Bamocar CAN Manual

User Manual:

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Stand: 17.12.2009

Valid from

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Indust r i e E l e k t ronik

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A short description of the CAN-Bus interface

Ein kurze Erklärung des CAN-Bus Interfaces

Receive

Empfangen

COB

DLC

Byte1

Byte2

Byte3

RxID 3 RegID DATA07..00 DATA15..08

COB

DLC

Byte1

Byte2

Byte3

Byte4

Byte5

RxID 5 RegID DATA07..00 DATA15..08 DATA23..16 DATA31..24

Transmit

Senden

COB

DLC

Byte1

Byte2

Byte3

Byte4

TxID 4 RegID DATA07..00 DATA15..08

Stuff

COB

DLC

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

TxID 6 RegID DATA07..00 DATA15..08 DATA23..16 DATA31..24

Stuff

1. 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.

○ In NDrive open “Manual Read/Write” in the Diagnostic window

In NDrive “Manual Read/Write” in der Diagnose-Fenster aufmachen.

○ Read / Lesen ID register 0xDC value 0x00nn

○ change upper byte to 01 (00 = standard configuration)

ändere obere Byte zum 01 (00 = Standartkonfiruration)

○ Write / Schreiben ID register 0xDC value 0x01nn

4. Don’t forget to save using “Write 0” in the Settings window.

Vergesse nicht mit “Schreibe 0” in den Einstellungen-Fenster zum sichern.

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Stand: 17.12.2009

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Indust r i e E l e k t ronik

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5. Commands with 16-bit formats (as examples)

Befehle mit 16-Bit Formate (als Beispiele)

Command (PC 



 Drive)

Befehl (PC







Regler) Range (16-Bit)

Bereich Units

Einheiten

SPEED_COMMAND

(send on requirement

noch Bedarf schicken)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 31 0xNN 0xNN

RegID

Data

07..00

Data

15..08

+100%

+32767

0x7FFF

0x7FFF0x7FFF

0x7FFF

+50%

+16384

0x4000

0x40000x4000

0x4000

0 %

0x0000

0x00000x0000

0x0000

−50%

−16384

0xC000

0xC0000xC000

0xC000

−100%

−32767

0x8001

0x80010x8001

0x8001

±32767





 ±100%

STOP

≡

SPEED_COMMAND = 0

(send on requirement

noch Bedarf schicken)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 31 0x00 0x00

RegID

Data

07..00

Data

15..08

FUNC_REF_START

(send on requirement

noch Bedarf schicken)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 78 0xNN 0xNN

RegID

Data

07..00

Data

15..08

TORQUE_COMMAND

(send on requirement

noch Bedarf schicken)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 90 0xNN 0xNN

RegID

Data

07..00

Data

15..08

+150%

+32767

0x7FFF

0x7FFF0x7FFF

0x7FFF

+100%

+21845

0x5555

0x55550x5555

0x5555

0 %

0x0000

0x00000x0000

0x0000

−100%

−21845

0xAAAA

0xAAAA0xAAAA

0xAAAA

−150%

−32767

0x8001

0x80010x8001

0x8001

±32767





 ±150%

6. Commands with 32-bit formats (as examples)

Befehle mit 32-Bit Formate (als Beispiele)

Command (PC 



 Drive)

Befehl (PC







Regler) Range (32-Bit)

Bereich Units

Einheiten

POS_DEST

(send on requirement

noch Bedarf schicken)

