immediate sofort 0xFF Time suspend transmission Senden suspendiert otherwise sonst 0xNN Time timer setup Zeit einstellen Entries with suspended transmissions can be overwritten by newer requests. Eingaben mit suspendierten Senden können bei neueren Anforderungen überschrieben werden. (1 – 254 ms) (1 – 254 ms) MANUAL CAN - BUS for Servo Amplifiers DS 2xx / DS 4xx / DPCxx BAMOCAR BAMOBIL / BAMOBIL Dxx Industrie Elektronik G m b H Hans-Paul-Kaysser-Straße 1 71397 Leutenbach – Nellmersbach Tel.: 07195 / 92 83 – 0 Fax: 07195 / 92 83 – 129 info@unitek-online.de www.unitek-online.de Edition / Version 06/2017 V 04 Safety 1 Contents 2 Safety .............................................................................................................................. 2 3 2.1 Safety advices ..................................................................................................................... 2 2.2 Regulations and guidelines ................................................................................................ 2 General information ......................................................................................................... 4 3.1 4 CAN BUS connections ....................................................................................................... 5 4.1 5 6 7 Connections........................................................................................................................ 5 Software .......................................................................................................................... 7 5.1 Format description ............................................................................................................. 7 5.2 Head field ........................................................................................................................... 8 5.3 COB ID bits (CAN OBJECT ID) .............................................................................................. 8 5.4 RTR bit (REMOTE TRANSMISSION REQUEST) ..................................................................... 8 5.5 DLC bits (DATA LENGTH CODE) .......................................................................................... 8 5.6 Data field ............................................................................................................................ 9 5.7 REGID.................................................................................................................................. 9 5.8 Data .................................................................................................................................... 9 Examples ....................................................................................................................... 10 6.1 Receiving CAN BUS data ................................................................................................... 10 6.2 Transmission of CAN data from the DSxx and BAxx servo to the CAN BUS ..................... 10 6.3 Sending from the master to the CAN bus to the DS servo ............................................... 11 6.4 Transmission from the DS servo to the CAN BUS ............................................................ 14 Units .............................................................................................................................. 20 7.1 1 Logic functions ................................................................................................................... 4 Conversion of the measuring units .................................................................................. 20 06 / 2017 – V03 CAN-BUS Safety 2.1 Safety Safety advices 2 Safety advices Note: This manual description is only to be used in connection with the hardware manual DS and the software manual NDrive!! Before installation or commissioning begins, this manual must be thoroughly read and understood by the skilled technical staff involved. If any uncertainty arises, the manufacturer or dealer should be contacted 2.2 Regulations and guidelines The devices and their associated components can only be installed and switched on where the local regulations and technical standards have been strictly adhered to. EU Guidelines IEC/UL: VDE Regulations/TÜV Regulations: Regulations of the statutory accident insurance and prevention institution: 2004/108/EG, 2006/95/EG, 2006/42/EG EN 60204-1, EN292, EN50178, EN60439-1, EN61800-3, ECE-R100 ISO 6469, ISO 26262, ISO 16750, ISO 20653, ISO12100 IEC 61508, IEC364, IEC664, UL508C, UL840 VDE100, VDE110, VDE160 VGB4 The user must ensure that in the event of: - device failure - incorrect operation - loss of regulation or control the axis will be safely de-activated. It must also be ensured that the vehicles, machines, equipment, or vehicles are fitted with device independent monitoring and safety features. Unearthed systems (e.g. vehicles) must be protected by means of independent insulation monitors. Man as well as property must not be exposed to danger at any time!!! CAN-BUS 06/2017 – V03 2 Regulations and guidelines Safety Assembly - should only be carried out when all voltages have been removed and the units are secured - should only be carried out by suitably trained personnel Installation - should only be carried out when all voltages have been removed and the units are secured - should only be carried out by suitably trained personnel for electrics - should only be carried out in accordance with health and safety guidelines Adjustments and programming - should only be carried out by suitably trained personnel with knowledge in electronic drives and their software - should only be carried out in accordance with the programming advice - should only be carried out in accordance with safety guidelines - should only be carried out if the path monitoring systems are active for limited travel distances. CE When mounting the units into vehicles, machines, and installations the proper operation of the units may not be started until it is