December 2013 B 25361 CAN Newsletter Hardware + Software + Tools + Engineering Encoders make mobile elevating work platforms flexible Electric servo drives prove themselves in outdoor use Motion Motion control Walking excavator uses J1939-linked hydraulics www.can-newsletter.org Adding Connectivity to Your Design Microchip offers support for a variety of wired and wireless communication BEFORE YOUR NEXT WIRED protocols, including peripheral devices and solutions that are integrated with a PIC® Microcontroller (MCU) or dsPIC® Digital Signal Controller (DSC). OR WIRELESS DESIGN: 1. Download free software libraries Microchip’s Solutions include: 2. Find a low-cost development tool USB Wi-Fi® 3. Order samples 8-, 16- and 32-bit USB MCUs for basic, Innovative wireless chips and modules low-cost applications to complex and highly allowing a wide range of devices to connect www.microchip.com/usb integrated systems along with free license to the Internet. Embedded IEEE Std 802.11 www.microchip.com/ethernet software libraries including support for USB Wi-Fi transceiver modules and free TCP/IP www.microchip.com/can device, host, and On-The-Go. stacks. www.microchip.com/lin Ethernet ZigBee® www.microchip.com/wireless PIC MCUs with integrated 10/100 Ethernet Certified ZigBee Compliant Platform (ZCP) for MAC, standalone Ethernet controllers and EUI the ZigBee PRO, ZigBee RF4CE and ZigBee - 48™/EUI - 64™ enabled MAC address chips. 2006 protocol stacks. Microchip’s solutions CAN consist of transceiver products, PIC18, PIC24 8-, 16- and 32-bit MCUs and 16-bit DSCs with and PIC32 MCU and dsPIC DSC families, and integrated CAN, stand alone CAN controllers, certified firmware protocol stacks. CAN I/O expanders and CAN transceivers. MiWiTM LIN MiWi and MiWi P2P are free proprietary protocol stacks developed by Microchip for LIN Bus Master Nodes as well as LIN Bus Slave short-range wireless networking applications Nodes for 8-, 16- and 32-bit PIC MCUs and based on the IEEE 802.15.4™ WPAN 16-bit dsPIC DSCs. The physical layer specification. Wi-Fi G Demo Board connection is supported by CAN and LIN (DV102412) transceivers. The Microchip name and logo, the Microchip logo, dsPIC, MPLAB and PIC are registered trademarks of Microchip Technology Incorporated in the U.S.A. and other countries. All other trademarks are the property of their registered owners. ©2012 Microchip Technology Inc. All rights reserved. ME1023BEng/05.13 Adding Connectivity to Your Design The future of CiA 402 – Building blocks for safe motions he CiA 402 profile for CANopen-specific due to the Tdrives and motion con- SRDO immanent restrictions trollers is already quite ma- to an 8-byte payload. The fol- ture. Introduced in 1996, it lowing safety functions are still has its benefits and its supported: weaknesses. Nevertheless, Safe acceleration range it is one of the most imple- Safe brake control mented motion profiles — Safe cam not just for CANopen com- Safe direction negative munication. The interna- Safe direction positive tionally standardized profile Safely-limited increment (IEC 61800-7-201) has also Safely-limited position Additional building blocks for the CiA 402 CANopen been mapped to Ether- Safely-limited speed motion profile are under development: Safe motion cat and Powerlink (IEC Safely-limited torque function (CiA 402-4) and PDO mapping for devices 61800-7-301). In the next Safe maximum controlling asynchronous and synchronous motors revision of this internation- acceleration (CiA 402-5) al standard, mappings to Safe maximum speed CC-Link IE and EPA will Safe operating stop mapping is not suitable, be- Abstract be launched as well. Of Safe stop 1 cause the system design- The CiA 402 CANopen Microchip offers support for a variety of wired and wireless communication course, IEC 61800-7-301 Safe stop 2 er needs to assign COB-IDs profile for drives and BEFORE YOUR NEXT WIRED protocols, including peripheral devices and solutions that are integrated also contains CANopen Safe speed monitor to the PDOs. Only the first motion controllers will with a PIC® Microcontroller (MCU) or dsPIC® Digital Signal Controller (DSC). OR WIRELESS DESIGN: mapping. CiA will withdraw Safe speed range four have pre-defined COB- be enhanced in the part 1 to part 3 of the CiA Safe torque-off IDs. Type specific PDO map- direction of drives. 