COB

DLC

Byte1

Byte2

Byte3

Byte4

Byte5

RxID

5 6E 0xNN 0xNN 0xNN 0xNN

RegID

Data

07..00

Data

15..08

Data

23..16

Data

31..24

+2147483647

0x7FFF’FFFF

0x7FFF’FFFF0x7FFF’FFFF

0x7FFF’FFFF

+1073741824

0x4000’0000

0x4000’00000x4000’0000

0x4000’0000

+1048576

0x0010’000ß

0x0010’000ß0x0010’000ß

0x0010’000ß

+65536

0x0001’0000

0x0001’00000x0001’0000

0x0001’0000

+32767

0x0000’7FFF

0x0000’7FFF0x0000’7FFF

0x0000’7FFF

+16384

0x0000’4000

0x0000’40000x0000’4000

0x0000’4000

0x0000’0000

0x0000’00000x0000’0000

0x0000’0000

−16384

0xFFFF’C000

0xFFFF’C0000xFFFF’C000

0xFFFF’C000

−32767

0xFFFF’8001

0xFFFF’80010xFFFF’8001

0xFFFF’8001

65536

0xFFFF’0000

0xFFFF’00000xFFFF’0000

0xFFFF’0000

1048576

0xFFF0’0000

0xFFF0’00000xFFF0’0000

0xFFF0’0000

1073741824

0xC000’0000

0xC000’00000xC000’0000

0xC000’0000

2147483647

0x8000’0001

0x8000’00010x8000’0001

0x8000’0001

±65536

≡ ±rev

POS_PRESET

(send on requirement

noch Bedarf schicken)

COB

DLC

Byte1

Byte2

Byte3

Byte4

Byte5

RxID

5 7E 0xNN 0xNN 0xNN 0xNN

RegID

Data

07..00

Data

15..08

Data

23..16

Data

31..24

VAR1

(send on requirement

noch Bedarf schicken)

COB

DLC

Byte1

Byte2

Byte3

Byte4

Byte5

RxID

5 D1 0xNN 0xNN 0xNN 0xNN

RegID

Data

07..00

Data

15..08

Data

23..16

Data

31..24

VAR2

(send on requirement

noch Bedarf schicken)

COB

DLC

Byte1

Byte2

Byte3

Byte4

Byte5

RxID

5 D2 0xNN 0xNN 0xNN 0xNN

RegID

Data

07..00

Data

15..08

Data

23..16

Data

31..24

VAR3

(send on requirement

noch Bedarf schicken)

COB

DLC

Byte1

Byte2

Byte3

Byte4

Byte5

RxID

5 D3 0xNN 0xNN 0xNN 0xNN

RegID

Data

07..00

Data

15..08

Data

23..16

Data

31..24

VAR4

(send on requirement

noch Bedarf schicken)

COB

DLC

Byte1

Byte2

Byte3

Byte4

Byte5

RxID

5 D4 0xNN 0xNN 0xNN 0xNN

RegID

Data

07..00

Data

15..08

Data

23..16

Data

31..24

O:\Documents\unitek-tms\briefe\can tx 16-32 .docx Seite: 3 / 3

Stand: 17.12.2009

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Indust r i e E l e k t ronik

G m b H

7. Commands for an immediate reply request (as examples)

Sofortiger Antwortanforderungsbefehl (als Beispiele)

Request (PC 



 Drive)

Anforderung (PC







Regler)







Reply (Drive 



 PC)

Antwort (Regler







PC) Range

Bereich

Units

Einheiten

SPEED_RPMMAX_INT

(request once

einmal anfordern)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 0x3D 0xCE 0x00

Read

RegID

Time







COB

DLC

Byte1

Byte2

Byte3

Byte4

TxID

4 0xCE 0xNN 0xNN Stuff

RegID

Data

07..00

Data

15..08

16-bit rpm

U/min

CURRENT_DEVICE

(request once

einmal anfordern)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 0x3D 0xC6 0x00

Read

RegID

Time







COB

DLC

Byte1

Byte2

Byte3

Byte4

TxID

4 0xC6 0xNN 0xNN Stuff

RegID

Data

07..00

Data

15..08

16-bit dA

CURRENT_200PC

(request once

einmal anfordern)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 0x3D 0xD9 0x00

Read

RegID

Time







COB

DLC

Byte1

Byte2

Byte3

Byte4

TxID

4 0xD9 0xNN 0xNN Stuff

RegID

Data

07..00

Data

15..08

16-bit ADC units







SPEED_ACTUAL

(request on requirement

noch Bedarf anfordern)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 0x3D 0x30 0x00