ensured that the machine, the installation, or the vehicle comply with the regulations of the EC machinery directive 2006/42/EG, the EMC guideline 2004/108/EG, and the guideline ECE-R100. On the described installation and test conditions (see chapter ‘CE notes’) it is adhered to the EC guideline 2004/108/EG including the EMC standards EN61000-2 and EN61000-4. A manufacturer's declaration can be requested. The manufacturer of the machine or installation is responsible for observing the threshold values demanded by the EMC laws. QS Test results are archived with the device serial number by the manufacturer for a period of 5 years. The test protocols can be asked for. 3 06 / 2017 – V03 CAN-BUS General information 3.1 General information Logic functions 3 Logic functions Originally the serial data bus system CAN (Controller Area Network) was developed for the automobile industry. Since then, the CAN-BUS is used for a wide range of applications in the plant and mechanical engineering. CAN is internationally standardized as ISO11898. CAN meets the particularly high safety requirements of highly available machines and medical equipment. High transmission rates and favourable connection costs are the advantages of the CAN-BUS. During the CAN data transmission no stations are addressed but the content of a message is marked by a network-wide clear identifier. The identifier also determines the priority of the message. A high system and configuration flexibility is achieved due to the content-related addressing. Thus, it is very easy to add further equipment to the network. In all digital UNITEK devices the CAN-BUS interface is installed as Slave. It is intended for being connected to a CAN-BUS master. The interface is opto-decoupled. The primary supply is effected internally via DC/DC converters. The UNITEK CAN-BUS can transmit the following functions: Examples from master (CNC/SPS/ to slave (DRIVE-DS) (receiving) Logic functions Enable Reference run Start, Stop Command values Torque command value Speed command value Position command value Current limits Parameters Control parameters Settings Examples from slave (DRIVE-DS) to master (CNC/SPS) (sending, transmitting) Logic functions RUN ENABLE POS Limit switch Actual values Actual torque value Actual speed value Actual position value Parameters Control parameter Settings Signals State signal Error signal The addresses (REGID) are indicated in the parameter survey (see NDrive Manual), e.g. speed command value (SPEED_CMD) = REGID 0x31. CAN-BUS 06/2017 – V03 4 Connections CAN BUS connections 4 CAN BUS connections 4.1 Connections The CAN-BUS is the digital connection to the CNC control (CAN master). The programming and operation is effected via the CAN-BUS by means of the control panel. Interface acc. to ISO 11898-2. Connection hardware: Characteristic impedance Conductor resistance (loop) Operating capacity (800 Hz) 120 Ω 160 Ω/km <60 nF/km nput circuit Connector pin assignment: see device manual Cable colours (recommended) LiYCY 4x0.25 + shield CAN-GND white CAN-H green CAN-L yellow (Note: colors may different) Fig. 4-1 CAN BUS isolated / CAN Gnd to common potential CAN-BUS connection with several servo amplifiers DS- (slave) (example): For other device types please observe the connector pin assignment (device manual) Address xx Address xx Address xx Fig. 4-2 5 06 / 2017 – V03 CAN-BUS Connections CAN BUS connections Termination resistance The line connection resistance (R = 120Ω) must be installed across the first and the last BUS participants between CAN-H and CAN-L. Power supply The power supply of the CAN-BUS is internally provided via a DC/DC converter. CAN BUS setting The transmission addresses for receiving and sending and the transmission rate are entered via the parameter field ‘CAN-Setup’ of the pc program NDrive. Address Receiving address (slave) Transmission address (slave) Short symbol RPD01 TPD01 Basic value (default) 0x201 0x181 Transmission rate NBT 1000 kBaud 500 kBaud 625 kBaud 250 kBaud 100 kBaud Setting value BTR 0x4002 0x4025 0x4014 0x405c 0x4425 Line length max. 20 m 70 m 70 m 100 m 500 m CAN-BUS 06/2017 – V03 Range 0x201 to 0x27F 0x181 to 0x1FF 6 Format description Software 5 Software 5.1 Format description The software format is designed for an optimal communication with the CNC machine controls and CAN modules of the Labod electronic company. This format does not correspond to CANopen. The transmission rate (Baud rate) is programmable. The UNITEK standard is 500 kB/s (Labod 615 kB/s). The devices UNITEK DSxx and BAxx can be added to a CANopen network (TPDO1, RPDO1) as slave. Numerical format Parameter value and parameter no. as Little-Endian format (Intel format) Bit7 to 0 / Bit15 to 8 / Bit23 to 16 / Bit31 to 24 CAN format The CAN protocol is a 3 or 5 byte data package when received and 4 or 6 when send. It is also possible to receive data packages of up to 8 byte. In this case, however, it is evaluated as 5 Byte data package. The identifier is 11Bit wide. It comprises the COB identifier, the RTR function (Remote Transmission Request) and the DLC information (Data Length Code). The byte 0 of the data field is for the REGID index (parameter no.). The second to the fifth byte (byte 1 to byte 4) contains the data of the REGID index (parameter value). Range COB-ID Function 11 Bit Head RTR 0 DLC byte 0 Length REGID byte 1 b7 to 0 Data field byte 2 byte 3 b15 to 8 b23 to 16 byte 4 b31 to 24 Master-Slave connection In order to simplify the configuration a predefined Master/Slave connection set was specified in CANopen. For networks with one master and up to 127 slaves this assignment of COB identifiers offers each participant a simple solution for a CANopen network. Any information is solely distributed from the master. Direct communication among the slaves is not possible. 