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AKD Canopen Manual English RGM® CAN-BUS Communication Edition: A, October 2017 Original Documentation For safe and proper use, follow these instructions. Keep them for future reference. RGM CANopen | Record of Document Revisions Revision Remarks A, 10/2017 Launch version Technical changes which improve the performance of the device may be made without prior notice! Printed in the United States of America This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen. 2 Kollmorgen | kdn.Kollmorgen.com | October 2017 RGM CANopen | 1 Table of Contents 1 Table of Contents 1 Table of Contents 3 2 About This Manual 18 2.1 Overview and Scope 18 2.1.0.1 Copyrights 18 2.1.0.2 Document Validity 18 2.2 Product Warnings 18 2.3 References 18 2.3.1 Defining Documents 18 2.3.1.1 CiA 301: CANopen Application Layer and Communication Profile 18 2.3.1.2 CiA 402 Part 1: Device Profile for Drives and Motion Control, General Definitions 18 2.3.1.3 CiA 402 Part 2: Device Profile for Drives and Motion Control, Operation Modes and Application Data 18 2.3.1.4 CiA 402 Part 3: Device Profile for Drives and Motion Control, PDO Mapping 19 2.3.1.5 IEC 61800-7-1: Adjustable Speed Power Drive Systems 19 2.3.1.6 IEC 61800-7: ETG Implementation Guideline for the CiA402 Drive Profile 19 2.4 Object Description Conventions 19 Transmit PDO Communication Parameters - Index 0x1800 – 0x1807 19 PDO COB-ID - Index 0x1800 – 0x1807, Sub-index 1 19 2.0.1 Default Values 20 2.0.2 CANopen Data Types 20 2.0.3 EtherCAT Data Types 21 3 Introduction 23 3.1 CAN and CANopen 23 3.1.1 Kollmorgen RGM in CANopen Networks 23 3.1.1.1 CAN and CANopen 23 3.1.1.2 Architecture 23 3.1.2 Example of a CANopen Move Sequence 23 3.1.3 Overview of the CAN Protocol 24 3.1.3.1 A Network for Distributed Control 24 3.1.3.2 CAN Benefits 24 3.1.3.3 Physical Layer 24 3.1.4 The CAN Message 24 3.1.4.1 Overview 24 3.1.4.2 CAN Message Format 24 3.1.4.3 CRC Error Checking 24 3.1.4.4 CAN Message ID 24 3.1.4.5 CAN Message Priority 24 3.1.4.6 For More Information 25 3.1.5 Overview of the CANopen Profiles 25 3.1.5.1 Communication and Device Profiles 25 3.1.5.2 Communication Profile 25 3.1.5.3 Profile for Drives and Motion Control 25 3.1.6 EtherCAT CoE 25 3.2 Defining and Accessing CANopen Devices 26 3.2.1 Defining a Device: CANopen Objects and Object Dictionaries 26 Kollmorgen | kdn.Kollmorgen.com | October 2017 3 RGM CANopen | 1 Table of Contents 3.2.1.1 Objects and Dictionaries 26 3.2.1.2 Object Dictionary as Interface 26 3.2.1.3 CANopen Profiles and the Object Dictionary 26 3.3 Object Dictionary Structure 27 3.3.1 Accessing the Object Dictionary 27 3.3.1.1 Two Basic Channels 27 3.3.1.2 SDOs and PDOs 28 3.3.1.3 Kollmorgen SDOs and PDOs 28 3.3.2 SDOs: Description and Examples 29 3.3.2.1 Overview 29 3.3.2.2 SDO CAN Message IDs 29 3.3.2.3 Client/Server Communication 29 3.3.2.4 SDO Message Format 29 3.3.2.5 Confirmation 29 3.3.2.6 Confirmation Example 29 3.3.2.7 Segmented, Expedited and Block Transfers 30 3.3.3 PDOs: Description and Examples for CANopen 30 3.3.3.1 Overview 30 3.3.3.2 Default PDO Message Identifiers 30 3.3.3.3 PDO Peer- to-Peer Communication 