Read

RegID

Time

COB

DLC

Byte1

Byte2

Byte3

Byte4

TxID

4 0x30 0xNN 0xNN Stuff

RegID

Data

07..00

Data

15..08

16-bit ±32767

≡ ±100%







CURRENT_ACTUAL

(request on requirement

noch Bedarf anfordern)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 0x3D 0x20 0x00

Read

RegID

Time

COB

DLC

Byte1

Byte2

Byte3

Byte4

TxID

4 0x20 0xNN 0xNN Stuff

RegID

Data

07..00

Data

15..08

16-bit ADC units







STATUS

(request on requirement

noch Bedarf anfordern)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 0x3D 0x40 0x00

Read

RegID

Time







COB

DLC

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

TxID

6 0x40 0xNN 0xNN 0xNN 0xNN Stuff

RegID

Data

07..00

Data

15..08

Data

23..16

Data

31..24

32-bit Bit-Map







COB

DLC

Byte1

Byte2

Byte3

Byte4

TxID

4 0x40 0xNN 0xNN Stuff

RegID

Data

07..00

Data

15..08

16-bit Bit-Map

LOGICMAP_ERRORS

(request on requirement

noch Bedarf anfordern)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 0x3D 0x8F 0x00

Read

RegID

Time







COB

DLC

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

TxID

6 0x8F 0xNN 0xNN 0xNN 0xNN Stuff

RegID

Data

07..00

Data

15..08

Data

23..16

Data

31..24

32-bit Bit-Map

COB

DLC

Byte1

Byte2

Byte3

Byte4

TxID

4 0x8F 0xNN 0xNN Stuff

RegID

Data

07..00

Data

15..08

16-bit Bit-Map

LOGICMAP_IO

(request on requirement

noch Bedarf anfordern)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 0x3D 0xD8 0x00

Read

RegID

Time







COB

DLC

Byte1

Byte2

Byte3

Byte4

TxID

4 0xD8 0xNN 0xNN Stuff

RegID

Data

07..00

Data

15..08

16-bit Bit-Map

POS_ACTUAL

(request on requirement

noch Bedarf anfordern)

COB

DLC

Byte1

Byte2

Byte3

RxID

3 0x3D 0x6E 0x00

Read

RegID

Time







COB

DLC

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

TxID

6 0x6E 0xNN 0xNN 0xNN 0xNN Stuff

RegID

Data

07..00

Data

15..08

Data

23..16

Data

31..24

32-bit

±65536

≡ ±rev

(units conversions

Einheiten-Umstellung)

8. 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 immediate 0xFF suspend transmission otherwise 0xNN timer setup (1 – 254 ms)

Time sofort Time Senden suspendiert sonst Time Zeit einstellen (1 – 254 ms)

○ Entries with suspended transmissions can be overwritten by newer requests.

Eingaben mit suspendierten Senden können bei neueren Anforderungen überschrieben werden.

M A N U A L

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

Edition /

Version

Tel.: 07195 / 92 83 – 0

Fax: 07195 / 92 83 – 129

info@unitek-online.de

www.unitek-online.de

06/2017 V 04

Safety

06 / 2017 – V03

CAN-BUS

1 Contents

2 Safety .............................................................................................................................. 2

2.1 Safety advices ..................................................................................................................... 2

2.2 Regulations and guidelines ................................................................................................ 2

3 General information ......................................................................................................... 4

3.1 Logic functions ................................................................................................................... 4

4 CAN BUS connections ....................................................................................................... 5

4.1 Connections ........................................................................................................................ 5

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

6 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

7 Units .............................................................................................................................. 20

7.1 Conversion of the measuring units .................................................................................. 20

Safety

CAN-BUS

06/2017 – V03

Safety advices

2 Safety

2.1 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

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/UL:

IEC 61508, IEC364, IEC664, UL508C, UL840

VDE Regulations/TÜV Regulations:

VDE100, VDE110, VDE160

Regulations of the statutory

accident insurance and prevention

institution:

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!!!

Safety

06 / 2017 – V03

CAN-BUS

Regulations and guidelines

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.

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.

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.