10 0 Service 0 1 1 COB identifier 7 6 1 Example 0 x 181 0 0 0 8 Node ID 0 0 0 1 0 Master (CNC/SPS) Sending (transmit PDO) TPDO1 0x201 TPDO1 0x202 Slave 1 (DRIVE DS) Receiving (receive PDO) RPDO1 0x181 RPDO! 0x182 Slave 2 (DRIVE DS) 7 RPDO1 TPDO1 RPDO1 TRPO1 0x201 0x181 1 The preferred objects (slave) are TPDO1 (0x201 to 0x27F) and RPDO1 (0x181 to 0x1FF). The objects TPDO2..4 and RPDO2..4 can also be used. Connection from master to slave 0x202 0x182 06 / 2017 – V03 CAN-BUS Software Head field Range COB-ID Function 5.3 11 Bit Head RTR DLC 0 byte 0 Length Data field byte 2 byte 3 byte 1 REGID B7 to 0 B15 to 8 B23 to 16 Head field 5.2 byte 4 B31 to 24 COB ID bits (CAN OBJECT ID) With CANopen the standard value (default) for TPDO1=0x181 and for RPDO1=0x201. 0 0 1 1 2 Service COB identifier 1 1 0 0 0 0 8 0 0 0 Node ID 0 0 0 0 Object 0 0 1 1 0 1 0 1 TPDO1 0x181-0x1FF RPD01 0x201-0x27F The address can be changed by entering a direct transmission address in the servo amplifier (DSxx, BAxx) for receiving (CAN-ID-Rx 0x68) and for transmission field CAN-Setup in the NDrive. The addresses of Tx-ID and Rx-ID can also be changed directly via the CAN (see example 1). 5.4 RTR bit (REMOTE TRANSMISSION REQUEST) The value for RTR is always set to 0 / RTR is not used. 5.5 DLC bits (DATA LENGTH CODE) The size of the data field is determined by the DLC bits. Receiving: value 0x03 value 0x05 Transmission: value 0x04 value 0x06 CAN-BUS corresponds to REGID plus 2 byte (16 bit) corresponds to REGID plus 4 byte (32 bit) corresponds to REGID plus 2 byte plus Dummy (16 bit) corresponds to REGID plus 4 byte plus Dummy (32 bit) 06/2017 – V03 8 Data field Software 5.6 Data field The length of the data field for messages received in the servo is 3 or 5 byte. The upper data bytes are registered when received, however, not taken into account. The message for transmitting from the servo to the CAN-BUS is 4 or 6 byte wide. 5.7 REGID The first byte is provided for the REGID index (parameter no.). It is possible to determine up to 254 registers. The most important parameter indexes are listed in the REGID list (see manual NDrive). 5.8 Data The data length is preset in the field ‘DLC bits’ (16 or 32 bits). Byte 2 to byte 5 are for the 32 bit register data (4 byte). Byte 2 to byte 3 are for the 16 bit register data (2 byte). Example for the data field Position command value for num 300010000 Function Transmission address for receiving Data length 4 byte REGID for the position command value (POS_SOLL) Data length 4 byte Data for the position command value Num 300010000 Hex value 0x201 DLC=5 0x6E DLC=5 0x11E1CA10 Data input Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 REGID Data bits 7 to 0 Data bits 15 to 8 Data bits 23 to 16 Data bits 31 to 24 6 Data E 1 0 C A 0x11E1CA10 = E 1 1 1 (corresponds to the num. position 300010000) The input format is Little-Endian (Intel format) Range Function Example 2 9 COB ID 0x201 Head DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 5 0x6E 0x10 0xCA 0xE1 0x11 REGID b7 to 0 06 / 2017 – V03 Byte 3 Byte 4 CAN-BUS Examples Examples 6.1 Receiving CAN BUS data Transmission address at the DS servo Data format Parameter COB ID DLC Byte 0 Parameter content Byte 1 to byte 4 Examples: Changing the transmission address via CAN Disable the controller (no enable) Speed command value Position command value Torque command value Parameter value Write EEPROM 6.2 Receiving CAN BUS data 6 (default = 0x201) (3, 4, 5) (REGID – see parameter list) see example 1 see example 2 see example 3 see example 4 see example 5 see example 6 see example 7 Transmission of CAN data from the DSxx and BAxx servo to the CAN BUS In general the following is valid for the request to transmit from the DS servo: Data field: Byte 0 = 0x3D Parameter transmission request (DLC = 3) Byte 1 = REGID Value Content of this REGID Byte 2 = 0x?? Time interval 1. Transmitting once: (see example 8) Data field: Byte 0 = 0x3D (DLC = 3) Byte 1 = 0xA8 Byte 2 = 0x00 Parameter transmission request Content of this REGID Transmitting once 2. Cyclic transmission: (see example 9) Data field: Byte 0 = 0x3D (DLC = 3) Byte 1 = 0xA8 Byte 2 = 0x0A Parameter transmission request Content of this REGID Transmitting every 10ms (0 to 254ms) Note: Stop cyclic transmission Byte 2 = 0xFF 3. Request for a status message after action: (see example 10) Data field: Byte 0 = 0x51 REGID for data after action (DLC = 3) Byte 1 = 0x10 Activation via bit 4 Byte 2 = 0x00 Don’t care CAN-BUS 06/2017 – V03 10 Sending from the master to the CAN bus to the DS Examples 6.3 Sending from the master to the CAN bus to the DS servo Example 1: Changing the transmission address via CAN The address for receiving (slave) on a new DSxx, BAxx servo is 0x201 (default). This address is to be changed in 0x210. The REGID index for the receiving ID for the configuration of this address is 0x68 (FORE_CANIDREAD). Function Transmission address to the Servo Data length 2 byte REGID for CAN-Rx address Value for a new CAN-Rx address Range Function Example 1 COB ID 0x201 Head Hex value 0x201 DLC=3 0x68 0x0210 DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 3 0x68 0x10 0x02 --- --- REGID b7 to 0 Byte 3 Byte 4 Changing the transmission address in the pc program NDrive Inputs: NBT Transmission rate (kBaud) Rx ID Tx ID Receiving address in the DS (default 0x201) Transmission address from the DS (default 0x181) T-Out Time error monitoring Fig. 6-1 11 06 / 2017 – V03 CAN-BUS Example 2: Disable the controller (no enable) Message to the servo Function Transmission address to the servo Data length 2 byte REGID for disable (MODE) Value for the disable MODE BIT2 Range Function Example 2 COB ID Head 0x201 Hex value 0x201 DLC=3 0x51 0x0004 DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 3 0x51 0x04 0x00 --- --- REGID b7 to 0 Byte 3 Example 3: Speed command value Message to the servo Function Transmission address to the servo Data length 2 byte REGID for the speed command value (SPEED_SOLL) Value for 10% speed num. 3277 Hex value 0x201 DLC=3 0x31 0x0CCD (100 % ≙ 32767) Range Function Example 3 COB ID Head 0x201 DLC Byte 0 Byte 1 b15 to 8 b23 to 16 b31 to 24 3 0x31 0xCD 0x0C --- --- REGID b7 to 0 Message to the servo Function