1. Download free software libraries Microchip’s Solutions include: 402 specification, in order The safety functions pings for servos and stepper Additionally, there is 2. Find a low-cost development tool to avoid double-specifica- comply with the correspond- motors, respectively for fre- a new PDO mapping USB Wi-Fi® 3. Order samples tions and the risk of incon- ing IEC standards. The safe- quency inverters overcome under development for 8-, 16- and 32-bit USB MCUs for basic, Innovative wireless chips and modules www.microchip.com/usb sistent descriptions. Never- ty control-words and safety this problem, but do not sup- devices that can handle low-cost applications to complex and highly allowing a wide range of devices to connect theless, the CANopen SIG status-words are highly de- port both kinds of motors si- asynchronous and integrated systems along with free license to the Internet. Embedded IEEE Std 802.11 www.microchip.com/ethernet motion control will continue vice-specific depending on multaneously. The proposed synchronous motors software libraries including support for USB Wi-Fi transceiver modules and free TCP/IP www.microchip.com/can to enhance the profile. New the supported safety func- additional PDO mapping will using the same motion device, host, and On-The-Go. stacks. www.microchip.com/lin building blocks will be spec- tions. Therefore, the profile be specified in CiA 402-5, controller. Ethernet ZigBee® www.microchip.com/wireless ified in additional parts of provides a mapping function another building block of the CiA 402 specifications. for command bits and status the CiA 402 series of spec- Link PIC MCUs with integrated 10/100 Ethernet Certified ZigBee Compliant Platform (ZCP) for MAC, standalone Ethernet controllers and EUI The modular approach en- bits. Also, SRDO mapping is ifications. It is intended that www.can-cia.org the ZigBee PRO, ZigBee RF4CE and ZigBee ables motion control manu- highly device-specific. The three TPDOs and three RP- - 48™/EUI - 64™ enabled MAC address chips. 2006 protocol stacks. Microchip’s solutions facturers to implement opti- CiA 402-4 specification pre- DOs will be pre-defined. The consist of transceiver products, PIC18, PIC24 CAN mized functionality in their defines merely the mapping fourths will be used manufac- and PIC32 MCU and dsPIC DSC families, and 8-, 16- and 32-bit MCUs and 16-bit DSCs with products. of the safety control-word and turer-specific. The standard- certified firmware protocol stacks. integrated CAN, stand alone CAN controllers, One of the most im- the safety status-word into ized PDOs contain the status CAN I/O expanders and CAN transceivers. MiWiTM portant extensions is the SRDOs. Additional safety word, respectively the con- LIN MiWi and MiWi P2P are free proprietary support of safety func- target values and safety ac- trol word. Additionally, they protocol stacks developed by Microchip for tions. The SIG will adopt tual values may be mapped contain the values for vl ve- LIN Bus Master Nodes as well as LIN Bus Slave short-range wireless networking applications the motion safety profile by the system-designer. locity (first instance), position Nodes for 8-, 16- and 32-bit PIC MCUs and based on the IEEE 802.15.4™ WPAN originally developed by (second instance), and ve- 16-bit dsPIC DSCs. The physical layer specification. Wi-Fi G Demo Board the ETG (Ethercat Tech- Special PDO mapping locity (third instance). “With connection is supported by CAN and LIN (DV102412) nology Group). The map- this mapping we use the very transceivers. ping to CANopen will be Besides safety, there is a same EDS for power derive similar as to Ethercat in re- trend to control asynchro- systems irrespective of if they spect to the object diction- nous and synchronous mo- control asynchronous or syn- ary (index and sub-indexes tors with the very same de- chronous motors,” said Gün- control Motion will be the same). However, vice. This requires additional ther Wenzel from Schneider the mapping to SRDOs is PDO mapping. Generic PDO Electric. Holger Zeltwanger The Microchip name and logo, the Microchip logo, dsPIC, MPLAB and PIC are registered trademarks of Microchip Technology Incorporated in the U.S.A. and other countries. All other trademarks are the property of their registered owners. CAN Newsletter 4/2013 3 ©2012 Microchip Technology Inc. All rights reserved. ME1023BEng/05.13 The WAGO-I/O-SYSTEM 750 – Cover story One System for All Applications! The future of CiA 402 – Building blocks for safe motions 3 The CiA 402 CANopen profile for drives and motion CAN be connected to any fieldbus controllers will be enhanced with mappings to CC-Link IE and EPA in its next revision. There is also a new PDO Table of contents of Table mapping being developed, for devices that control synchronous and asynchronous motors. Imprint Motion control Publisher Walking excavator uses J1939-linked hydraulics 8 CAN in Automation GmbH Kontumazgarten 3 Encoders make mobile elevating work DE-90429 Nuremberg platforms flexible 26 Electric servo drives prove themselves [email protected] in outdoor use 38 www.can-cia.org www.can-newsletter.org Motor selection: Optimizing belt drives 48 Tel.: +49-911-928819-0 Fax: +49-911-928819-79