General information

CAN-BUS

06/2017 – V03

Logic functions

3 General information

3.1 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

Command values

Parameters

Enable

Torque command value

Control parameters

Reference run

Speed command value

Settings

Start, Stop

Position command value

Current limits

Examples from slave (DRIVE-DS) to master (CNC/SPS) (sending, transmitting)

Logic functions

Actual values

Parameters

Signals

RUN

Actual torque value

Control parameter

State signal

ENABLE

Actual speed value

Settings

Error signal

POS

Actual position value

Limit switch

The addresses (REGID) are indicated in the parameter survey (see NDrive Manual),

e.g. speed command value (SPEED_CMD) = REGID 0x31 <value in hex>.

CAN BUS connections

06 / 2017 – V03

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 120 Ω

Conductor resistance (loop) 160 Ω/km

Operating capacity (800 Hz) <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

CAN BUS connections

CAN-BUS

06/2017 – V03

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

Short symbol

Basic value (default)

Range

Receiving address (slave)

RPD01

0x201

0x201 to 0x27F

Transmission address (slave)

TPD01

0x181

0x181 to 0x1FF

Transmission rate NBT

Setting value BTR

Line length max.

1000 kBaud

0x4002

20 m

500 kBaud

0x4025

70 m

625 kBaud

0x4014

70 m

250 kBaud

0x405c

100 m

100 kBaud

0x4425

500 m

Software

06 / 2017 – V03

CAN-BUS

Format description

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

Head

Data field

COB-ID

RTR

DLC

byte 0

byte 1

byte 2

byte 3

byte 4

Function

11 Bit

Length

REGID

b7 to 0

b15 to 8

b23 to 16

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.

COB identifier

Service

Node ID

Example 0 x 181

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

Master (CNC/SPS)

Sending (transmit PDO)

TPDO1 0x201

TPDO1 0x202

Receiving (receive PDO)

RPDO1 0x181

RPDO! 0x182

Slave 1 (DRIVE DS)

RPDO1 0x201

TPDO1 0x181

Slave 2 (DRIVE DS)

RPDO1 0x202

TRPO1 0x182

Software

CAN-BUS

06/2017 – V03

Head field

5.2 Head field

Range

Head

Data field

COB-ID

RTR

DLC

byte 0

byte 1

byte 2

byte 3

byte 4

Function

11 Bit

Length

REGID

B7 to 0

B15 to 8

B23 to 16

B31 to 24

5.3 COB ID bits (CAN OBJECT ID)

With CANopen the standard value (default) for TPDO1=0x181 and for RPDO1=0x201.

COB identifier

Object

Service

Node ID

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 corresponds to REGID plus 2 byte (16 bit)

value 0x05 corresponds to REGID plus 4 byte (32 bit)

Transmission: value 0x04 corresponds to REGID plus 2 byte plus Dummy (16 bit)

value 0x06 corresponds to REGID plus 4 byte plus Dummy (32 bit)

Software

06 / 2017 – V03

CAN-BUS

Data field

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

Hex value

Transmission address for receiving

0x201

Data length 4 byte

DLC=5

REGID for the position command value (POS_SOLL)

0x6E

Data length 4 byte

DLC=5

Data for the position command value

Num 300010000

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

Data = 0x11E1CA10 (corresponds to the num. position 300010000)

The input format is Little-Endian (Intel format)

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 2

0x201

0x6E

0x10

0xCA

0xE1

0x11

Examples

CAN-BUS

06/2017 – V03

Receiving CAN BUS data

6 Examples

6.1 Receiving CAN BUS data

Transmission address at the DS servo

COB ID

(default = 0x201)

Data format

DLC

(3, 4, 5)

Parameter

Byte 0

(REGID – see

parameter list)

Parameter content

Byte 1 to byte 4

Examples:

Changing the transmission address via CAN

see example 1

Disable the controller (no enable)

see example 2

Speed command value

see example 3

Position command value

see example 4

Torque command value

see example 5

Parameter value

see example 6

Write EEPROM

see example 7

6.2 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:

(DLC = 3)

Byte 0 =

0x3D

Parameter transmission request

Byte 1 =

REGID Value

Content of this REGID

Byte 2 =

0x??