Transmission address to the servo Data length 4 byte REGID for the speed command value (POS_DEST) Value for position 3000000 Hex value 0x201 DLC=6 0x6E 0x2DC6C0 Function Example 4 CAN-BUS COB ID 0x201 Head Byte 4 Data field Byte 2 Example 4: Position command value Range Sending from the master to the CAN bus to the DS servo Examples Byte 3 Byte 4 DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 5 0x6E 0xC0 0xC6 0x2D 0x00 REGID b7 to 0 06/2017 – V03 Byte 3 Byte 4 12 Sending from the master to the CAN bus to the DS Examples Example 5: Torque command value Message to the servo Function Transmission address to the servo Data length 2 byte REGID for speed command value (TORQUE-CMD) Value for 50% torque num 16380 Range Function Example 5 COB ID Head DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 3 0x90 0xFC 0x3F --- --- 0x201 REGID Beispiel 6: Einstell-Parameter Function Example 6 COB ID Head b7 to 0 DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 3 0x35 0xCD 0x0C --- --- 0x201 REGID b7 to 0 Message to the servo Function Transmission address to the servo Data length 2 byte REGID to write EEPROM EEPROM level 0 (EEPROM level1 = 0X0001) Hex value 0x201 DLC=3 0x84 0x0000 Function Example 7 13 COB ID 0x201 Head Byte 4 Hex value 0x201 DLC=3 0x35 0x03E8 Example 7: Writing EEPROM Range Byte 3 Message to the servo Function Transmission address to the servo Data length 2 byte REGID for parameter acceleration (ACC ramp) Data for 1000ms acceleration Range Hex value 0x201 DLC=3 0x90 0x3FFC Byte 3 Byte 4 DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 3 0x84 0x00 0x00 --- --- REGID b7 to 0 06 / 2017 – V03 Byte 3 Byte 4 CAN-BUS Examples Transmission from the DS servo to the CAN BUS Transmission from the DS servo to the CAN BUS 6.4 All examples have the default transmission addresses (Rx ID=0x201 receiving, Tx ID=0x181 transmitting) Example 8: Status message One-time transmission from the servo In order to receive the information of a specified REGID a transmission request must be send to the servo. In the following example a one-time transmission of the REGID information is requested. Message to the servo for a transmission request: Function Transmission address to the servo Data length 2 byte REGID for reading data from the servo and transmission to the CAN (READ) REGID for status (KERN_STATUS) Time interval (transmitting once) Range Function Example 8 COB ID Head Hex value 0x201 DLC=3 0x3D 0x40 0x00 DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 3 0x3D 0x40 0x00 --- --- 0x201 REGID b7 to 0 Byte 3 Byte 4 Retransmitted information from the servo: Function Transmission address to the servo Data length 2 byte REGID for status (KERN_STATUS) Value of KERN_STATUS (0x40) are Range COB ID Head DLC Hex value 0x181 DLC=4 0x40 0x0181 Byte 0 Function 0x181 4 0x40 Example 8 (Data range byte 1 to byte 4 in Little Endian format) REGID Byte 1 Data field Byte 2 b15 to 8 b23 to 16 0x81 0x01 0x** b7 to 0 Byte 3 Byte 4 b31 to 24 Current state of the status = 0x0181: Bit0 Enable drive (Ena) Bit7 Position control (P-N) Bit8 Speed control (N-I) CAN-BUS 06/2017 – V03 14 Transmission from the DS servo to the CAN BUS Examples Example 9: Actual speed value Cyclic transmission from the servo For the cyclic retransmission the register REGID_READ is programmed with a repeating time. For the transmission repetition a cycle time (in ms) is entered in the byte 2 in hex format (1-254ms). Message to the servo for a transmission request: Function Transmission address to the servo Data length 2 byte REGID for reading data from the servo and transmission to the CAN (READ) REGID for actual speed value (SPEED_IST) For the repeating time 100ms the input in byte 2 is Hex value 0x201 DLC=3 0x3D 0x30 0x64 Note: The permanent transmission in byte 2 can be stopped by Range Function Example 9 COB ID Head 0x210 0xFF DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 3 0x3D 0x30 0x64 --- --- REGID b7 to 0 Byte 3 Byte 4 Information retransmitted from the servo within the interval of 100ms Function Transmission address to the servo Data length 2 byte REGID for actual speed value (SPEED_IST) Value of the speed command value 100% (num 32767) Range Function Example 9 COB ID 0x190 Head Hex value 0x201 DLC=4 0x30 0x7FFF DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 4 0x30 0xFF 0x7F 0x** --- REGID b7 to 0 Byte 3 Byte 4 Note: It is possible to configure max. 8 state values which send their status cyclically. 15 06 / 2017 – V03 CAN-BUS Examples Transmission from the servo (0x51 – BIT4) Transmission from the DS servo to the CAN BUS Example 10: Status message after an event Activation: The automatic transmission is activated according to a specified configuration by setting of bit 4 in the REGID address 0x51. The device status signal (REGID 0x40) is automatically sent. In case of a modification of the device status the transmission takes place according to a configuration mask (bit mask (REGID 0x52)). Configuration: The configuration is effected via the bit mask (REGID 0x52). The bit mask has a preset value of 0x0030. That is, in case the status bit 12 (Cal) or status bit 13 (Tol) is modified the complete status message (KERN_STATUS bit 0 to bit 15) is send to the CAN BUS. Transmission request to the servo: Function Transmission address to the servo Data length 2 byte REGID for data after an event (event trigger) REGID for MODE BIT 4 Range Function Beispiel 10 COB ID Head Hex value 0x201 DLC=3 0x51 0x10 DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 3 0x51 0x10 0x00 --- --- 0x201 REGID b7 to 0 Byte 3 Byte 4 Information retransmitted from the servo: In the example the target position of a positioning run is reached and bit 13 is set in the device status (Tol). Thus, the automatic transmission of the device status (REGID 0x40) is triggered. Function Transmission address to the servo Data length 4 byte REGID for status (KERN_STATUS) Value of KERN_STATUS (0x40) Range Function Example 10 Head COB ID DLC 0x181 6 Hex value 0x181 DLC=6 0x40 0x0181 Byte 