30 3.3.3.4 PDO Peer-to- Peer Example 30 3.3.3.5 PDO Mapping 30 3.3.3.6 Mappable Objects 31 3.3.3.7 Dynamic PDO Mapping 31 3.3.3.8 PDO Transmission Modes 31 3.3.3.9 PDO Triggering Modes 31 3.3.3.10 Default PDO Mappings 31 3.3.3.11 PDO Examples 32 PDO Request Object 0x2002 33 3.0.1 PDOs: Timing Considerations for EtherCAT 33 3.0.1.1 Fixed PDOs 33 3.0.1.2 Non-fixed PDO (Mappable) 33 3.0.1.3 Sync Managers 33 3.0.1.4 Default PDO Mappings 33 3.0.2 PDOs: Description and Examples for EtherCAT 34 3.0.2.1 Non-fixed, empty RxPdo, Mappable 34 3.0.2.2 Fixed RxPdo with contents assigned, Not-Mappable 34 3.0.2.3 Non-fixed, empty TxPdo, Mappable 35 3.0.2.4 Fixed TxPdo with contents assigned, Not-Mappable 35 3.0.2.5 Mailbox / CoE / InitCmd SDO 35 3.0.3 SDO vs. PDO: Design Considerations 35 3.0.3.1 Differences Between SDO and PDO 35 4 How to Map (or Remap) a PDO 37 4.0.0.1 Process Overview 37 4.1 To Map a Receive PDO 37 4.1.0.1 Example: Mapping a Receive PDO 37 4.2 Objects that Define SDOs and PDOs 38 4 Kollmorgen | kdn.Kollmorgen.com | October 2017 RGM CANopen | 1 Table of Contents Server SDO parameters - Index 0x1200 38 SDO Receive COB-ID - Index 0x1200, Sub-Index 1 39 SDO Transmit COB-ID - Index 0x1200, Sub-Index 2 39 Receive PDO Communication Parameters - Index 0x1400 - 0x1407 39 PDO COB-ID - Index 0x1400 - 0x1407, Sub-Index 1 39 4.0.0.1 Default Values 40 PDO Type - Index 0x1400 - 0x1407, Sub-Index 2 40 Receive PDO Mapping Parameters - Index 0x1600 – 0x1607 40 Number of Mapped Objects - Index 0x1600 – 0x1607, Sub-index 0 40 PDO Mapping - Index 0x1600 – 0x1607, Sub-Index 1 – 8 41 Receive PDO Mapping Parameters - Index 0x1700 41 Number of Mapped Objects - Index 0x1700, Sub-index 0 41 PDO Mapping - Index 0x1700, Sub-Index 1-4 41 Receive PDO Mapping Parameters - Index 0x1701 42 Number of Mapped Objects - Index 0x1701, Sub-index 0 42 PDO mapping - Index 0x1701, Sub-index 1-3 42 Receive PDO Mapping Parameters - Index 0x1702 43 Number of Mapped Objects - Index 1702, Sub-index 0 43 PDO Mapping - Index 0x1702, Sub-index 1-2 43 Receive PDO Mapping Parameters - Index 0x1703 43 Number of Mapped Objects - Index 0x1703, Sub-index 0 44 PDO Mapping - Index 0x1703, Sub-index 1-2 44 Receive PDO Mapping Parameters - Index 0x1704 44 Number of Mapped Objects - Index 0x1704, Sub-index 0 44 PDO Mapping - Index 0x1704, Sub-index 1-2 45 Transmit PDO Communication Parameters - Index 0x1800 - 0x1807 45 PDO COB-ID - Index 0x1800 - 0x1807, Sub-index 1 45 4.0.0.1 Default Values 46 PDO Type - Index 0x1800 - 0x1807, Sub-index 2 46 4.0.0.1 PDO Events 46 Transmit PDO Mapping Parameters - Index 0x1A00 – 0x1A07 47 Number Of Mapped Objects - Index 0x1A00 – 0x1A07, Sub-index 0 47 PDO Mapping - Index 0x1A00 – 0x1A07, Sub-Index 1 – 8 47 Transmit PDO Mapping Parameters - Index 0x1B00 47 Number Of Mapped Objects - Index 0x1B00, Sub-index 0 47 PDO Mapping - Index 0x1B00, Sub-index 1-5 48 Sync Manager Type - Index 0x1C00 48 Sync Manager 2 PDO Assignment Object - Index 0x1C12 - 0x1C13 49 Number of Mapped Objects - Index 0x1C12 - 0x1C13, Sub-index 0 49 PDO Mapping - Index 0x1C12 - 0x1C13, Sub-index 1-8 - 49 5 Network Management 50 5.1 Network Management Overview: CANopen 50 5.1.1 Overview 50 5.1.1.1 Network Management Services and Objects 50 5.1.1.2 Network Manager Node 50 5.1.2 General Device State Control 50 5.1.2.1 State Machine 50 Kollmorgen | kdn.Kollmorgen.com | October 2017 5 RGM CANopen | 1 Table of Contents 5.1.2.2 Device States 50 5.1.2.3 State Control Messages 50 5.1.3 Device Monitoring 51 5.1.3.1 CANopen 51 5.1.3.2 Monitoring Protocols 51 5.1.3.3 Heartbeat Protocol 51 5.1.3.4 Node-guarding Protocol 51 5.1.4 SYNC and High-resolution Time Stamp Messages 51 5.1.4.1 Time Stamp PDOs 52 5.1.5 Emergency Messages 52 5.1.5.1 EMCY Message Structure 52 5.1.5.2 EMCY Message Error Codes 52 5.1.5.3 EMCY Message Kollmorgen-Specific Error Conditions 53 5.2 Network Management Objects: CANopen 53 COB-ID Sync Message - Index 0x1005 53 5.0.0.1 SYNC ID Format 53 Communication Cycle Period - Index 0x1006 54 Guard Time - Index 0x100C 54 Life Time Factor - Index 0x100D 54 High-resolution Time Stamp - Index 0x1013 54 Emergency Object ID - Index 0x1014 55 Emergency Object ID Inhibit Time - Index 0x1015 55 Producer Heartbeat Time - Index 0x1017 55 5.1 Network Management Overview: EtherCAT / CANopen 55 Network Options - Index 0x21B3 55 Network Status Word - Index 0x21B4 56 5.1 Sending Serial Commands over CANopen 57 5.1.1 Overview 57 5.1.2 Byte order 58 Serial Port Command Send - Index 0x2000 58 6 Device Control, Configuration, and Status 59 6.1 Device Control and Status Overview 59 6.1.1 Control Word, Status Word, and Device Control Function 59 6.1.1.1 Device Control Function Block 59 6.1.1.2 Control and Status Words 59 6.1.1.3 Operation Modes 59 6.1.1.4 State Machine Nesting 59 6.1.1.5 State Machine and States 59 6.1.2 State Changes Diagram 60 6.1.2.1 Diagram 60 6.1.2.2 State Changes Diagram Legend 61 6.2 Device Control and Status Objects 62 6.2.1 Control & Status Objects 62 Control Word - Index: 0x6040 62 6.0.0.1 Control Word Bit Mapping 62 Status Word - Index 0x6041 63 Manufacturer Status Register - Index 0x1002 64 6 Kollmorgen | kdn.Kollmorgen.com | October 2017 RGM CANopen | 1 Table of Contents 6.0.1 Status Registers for Multi-Axis Drives 65 Amplifier Event Word - Index 0x2185 65 'Sticky' Event Status Register - Index 0x2180 65 Latched Event Status Register - Index 0x2181 66 Limit Status Mask - Index 0x2184 66 6.0.1 Error Codes 66 Abort Option Code - Index 0x6007 66 Error Code - Index 0x603F 67 Quick Stop Option Code - Index 0x605A 67 Shutdown Option Code - Index 0x605B 67 Disable Operation Option Code - Index 0x605C 68 Halt Option Code - Index 0x605D 68 Fault Reaction Option Code - Index 0x605E 68 Mode Of Operation - Index 0x6060 69 Mode Of Operation Display - Index 0x6061 69 Desired State - Index 0x2300 69 Supported Drive Modes - Index 0x6502 70 6.1 Error Management Objects 71 Error Register - Index 0x1001 71 Pre-Defined Error Object - Index 0x1003 71 Number of Errors - Index 0x1003, Sub-Index 0 71 Standard Error Field - Index 0x1003, Sub-Index 1-8 71 Tracking Error Window - Index 0x2120 72 Fault Mask - Index 0x2182 72 Latching Fault Status Register - Index 0x2183 73 6.1 Basic Amplifier Configuration Objects 74 Device Type - Index
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