Time interval

1. Transmitting once: (see example 8)

Data field:

(DLC = 3)

Byte 0 =

0x3D

Parameter transmission request

Byte 1 =

0xA8

Content of this REGID

Byte 2 =

0x00

Transmitting once

2. Cyclic transmission: (see example 9)

Data field:

(DLC = 3)

Byte 0 =

0x3D

Parameter transmission request

Byte 1 =

0xA8

Content of this REGID

Byte 2 =

0x0A

Transmitting every 10ms (0 to 254ms)

Note:

Byte 2 =

0xFF

Stop cyclic transmission

3. Request for a status message after action: (see example 10)

Data field:

(DLC = 3)

Byte 0 =

0x51

REGID for data after action

Byte 1 =

0x10

Activation via bit 4

Byte 2 =

0x00

Don’t care

Examples

06 / 2017 – V03

CAN-BUS

Sending from the master to the CAN bus to the DS

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

Hex value

Transmission address to the Servo

0x201

Data length 2 byte

DLC=3

REGID for CAN-Rx address

0x68

Value for a new CAN-Rx address

0x0210

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 1

0x201

0x68

0x10

0x02

---

Changing the transmission address in the pc program NDrive

Inputs:

NBT Transmission rate (kBaud)

Rx ID

Receiving address in the DS (default 0x201)

Tx ID

Transmission address from the DS

(default 0x181)

T-Out

Time error monitoring

Fig. 6-1

Examples

CAN-BUS

06/2017 – V03

Sending from the master to the CAN bus to the DS servo

Example 2: Disable the controller (no enable) Message to the servo

Function

Hex value

Transmission address to the servo

0x201

Data length 2 byte

DLC=3

REGID for disable (MODE)

0x51

Value for the disable MODE BIT2

0x0004

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 2

0x201

0x51

0x04

0x00

---

Example 3: Speed command value Message to the servo

Function

Hex value

Transmission address to the servo

0x201

Data length 2 byte

DLC=3

REGID for the speed command value (SPEED_SOLL)

0x31

Value for 10% speed num. 3277

0x0CCD (100 % ≙ 32767)

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 3

0x201

0x31

0xCD

0x0C

---

Example 4: Position command value Message to the servo

Function

Hex value

Transmission address to the servo

0x201

Data length 4 byte

DLC=6

REGID for the speed command value (POS_DEST)

0x6E

Value for position 3000000

0x2DC6C0

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 4

0x201

0x6E

0xC0

0xC6

0x2D

0x00

Examples

06 / 2017 – V03

CAN-BUS

Sending from the master to the CAN bus to the DS

Example 5: Torque command value Message to the servo

Function

Hex value

Transmission address to the servo

0x201

Data length 2 byte

DLC=3

REGID for speed command value (TORQUE-CMD)

0x90

Value for 50% torque num 16380

0x3FFC

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 5

0x201

0x90

0xFC

0x3F

---

Beispiel 6: Einstell-Parameter Message to the servo

Function

Hex value

Transmission address to the servo

0x201

Data length 2 byte

DLC=3

REGID for parameter acceleration (ACC ramp)

0x35

Data for 1000ms acceleration

0x03E8

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 6

0x201

0x35

0xCD

0x0C

---

Example 7: Writing EEPROM Message to the servo

Function

Hex value

Transmission address to the servo

0x201

Data length 2 byte

DLC=3

REGID to write EEPROM

0x84

EEPROM level 0

0x0000

(EEPROM level1 = 0X0001)

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 7

0x201

0x84

0x00

---

Examples

CAN-BUS

06/2017 – V03

Transmission from the DS servo to the CAN BUS

6.4 Transmission from the DS servo to the CAN BUS

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

Hex value

Transmission address to the servo

0x201

Data length 2 byte

DLC=3

REGID for reading data from the servo and

transmission to the CAN (READ)

0x3D

REGID for status (KERN_STATUS)

0x40

Time interval (transmitting once)

0x00

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 8

0x201

0x3D

0x40

0x00

---

Retransmitted information from the servo:

Function

Hex value

Transmission address to the servo

0x181

Data length 2 byte

DLC=4

REGID for status (KERN_STATUS)