0 Byte 1 0x40 0x81 REGID b7 to 0 Data field Byte 2 Byte 3 Byte 4 Byte 5 b15 to 8 b23 to 16 b31 to 24 b32 to 39 0x31 0x00 0x00 0x** Current state of the status (KERN_STATUS) = 0x3181: Bit0 Enable drive (Ena) Bit7 Position control (P-S) Bit8 Speed control (S-I) Bit12 Calibrated (Cal) CAN-BUS 06/2017 – V03 16 Transmission from the DS servo to the CAN BUS Examples Example 10-1: Status message after a selected event Transmission from the servo The event trigger is changed to the assigned status bit via the configuration mask (REGID 0x52). For example: Configuration mask (0x52) = 0x20 corresponds to continuous current (Icns) Configuration mask (0x52) = 0x12 corresponds to limit switch + and – (Lim+, Lim-) Determine the trigger event with the configuration mask (0x52). Function Transmission address to the servo Data length 2 byte REGID for configuration mask REGID for status trigger selection (e.g. limit switch) Range Function Example 10-1 COB ID Head 0x201 Hex value 0x201 DLC=3 0x52 0x12 DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 3 0x52 0x12 0x00 --- --- REGID b7 to 0 Byte 3 Byte 4 Transmission of the status after a selected status event: The set value for the configuration mask (0x52) is 0x0012. When a limit switch is assigned (+ or -) the complete status message (4 byte) is send. Function Transmission address to the servo Data length 2 byte REGID for data after an event (event trigger) REGID for MODE BIT 4 Range Function Example 10-1 17 COB ID 0x201 Head Hex value 0x201 DLC=3 0x51 0x10 DLC Byte 0 Byte 1 Data field Byte 2 b15 to 8 b23 to 16 b31 to 24 3 0x51 0x10 0x00 --- --- REGID b7 to 0 06 / 2017 – V03 Byte 3 Byte 4 CAN-BUS Examples Function Transmission address to the servo Data length 4 byte REGID for status (KERN_STATUS) Data for KERN_STATUS (0x40) Range Function Example 10-1 Head COB ID DLC 0x181 6 Transmission from the DS servo to the CAN BUS Information retransmitted from the servo: Hex value 0x181 DLC=6 0x40 0x0181 Byte 0 Byte 1 0x40 0x85 REGID b7 to 0 Data field Byte 2 Byte 3 Byte 4 Byte 5 b15 to 8 b23 to 16 b31 to 24 b32 to 39 0x31 0x00 0x00 0x** Current state of the status (KERN_STATUS) = 0x3185 Bit 0 Enable drive (Ena) Bit 2 oder Bit 3 Limit switch assigned (Lim+ oder Lim-) Bit 7 Position control (P-N) Bit 8 Speed control (N-I) Bit 12 Calibrated (Cal) CAN-BUS 06/2017 – V03 18 Transmission from the DS servo to the CAN BUS Examples Example 11: Routine for simple speed control Driving with different speeds and stops (Rx-ID = 0x201; Tx-ID=0x181). COB ID 201 181 201 201 181 201 201 201 201 201 DLC 3 4 3 3 4 3 3 3 3 3 Byte 0 3D E2 51 3D E8 51 35 ED 31 3D Byte 1 E2 01 04 E8 01 00 F4 E8 D4 30 Byte 2 00 00 00 00 00 00 01 03 03 64 Byte 3 181 201 4 3 30 31 xx A4 xx 7F xx 201 201 3 3 31 51 00 04 00 00 Byte 4 Byte 5 00 00 Note (master view) Transmitting transmission request BTB Receiving BTB 0xE2 Transmitting disable Transmitting transmission request enable (hardware) Receiving enable 0xE8 Transmitting no disable (enable) Transmitting ACC ramp (500ms = 0x01FE4) Transmitting DEC ramp (1000ms =0x03E8) Transmitting speed command value 0x31 (30%=0x03D4) Transmitting transmission request actual speed value (every 100ms) Receiving actual speed value 0x30 (value xxx every 100ms) Transmitting speed command value 0x31 (100% = 0x7FA4) Transmitting speed zero Transmitting disable Example 12: Routine for simple position control Reference run and driving to a target position and back to zero position COB ID 201 181 201 201 201 181 201 201 201 201 181 201 201 181 201 181 201 19 DLC 3 4 3 3 3 4 3 3 3 3 Byte 0 3D E2 51 31 3D E8 51 78 52 51 Byte 1 E2 01 04 00 E8 01 00 01 30 10 Byte 2 00 00 00 00 00 00 00 00 00 00 Byte 3 4 5 3 4 5 3 3 40 6E 3D F4 6E F4 51 xx C0 F4 01 00 01 04 xx C6 00 00 00 00 00 xx 2D Byte 4 Byte 5 00 00 00 00 00 00 00 06 / 2017 – V03 Note (master view) Transmitting transmission request BTB Receiving BTB 0xE2 Transmitting disable Transmitting transmission request enable (hardware) Receiving enable 0xE8 Transmitting no disable (enable) Transmitting start reference run Transmitting value for the configuration mask Transmitting speed command value 0x31 (30%=0x03D4) Transmitting transmission request status message after an event Receiving status message (value xxxx) Transmitting target position 3000000 num Transmitting transmission request within tolerance Receiving in tolerance Transmitting target position zero Receiving within tolerance Transmitting disable CAN-BUS Units Units 7.1 Conversion of the measuring units 7 Conversion of the measuring units For position, speed, current, and command value: The measured values are not converted in the device. The numerical values (num) are displayed and processed. These values are to be observed during the data transmission (CAN-BUS, RS232) as well as for the track and oscilloscope display. Position Actual position value range Pulses/rpm Max. value +/-2147483647 (31bit-1) Resolution (smallest value) Example Spindle drive Slope 5mm/rpm Travel 1000 mm = 200 rpm 200 rpm = 13107200 Resolution 65536/4096 = 16 Speed Actual speed value range Resolver Incremental encoder 65536 65536 16 (65536/4096 (12Bit) 65536/Inc x4 Incremental encoder 2048 puls/rpm Travel 1000 mm = 200 rpm 200 rpm = 1638400 Resolution 65536/8192 = 8 Calibration speed (Nmax) Max. value +/- 32767 (15Bit-1) N max value in the parameter field Motor and speed = 32767 Example N max = 2000 The speed of 2000 rpm corresponds to 32767 Current Actual current value range Max. value +/- 9Bit DS 205/405 DS 412 DS 420 l 100% Rated current calibration l-device Peak current DC disabled mV Num Aeff A= Num A= 550 800 700 110 160 140 5 12 20 7 17 28 160 230 200 10 24 40 Position command value range Max. value +/- 31Bit +/- 2147483647 num Limitation Limitation in the parameter field.. Motor and current. The smaller value is effective.. Limit lcont.eff. to 2 A. lcont. = 110 / 5 * 2 = 44 num. The max. continuous current is limited to 2 A. Example (DS205/4059) Command values Limitation Limitation in the parameter field Speed within