0x40

Value of KERN_STATUS (0x40) are

0x0181

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 8

0x181

0x40

0x81

0x01

0x**

(Data range byte 1 to byte 4 in Little Endian format)

Current state of the status = 0x0181:

Bit0

Enable drive

(Ena)

Bit7

Position control

(P-N)

Bit8

Speed control

(N-I)

Examples

06 / 2017 – V03

CAN-BUS

Transmission from the DS servo to the CAN BUS

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

Hex value

Transmission address to the servo

0x201

Data length 2 byte

DLC=3

REGID for reading data from the servo and

transmission to the CAN (READ)

0x3D

REGID for actual speed value (SPEED_IST)

0x30

For the repeating time 100ms the input in byte 2 is

0x64

Note:

The permanent transmission in byte 2 can be stopped by

0xFF

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 9

0x210

0x3D

0x30

0x64

---

Information retransmitted from the servo within the interval of 100ms

Function

Hex value

Transmission address to the servo

0x201

Data length 2 byte

DLC=4

REGID for actual speed value (SPEED_IST)

0x30

Value of the speed command value 100% (num 32767)

0x7FFF

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 9

0x190

0x30

0xFF

0x7F

0x**

---

Note:

It is possible to configure max. 8 state values which send their status cyclically.

Examples

CAN-BUS

06/2017 – V03

Transmission from the DS servo to the CAN BUS

Example 10: Status message after an event Transmission from the servo (0x51 – BIT4)

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

Hex value

Transmission address to the servo

0x201

Data length 2 byte

DLC=3

REGID for data after an event (event trigger)

0x51

REGID for MODE BIT 4

0x10

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Beispiel 10

0x201

0x51

0x10

0x00

---

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

Hex value

Transmission address to the servo

0x181

Data length 4 byte

DLC=6

REGID for status (KERN_STATUS)

0x40

Value of KERN_STATUS (0x40)

0x0181

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

b32 to 39

Example 10

0x181

0x40

0x81

0x31

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)

Examples

06 / 2017 – V03

CAN-BUS

Transmission from the DS servo to the CAN BUS

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

Hex value

Transmission address to the servo

0x201

Data length 2 byte

DLC=3

REGID for configuration mask

0x52

REGID for status trigger selection (e.g. limit switch)

0x12

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 10-1

0x201

0x52

0x12

0x00

---

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

Hex value

Transmission address to the servo

0x201

Data length 2 byte

DLC=3

REGID for data after an event (event trigger)

0x51

REGID for MODE BIT 4

0x10

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

Example 10-1

0x201

0x51

0x10

0x00

---

Examples

CAN-BUS

06/2017 – V03

Transmission from the DS servo to the CAN BUS

Information retransmitted from the servo:

Function

Hex value

Transmission address to the servo

0x181

Data length 4 byte

DLC=6

REGID for status (KERN_STATUS)

0x40

Data for KERN_STATUS (0x40)

0x0181

Range

Head

Data field

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Function

REGID

b7 to 0

b15 to 8

b23 to 16

b31 to 24

b32 to 39

Example 10-1

0x181

0x40

0x85

0x31

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)

Examples

06 / 2017 – V03

CAN-BUS

Transmission from the DS servo to the CAN BUS

Example 11: Routine for simple speed control

Driving with different speeds and stops (Rx-ID = 0x201; Tx-ID=0x181).

Example 12: Routine for simple position control

Reference run and driving to a target position and back to zero position

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Note (master view)

201

Transmitting transmission request BTB

181

Receiving BTB 0xE2

201

Transmitting disable

201

Transmitting transmission request enable (hardware)

181

Receiving enable 0xE8

201

Transmitting no disable (enable)

201

Transmitting ACC ramp (500ms = 0x01FE4)

201

Transmitting DEC ramp (1000ms =0x03E8)

201

Transmitting speed command value 0x31 (30%=0x03D4)

201

Transmitting transmission request actual speed value

(every 100ms)

181

Receiving actual speed value 0x30 (value xxx every 100ms)