the limit Limit the speed to 1500 rpm Limit = 32767/2000*1500 = 24575 num The max. speed is limited to 1500 rpm Speed command value range Max. value +/- 15Bit +/- 32767 num Current command value range Max. value +/- 9Bit DS205/405 rated:110 max:160 DS 412 rated:160 max:230 DS 420 rated: 140 max:200 Note: The analog command value (AIN1, AIN2) 10 V corresponds to 29490 (90% of the max. speed). CAN-BUS 06/2017 – V03 20 NDrive: all registers (2017-07-04 09:55:16, page 1 of 4) RegNr Typ Hex value Decimal Label (intern name) Description -------------------------------------------------------------------------------------------------0x00 (UK): 0x0000 0 (rsv) (rsv ) (reserved) 0x01 (UK): 0x0000 0 Usr-Opt (USER_SPEC_OPT) (Deif) Options 0x02 (RO): 0x0000 0 SC-info (USER_SPEC_STA) (Deif) Safety-State 0x03 (SP): 0x0000 0 Cmd-Spec (USER_SPEC_DEM) (Deif) Cmd-Specials 0x04 (SP): 0x0000 0 (Key) (USER_KEY ) ?? (User Key) 0x05 (RW): 0x05dc 1500 F nom (MOTOR_NOM_F ) Nominal motor frequency (FU) 0x06 (RW): 0x0000 0 V nom (MOTOR_NOM_V ) Motor nominal voltage (FU) 0x07 (RW): 0x00000000 0 T dc (UF_TDC ) Time DC-pre-mag. (FU) 0x08 (RW): 0x00000000 0 V dc (UF_UDC ) DC voltages (FU) 0x09 (RW): 0x00000064 100 F dc (UF_SPEZIAL ) ?? 0x0a (RW): 0x00000000 0 U min (UF_UMIN ) Minimum voltage (FU) 0x0b (RW): 0x00000000 0 F min (UF_FMIN ) Minimum frequency (FU) 0x0c (RW): 0x00000000 0 V corner (UF_UECK ) Voltage für max. frequency (FU) 0x0d (RW): 0x00000000 0 F corner (UF_FECK ) Frequency for max. voltage (FU) 0x0e (RW): 0x0000 0 Cos Phi (UF_POWF ) Power factor (FU) 0x0f (RW): 0x0064 100 (...) (UF_EXTRA ) (...) 0x10 (SP): 0x0000 0 Chan (CAPTURE_CHAN ) Oscilloscope trigger channel 0x11 (RO): 0xcb5e37b4 3411949492 Ctrl (CONTROL_STATU) Control-Status 0x12 (SP): 0x7ae8 31464 Trig. Level (CAPTURE_TRIGL) Oscilloscope trigger level 0x13 (SP): 0x0001 1 Trig. Edge (CAPTURE_TRIGE) Oscilloscope trigger function 0x14 (SP): 0x9134 37172 Trig. Sce (CAPTURE_TRIGS) Oscilloscope trigger source 0x15 (SP): 0x0001 1 Source (CAPTURE_SOURC) Oscilloscope source 0x16 (SP): 0x0001 1 Skip (CAPTURE_SKIP ) Oscilloscope skip 0x17 (FN): 0x0000 0 Read Cmd (CAPTURE_READ ) Oscilloscope read 0x18 (FN): 0xface 64206 Run Cmd (CAPTURE_RUN ) Oscilloscope Run 0x19 (RW): 0x0000 0 PWM freq. (PWM-FREQ ) Frequency PWM-stage 0x1a (SP): 0x0000 0 Look-up (LOOKUP_TEMP ) lookup field (temperary) 0x1b (RO): 0x01d8 472 FW (FW-VERSION ) Firmware 0x1c (RW): 0x000a 10 Kp (I_KP ) Proportional amplification curre 0x1d (RW): 0x03e8 1000 Ti (I_KI ) Integral action time current con 0x1e (RW): 0x0000 0 Cutoff (dig.) (DIG_CUTOFF ) Cutoff-digital-cmd 0x1f (RO): 0x07f0 2032 ?? (I3_ISTOFFSET ) Offset actual current 3 0x20 (RO): 0x0002 2 I actual (I_IST ) current actual value 0x21 (SP): 0x0000 0 Id set (dig.) (I_SOLLOFFSET ) D-current setpoint 0x22 (RO): 0x0000 0 I cmd (ramp) (I_REF ) current set point numeric 0x23 (RO): 0x0000 0 Id ref (ID_REF ) D-Current reference 0x24 (RO): 0x013f 319 I max inuse (I_MAXPLUS ) I max inuse 0x25 (RW): 0x03e9 1001 Ramp (I_DELTAMAXPLU) Icmd ramp 0x26 (RO): 0x0000 0 I cmd (I_SOLL ) command current 0x27 (RO): 0xffff -1 Iq actual (IQ_ACTUAL ) Q-current actual 0x28 (RO): 0xfffd -3 Id actual (ID_ACTUAL ) D-current actual 0x29 (RO): 0x0000 0 Vq (VQ ) Q-Outputvoltage 0x2a (RO): 0x0000 0 Vd (VD ) D-Outputvoltage 0x2b (RW): 0x0050 80 TiM (I_ERRSUMMAX ) Max. integration sample count 0x2c (RW): 0x000a 10 Kp (SPEED_KP ) Proportional gain speed 0x2d (RW): 0x0064 100 Ti (SPEED_KI ) Integration time speed 0x2e (RW): 0x0000 0 Td (SPEED_KD ) D_ speed 0x2f (RW): 0x10000000 268435456 Ain1 offset/scale (ANALOG_OFFSET) Offset/scale Ain1 0x30 (RO): 0x0000 0 N actual (SPEED_ACTUAL ) Speed actual value 0x31 (RW): 0x0000 0 N set (dig.) (SPEED_CMD ) Digital Speed Set Point 0x32 (RO): 0x0000 0 N cmd (ramp) (SPEED_REF ) Command speed after ramp 0x33 (RW): 0x0000 0 N error (SPEED_ERR ) Speed error 0x34 (RW): 0x7fff 32767 N-Lim (SPEED_LIMIT ) Speed limit 0x35 (RW): 0x00010064 65636 Accel. (SPEED_DELTAMA) Speed/torque acceleration ramp t 0x36 (RW): 0x0000 0 Command (COMMAND_SOURC) Selection command speed 0x37 (RO): 0x0002 2 Loop (SPEED_COUNTMA) current to speed loop factor 0x38 (RO): 0x0000 0 Iq error (IQ_ERR ) Current Iq error 0x39 (RO): 0x0000 0 Id error (ID_ERR ) Current Id error 0x3a (RW): 0xface 64206 ?? (...) (0x3a (...) ) ?? (...) 0x3b (RW): 0x0050 80 TiM (SPEED_ERRSUMM) Max. integration sample count 0x3c (RW): 0x7fff 32767 I-red-N (I_RD_N ) Current derating speed 0x3d (FN): 0x0618 1560 Read (READ ) Function 0x3e (RW): 0x8000 -32768 N-Lim(SPEED_CLIP_NE) Speed limit negative 0x3f (RW): 0x7fff 32767 N-Lim+ (SPEED_CLIP_PO) Speed limit positive NDrive: all registers (2017-07-04 09:55:16, page 2 of 4) RegNr Typ Hex value Decimal Label (intern name) Description -------------------------------------------------------------------------------------------------0x40 (RO): 0x00000380 896 Status map (STATUS ) Status 0x41 (RO): 0x0000 0 incr_delta (INCR_DELTA ) ?? 0x42 (RO): 0x86b9 -31047 MotorPos mech (MPOS_ACTUAL_M) Motor actual angular position me 0x43 (RO): 0x6a13 27155 MotorPos elec (MPOS_ACTUAL_E) Motor actual angular position el 0x44 (RW): 0xfdb0 -592 FB-Offset (MPOS_ISTOFFSE) phase angle offset Feedback 0x45 (RO): 0x00000000 0 I2t & Regen. Energy (IT_RG_MONITOR) monitor i2t & regen circuit 0x46 (RW): 0x7fff 32767 I lim dig (I_LIMIT ) Current limit with a digital swi 0x47 (RW): 0xface 64206 ... (... ) ... 0x48 (RO): 0x013f 319 I lim inuse (I_LIM_INUSE ) actual current limit 0x49 (RO): 0x0000 0 T-motor (T_MOTOR ) motor temperature 0x4a (RO): 0x0000 0 T-igbt (T_IGBT ) power stage temperature 0x4b (RO): 0x0000 0 T-air (T_AIR ) air temperature 0x4c (RW): 0x0000 0 I-red-TE (I_RD_TE ) Current derate Temp. 0x4d (RW): 0x0035 53 I max (MOTOR_I_MAX ) max. motor current 0x4e (RW): 0x0035 53 I nom (MOTOR_I_DAUER) Motor continuous current 0x4f (RW): 0x0006 6 M-Pole (MOTOR_POLE ) Motor pole count 0x50 (RW): 0x0000 0 Cutoff (AIN1_CUTOFF ) cutoff window Ain1 0x51 (SP): 0x0000 0 Mode (MODE ) Mode State 0x52 (SP): 0x0000f811 63505 Status mask (STATUS_MASK ) Status mask 0x53 (RW): 0x0000 0 Cutoff (AIN2_CUTOFF ) cutoff window Ain2 0x54 (RO): 0xffff -1 I1 actual (I1_IST ) Current actual value I1 0x55 (RO): 0x0004 4 I2 actual (I2_IST ) Current actual value I2 0x56 (RO): 0x0002 2 I3 actual (I3_IST ) Current actual value I3 0x57 (RO): 0x0000 0 I lim inuse rmp (I_LIM_INUSE_R) ?? 