201

Transmitting speed command value 0x31

(100% = 0x7FA4)

201

Transmitting speed zero

201

Transmitting disable

COB ID

DLC

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Note (master view)

201

Transmitting transmission request BTB

181

Receiving BTB 0xE2

201

Transmitting disable

201

Transmitting transmission request enable (hardware)

201

Receiving enable 0xE8

181

Transmitting no disable (enable)

201

Transmitting start reference run

201

Transmitting value for the configuration mask

201

Transmitting speed command value 0x31 (30%=0x03D4)

201

Transmitting transmission request status message after an

event

181

Receiving status message (value xxxx)

201

Transmitting target position 3000000 num

201

Transmitting transmission request within tolerance

181

Receiving in tolerance

201

Transmitting target position zero

181

Receiving within tolerance

201

Transmitting disable

Units

CAN-BUS

06/2017 – V03

Conversion of the measuring units

7 Units

7.1 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

Resolver

Incremental encoder

Pulses/rpm

Max. value +/-2147483647 (31bit-1)

65536 65536

Resolution (smallest value)

16 (65536/4096 (12Bit)

65536/Inc x4

Example

Spindle drive

Slope 5mm/rpm

Travel 1000 mm = 200 rpm

200 rpm = 13107200

Resolution 65536/4096 = 16

Incremental encoder 2048 puls/rpm

Travel 1000 mm = 200 rpm

200 rpm = 1638400

Resolution 65536/8192 = 8

Speed

Actual speed value range

Calibration speed (Nmax)

Limitation

Max. value +/- 32767 (15Bit-1)

N max value in the parameter field

Motor and speed = 32767

Limitation in the parameter field

Speed within the limit

Example

N max = 2000

The speed of 2000 rpm

corresponds to 32767

Limit the speed to 1500 rpm

Limit = 32767/2000*1500 =

24575 num

The max. speed is limited

to 1500 rpm

Current

Actual current

value range

l 100%

Rated current calibration

l-device

Peak current

DC disabled

Limitation

Max. value

+/- 9Bit

mV Num Aeff A= Num A=

DS 205/405

550

110

160

Limitation in the parameter field..

Motor and current.

The smaller value is effective..

DS 412

800

160

230

DS 420

700

140

200

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

Position command value range

Speed command value range

Current command value range

Max. value +/- 31Bit

Max. value +/- 15Bit

Max. value +/- 9Bit

+/- 2147483647 num

+/- 32767 num

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).

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 current controller

0x1d (RW): 0x03e8 1000 Ti (I_KI ) Integral action time current controller

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 times

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 mechanical

0x43 (RO): 0x6a13 27155 MotorPos elec (MPOS_ACTUAL_E) Motor actual angular position electrical

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 switch

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 rating

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 amplification P-N

0x6b (RW): 0x01f5 501 Ti (POS_KI ) integral action time (Integral part) position controller P-N

0x6c (RW): 0x0000 0 Td (POS_KD ) advancing-time (Differezial-part) position controller P-N

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, position

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-position

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 reduction

0x8d (RW): 0x0000 0 V-Ti (VTI ) Time constant integral part field reduction

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 (Servo)

0xc6 (RW): 0x0032 50 I device (DEVICE_I ) Type current, protected

0xc7 (RW): 0x000a 10 R-Lim (SPEED_DELTAMA) Emergency stops time ramp, limit switch for 100 % speed command

0xc8 (RW): 0x0e10 3600 Nmax-100% (SPEED_RPMMAX ) Maximum rotation speed in turns per minute (Servo)

0xc9 (RW): 0x0000 0 xKp2 (I_KP2 ) proportional amplification position controller P-I

0xca (RW): 0x0000 0 Ti (POSI_KI ) integral action time (Integral part) position controller P-I

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 value P-I

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 compensation

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 power part

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 missing cable

0xed (RW): 0x00010064 65636 Decel. (SPEED_DELTAMA) Speed/torque deceleration ramp times

0xee (RW): 0x0226 550 I 100% (Stromsensor) (IIST_100PC ) Current sensor justage (protected)

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

Bamocar CAN Manual

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