0x58 (RW): 0x0000 0 I-red-TD (I_RD-TD ) ?? 0x59 (RW): 0x0bb8 3000 N nom (MOTOR_RPMMAX ) Rated motor speed 0x5a (RW): 0x00000808 2056 Device Options (KERN_OPTIONS ) Device settings (options) 0x5b (RW): 0x0000 0 Kacc (SPEED_KS ) Acceleration amplification 0x5c (RO): 0x86b9 34489 Rotor (ROTOR ) Rotor signals 0x5d (RO): 0x0000 0 N cmd (int) (SPEED_CMD_INT) Command speed internal 0x5e (RW): 0x0002 2 Filter (SPEED_FILTER_) Filter speed actual value 0x5f (RO): 0x0000 0 I act (filt) (I_IST_FILT ) Filtered actual current 0x60 (RW): 0x0000 0 Filter (AINx_FILT ) 0x61 (RO): 0x0000 0 I t (IT_MONITOR ) I t monitor 0x62 (RW): 0x075bcd15 123456789 S-Nr. (DEVICE_SERIAL) Device Serial number Servo 0x63 (RO): 0x0000 0 fpga Status (POWER_BOARD_S) FPGA Status 0x64 (RW): 0x00e6 230 Mains (DEVICE_MAINS ) Mains supply voltage 0x65 (RW): 0x00500019 5242905 Regen-P, Regen-R (DEVICE_EXT_RE) Regenerative Resistor power rati 0x66 (RO): 0xface 64206 Vdc-Bat (DC_BUS ) Battery voltage 0x67 (RW): 0x00011313 70419 Type (DEVICE_AUTO_I) Device type 0x68 (RW): 0x0201 513 Rx ID (CAN_ID_RX ) CAN-Bus drive rx address 0x69 (RW): 0x0181 385 Tx ID (CAN_ID_TX ) CAN-Bus drive tx address 0x6a (RW): 0x000f 15 Kp (POS_KP ) position controller proportional 0x6b (RW): 0x01f5 501 Ti (POS_KI ) integral action time (Integral p 0x6c (RW): 0x0000 0 Td (POS_KD ) advancing-time (Differezial-part 0x6d (RO): 0x000086b9 34489 Pos actual (POS_ACTUAL ) actuael position numeric 0x6e (SP): 0x00000000 0 Pos dest (POS_DEST ) position-destination 0x6f (RO): 0x00000000 0 Pos actual 2 (RegName_0x6f ) Pos actual 2 0x70 (RO): 0x00000000 0 Pos error (POS_ERR ) position error 0x71 (RW): 0x0033 51 TiM (POS_ERRSUMMAX) Max.integration sample count, po 0x72 (RW): 0x00000000 0 Off. Ref. (POS_REF_OFFSE) reference zero offset 0x73 (RW): 0x4025 16421 NBT (CAN_BTR ) CAN-BUS transmission rate 0x74 (RO): 0x91be -28226 Zero-Capture (POS_ZEROCAPTU) Pos Zero Capture 0x75 (RW): 0x0000 0 Reso edge (POS_REFRESOED) Reso pos. at Rsw 0x76 (RW): 0x0078 120 Speed 1 (SPEED_CALIB_F) Reference speed (fast) 0x77 (RW): 0x0078 120 Speed 2 (SPEED_CALIB_S) Reference speed (slow) 0x78 (FN): 0x444d 17485 Start park cycle (FUN_REF_START) Start park cycle 0x79 (RW): 0x0064 100 Tol-wind (POS_WINDOW ) Tolerance window for position 0x7a (SP): 0xfd944f98 4254355352 Preset (POS_PRESET ) Preset value 0x7b (RO): 0x00000000 0 Off. Var (POS_VAR_OFFSE) user zero offset 0x7c (RW): 0x00000000 0 ND-Scale (NDRIVE_SCALE ) Display-conversion factor-positi 0x7d (RW): 0x00000000 0 ND-Offset (NDRIVE_OFFSET) Verschiebefaktor Pos-Anzeige 0x7e (RW): 0x00000000 0 Factor-ext (ENCODER_2_SCA) Scale 2nd encoder 0x7f (RW): 0x00000000 0 ?? (OFFSET_SLACK ) ?? NDrive: all registers (2017-07-04 09:55:16, page 3 of 4) RegNr Typ Hex value Decimal Label (intern name) Description -------------------------------------------------------------------------------------------------0x80 (RW): 0x86b9 34489 ?? (POS_DIFF_SLAC) ?? 0x81 (UK): 0xface 64206 ... (... ) ... 0x82 (RO): 0xface 64206 (DEVICE_SERIAL) Device serial number ext. 0x83 (FN): 0x444d 17485 ?? (FUN_PARAREAD ) ?? 0x84 (FN): 0x444d 17485 ?? (FUN_PARAWRITE) ?? 0x85 (FN): 0x0000 0 Auto-Fn (FUN_SPEZIAL ) Auto-Functions 0x86 (UK): 0xface -1330 ?? (READ_INFO ) ?? 0x87 (RW): 0xface 64206 ... (... ) ... 0x88 (RW): 0x00000000 0 Rx ID 2 (CAN_ID_RX_2 ) CAN-Bus drive rx 2 address 0x89 (RW): 0x00000000 0 Tx ID 2 (CAN_ID_TX_2 ) CAN-Bus drive tx 2 address 0x8a (RO): 0x0000 0 V out (VOUT ) Output-voltage usage 0x8b (RW): 0x0000 0 V red (VRED ) Start point field reduction 0x8c (RW): 0x0000 0 V kp (VKP ) Proportional amplification field 0x8d (RW): 0x0000 0 V-Ti (VTI ) Time constant integral part fiel 0x8e (FN): 0x444d 17485 ?? (FUN_ERRCANCEL) Clear error list 0x8f (RO): 0x00000020 32 Warning-Error map (ERR_BITMAP1 ) Description of 0x8f 0x90 (SP): 0x0000 0 M set (dig.) (TORQUE_SETPOI) Digital Torque Set Point 0x91 (RO): 0x000086b9 34489 Pos cmd (POS_COMMAND ) Command position 0x92 (RO): 0x0000 0 ?? (CAN_ERROR_BUS) CAN-BUS Bus-Off count 0x93 (RO): 0x0000 0 ?? (CAN_ERRWRITET) CAN-BUS ?? 0x94 (RO): 0x0000 0 fpga 1st error (POWER_BOARD_E) FPGA 1st Error 0x95 (RO): 0x0000 0 ?? (CAN_COUNTREAD) CAN-BUS ?? 0x96 (RO): 0x0000 0 ?? (CAN_COUNTWRIT) CAN-BUS ?? 0x97 (RO): 0x0000 0 ?? (CAN_COUNTREJ ) CAN-BUS 0x98 (RO): 0xface -1330 O-Block (LOG_O_BLOCK ) O-Block 0x99 (RO): 0x02b5 693 Info Intr (INFO_INTERRUP) Info - Interrupt time 0x9a (RO): 0x0000 0 (dbg) temp (TEMP ) (dbg) Temp 0x9b (RO): 0xface 64206 in Block (LOG_I_BLOCK ) I-Block 0x9c (UK): 0xface -1330 Pt100-1 (T-PT-1 ) Temp. Sensor Pt100-1 0x9d (UK): 0xface -1330 Pt100-2 (T-PT-2 ) Temp. Sensor Pt100-2 0x9e (UK): 0xface -1330 Pt100-3 (T-PT-3 ) Temp. Sensor Pt100-3 0x9f (UK): 0xface -1330 Pt100-4 (T-PT-4 ) Temp. Sensor Pt100-4 0xa0 (RO): 0x0000 0 M out (TORQUE_OUT ) Digital Torque Intern 0xa1 (RO): 0x0000 0 Ballast counter (BALLAST_COUNT) Ballast counter 0xa2 (RW): 0x15e0 5600 I-red-TM (I_RD_TM ) ?? 0xa3 (RW): 0x1b58 7000 M-Temp (MOTOR_TEMP_ER) Motor-Temperatur Abschaltpunkt 0xa4 (RW): 0x3001 12289 Label 0xa4 (MOTOR_OPTION ) Description of 0xa4 0xa5 (RW): 0x00000064 100 DC-Bus min, DC-Bus max (DEVICE_DCBUS_) Description of 0xa5 0xa6 (RW): 0x0400 1024 FB-Incr (Mot) (MOTOR_GEBER_I) Increments per Rpm 0xa7 (RW): 0x0002 2 FB-Pole (MOTOR_GEBER_P) Resolver pole 0xa8 (RO): 0x0000 0 N act (filt) (SPEED_ACTUAL_) Actual speed value (filtered) 0xa9 (RO): 0x07ef 2031 I3 adc (I1_ADC ) Current sensor M1 0xaa (RO): 0x07ee 2030 I2 adc (I2_ADC ) Current sensor M3 0xab (RO): 0xfde8 65000 Logic freq. (LOGIC_HZ ) Forerground frequency 0xac (RO): 0x0618 1560 pwm1 (5/6) (PWM1 ) pulse widths modulation Ph1 0xad (RO): 0x0618 1560 pwm2 (3/4) (PWM2 ) pulse widths modulation Ph2 0xae (RO): 0x0618 1560 pwm3 (1/2) (PWM3 ) pulse widths modulation Ph3 0xaf (RO): 0x007d 125 T-intr (TIMER_DELTA ) Intr. time 0xb0 (RW): 0x444d 17485 ?? (FUN_SERIALBOO) ?? 0xb1 (RW): 0x0000 0 L sigma-q (MOTOR_INDUCTA) Stator Leakage inductance 0xb2 (RW): 0x0000 0 Id nom (ID_NOM ) nominal magnetising current 0xb3 (RW): 0x007b 123 L magnet. (MOTOR_MAGN_L ) Motor magnetising inductance 0xb4 (RW): 0x0000 0 R rotor (MOTOR_ROTOR_R) rotor resistance 0xb5 (RW): 0x0000 0 Id min (ID_MIN ) minimum magnetising current 0xb6 (RW): 0x07d0 2000 TC rotor (MOTOR_TR ) time constant rotor 0xb7 (SP): 0x9133 37171 (dbg) ptr1 (TEMP1_PTR ) (dbg) ptr1 0xb8 (UK): 0x0000 0 (dbg) *ptr1 (TEMP1_PTR_IND) (dbg) *ptr1 0xb9 (SP): 0x902b 36907 (dbg) ptr2 (TEMP2_PTR ) (dbg) ptr2 0xba (UK): 0x0002 2 (dbg) *ptr2 (TEMP2_PTR_IND) (dbg) *ptr2 0xbb (RW): 0x0000 0 L sigma-d (MOTOR_INDUCTA) leakage inductance ph-ph 0xbc (RW): 0x007b 123 R stator (MOTOR_STATOR_) stator resistance ph-ph 0xbd (RW): 0x0000 0 TC stator (MOTOR_SPECS_I) time constant stator 0xbe (RW): 0x8005 32773 Label 0xbe (LOGIC_DEFINE_) Description of 0xbe 0xbf (RW): 0x8004 32772 Label 0xbf (LOGIC_DEFINE_) Description of 0xbf NDrive: all registers (2017-07-04 09:55:16, page 4 of 4) RegNr Typ Hex value Decimal Label (intern name) Description -------------------------------------------------------------------------------------------------0xc0 (RW): 0x800c 32780 Label 0xc0 (LOGIC_DEFINE_) Description of 0xc0 0xc1 (RW): 0x800c 32780 Label 0xc1 (LOGIC_DEFINE_) Description of 0xc1 0xc2 (RW): 0x0000 0 Label 0xc2 (LOGIC_DEFINE_) Description of 0xc2 0xc3 (RW): 0x0000 0 Label 0xc3 (LOGIC_DEFINE_) Description of 0xc3 0xc4 (RW): 0x20a3 8355 I max pk (DEVICE_I_MAX_) Limit for peak current (Servo) 0xc5 (RW): 0x3a3d 14909 I con eff (DEVICE_I_CNT_) Limit for continius current (Ser 0xc6 (RW): 0x0032 50 I device (DEVICE_I ) Type current, protected 0xc7 (RW): 0x000a 10 R-Lim (SPEED_DELTAMA) Emergency stops time ramp, limit 0xc8 (RW): 0x0e10 3600 Nmax-100% (SPEED_RPMMAX ) Maximum rotation speed in turns 0xc9 (RW): 0x0000 0 xKp2 (I_KP2 ) proportional amplification posit 0xca (RW): 0x0000 0 Ti (POSI_KI ) integral action time (Integral p 0xcb (RW): 0x0000 0 Kf (I_KF ) ... 0xcc (RO): 0xc953 -13997 0xcc (POSI_ERR ) 0xcc 0xcd (RW): 0x0000 0 TiM (POSI_ERRSUMMA) Limit integral storeroom peak va 0xce (RO): 0x0e10 3600 Label 0xce (SPEED_RPMMAX_) Description of 0xce 0xcf (RW): 0x0000 0 Label 0xcf (POSI_KY ) Description of 0xcf 0xd0 (SP): 0x0000 0 T-Out (CAN_TIMEOUT ) CAN timeout 0xd1 (RW): 0x0000003e 62 Var1 (VAR1 ) Comparison variable-1 0xd2 (RW): 0x00002710 10000 Var2 (VAR2 ) Comparison variable-2 0xd3 (RW): 0x00000000 0 Var3 (VAR3 ) Comparison variable-3 0xd4 (RW): 0x00000000 0 Var4 (VAR4 ) Comparison variable-4 0xd5 (RO): 0xffe0ffe0 -2031648 Ain1 (AIN1 ) Analog Ain1 in/scaled 0xd6 (RO): 0x00580058 5767256 Ain2 (AIN_2 ) Analog Ain2 in/scaled 0xd7 (RW): 0x10000000 268435456 Offset 2 (AIN2_OFFSET ) analog input 2 offset compensati 0xd8 (RO): 0x0020 32 Label 0xd8 (LOGIC_READ_BI) Description of 0xd8 0xd9 (RO): 0x0349 841 Label 0xd9 (KERN_I_200PC ) Description of 0xd9 0xda (RW): 0x0000 0 (LOGIC_DEFINE_) 0xdb (RW): 0x0000 0 (LOGIC_DEFINE_) 0xdc (RW): 0x0030 48 ?? (DEFINE_DAC ) ?? 0xdd (UK): 0xface 64206 ... (... ) ... 0xde (RO): 0x0000 0 out Dout3 (O_DOUT3 ) Digital output 3 0xdf (RO): 0x0000 0 out Dout4 (O_DOUT4 ) Digital output 4 0xe0 (RO): 0x0000 0 out Dout1 (O_DOU1 ) Digital output 1 0xe1 (RO): 0x0000 0 out Dout2 (O_DOU2 ) Digital output 2 0xe2 (RO): 0x0000 0 out Rdy (BTB) (O_BTB ) Device ready 0xe3 (RO): 0x0000 0 O Go (O_GO ) Internal run 0xe4 (RO): 0x0000 0 (in) Limit1 (I_END1 ) Digital input END1 0xe5 (RO): 0x0000 0 (in) Limit2 (I_END2 ) Digital input END2 0xe6 (RO): 0x0000 0 (in) Din1 (I_DIN1 ) Digital input DIN1 0xe7 (RO): 0x0000 0 (in) Din2 (I_DIN2 ) Digital input DIN2 0xe8 (RO): 0x0000 0 (in) Run (Frg) (I_FRG ) Digital input RUN 0xe9 (RO): 0x0000 0 I Fault (I_FAULT ) internal error message of the po 0xea (RO): 0x0000 0 I Regen (I_BALLAST ) message regen circuit 0xeb (RO): 0x0001 1 Vdc-Bus (DC_BUS ) DC-Bus voltage 0xec (RO): 0x0000 0 I LossOfSignal (I_LOS ) Resolver fault. Incorrect or mis 0xed (RW): 0x00010064 65636 Decel. (SPEED_DELTAMA) Speed/torque deceleration ramp t 0xee (RW): 0x0226 550 I 100% (Stromsensor) (IIST_100PC ) Current sensor justage (protecte 0xef (RO): 0x0001 1 Label 0xef (O_NOFAULT ) Description of 0xef 0xf0 (RW): 0x0005 5 T-peak (TIME_IPEAK ) Timing for peak current 0xf1 (RW): 0x00fa 250 Brake delay (USER_T_BRAKE ) Brake delay time 0xf2 (RO): 0x0001 1 O Brake (VO_BRAKE ) Brake on 0xf3 (RO): 0x0000 0 O Icns (VO_ICNS ) message continuous current 0xf4 (RO): 0x0000 0 O Toler (VO_TOLER ) message position in tolerance 0xf5 (RO): 0x0001 1 O Less N0 (VO_Less_ N0 ) message speed <1% 0xf6 (RO): 0x0000 0 Power (POWER ) Power 0xf7 (RO): 0x0000 0 Work (WORK ) Work 0xf8 (RW): 0x0000444d 17485 Axis (ASCII_USER ) Axis label 0xf9 (FN): 0x444d 17485 ?? (ASCII_WR_EEP ) ?? 0xfa (FN): 0x444d 17485 ?? (ASCII_RD_EEP ) ?? 0xfb (RO): 0xffd4 -44 Ain1 calc (AIN1_CALC ) Ain1 calc 0xfc (RO): 0x0054 84 Ain2 calc (AIN2_CALC ) Ain2 calc 0xfd (UK): 0xface 64206 ... (... ) ... 0xfe (UK): 0xface 64206 ... (... ) ... 0xff (UK): 0xface -1330 rsv (rsv ) reserved
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File Type : PDF File Type Extension : pdf MIME Type : application/pdf PDF Version : 1.6 Linearized : Yes Author : Evelin Menrad Company : Hewlett-Packard Company Create Date : 2017:07:04 11:44:06+02:00 Modify Date : 2017:11:09 14:03:50+01:00 Source Modified : D:20170704094314 Tagged PDF : No XMP Toolkit : Adobe XMP Core 5.2-c001 63.139439, 2010/09/27-13:37:26 Metadata Date : 2017:11:09 14:03:50+01:00 Creator Tool : Acrobat PDFMaker 10.1 für Word Document ID : uuid:e209249d-2359-4568-9595-d878c3f00fc3 Instance ID : uuid:3a9ed173-5f85-4328-a161-ac07323a0658 Subject : 2 Format : application/pdf Creator : Evelin Menrad Producer : Adobe PDF Library 10.0 Page Layout : OneColumn Page Count : 28EXIF Metadata provided by EXIF.tools