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Device Profile Drives and Motion Control的子协议。。。
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CiA Draft Standard Proposal 402
CAN open
Device Profile Drives and Motion Control
This draft standard proposal is not recommended for implementation
Version 2.0
Date: 17. March 2005
CAN in Automation e.V.
CONTENTS Drives and Motion Control CiA DSP 402 V 2.0
2
HISTORY
Date Changes
July 2002 Document completely revised;
Summary of changes:
insert record definition 0080
h
: Interpolation time period record
insert record definition 0081
h
: Interpolation data configuration record
insert record definition 0082
h
: vl velocity acceleration deceleration record
object 6406
h
: change data type from DATE to TIME_OF_DAY
object 60C1
h
: change object code from RECORD to ARRAY
object 60F9
h
: change object code from RECORD to ARRAY
object 60FE
h
: change object code from RECORD to ARRAY
object 6089
h
: change category from optional to conditional
object 608A
h
: change category from optional to conditional
object 608B
h
: change category from optional to conditional
object 608C
h
: change category from optional to conditional
object 608D
h
: change category from optional to conditional
object 608E
h
: change category from optional to conditional
object 6084
h
: change category from mandatory to optional
object 606A
h
: change category from mandatory to optional
General information on licensing and patents
CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA
specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such
patent rights.
© CiA 2005-01-01
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any
means, electronic or mechanical, including photocopying and microfilm, without permission in writing from CiA at the address
below.
CAN in Automation e. V.
Am Weichselgarten 26
DE - 91058 Erlangen, Germany
Tel.: +49-9131-69086-0
Fax: +49-9131-69086-79
Url: www.can-cia.org
Email: headquarters@can-cia.org
CONTENTS Drives and Motion Control CiA DSP 402 V 2.0
3
CONTENTS
1 SCOPE..................................................................................................................9
2 REFERENCES.....................................................................................................10
3 DEFINITIONS AND ABBREVIATION....................................................................11
4 OVERVIEW .........................................................................................................12
4.1 Access to the drive.......................................................................................12
4.2 Architecture of the drive................................................................................13
5 OPERATING PRINCIPLE.....................................................................................17
5.1 Introduction .................................................................................................17
5.2 Standardization via profiling..........................................................................17
5.3 The object dictionary....................................................................................17
5.3.1 Index and sub-index usage.....................................................................18
6EMERGENCY MESSAGES ..................................................................................19
6.1 Principle......................................................................................................19
6.2 Error codes .................................................................................................19
7 PREDEFINITIONS ...............................................................................................24
7.1 Predefined objects .......................................................................................24
7.1.1 Object 1000
h
: Device type ......................................................................24
7.1.2 Object 1001
h
: Error register ....................................................................24
7.1.3 Object 67FF
h
: Single device type ............................................................24
7.2 PDO mapping..............................................................................................24
7.2.1 Receive PDOs.......................................................................................25
7.2.2 Transmit PDOs......................................................................................28
8 OBJECT DICTIONARY ........................................................................................32
9 COMMON ENTRIES.............................................................................................33
9.1 General information .....................................................................................33
9.1.1 Motor data.............................................................................................33
9.1.2 Drive data .............................................................................................33
9.2 Object dictionary entries...............................................................................34
9.2.1 Objects defined in this chapter................................................................34
9.3 Object description........................................................................................34
9.3.1 Object 6007
h
: Abort connection option code ............................................34
9.3.2 Object 603F
h
: Error code ........................................................................35
9.3.3 Object 6402
h
: Motor type........................................................................35
9.3.4 Object 6403
h
: Motor catalog number .......................................................36
9.3.5 Object 6404
h
: Motor manufacturer...........................................................37
9.3.6 Object 6405
h
: http motor catalog address ................................................37
9.3.7 Object 6406
h
: Motor calibration date........................................................37
9.3.8 Object 6407
h
: Motor service period .........................................................38
9.3.9 Object 6410
h
: Motor data........................................................................38
9.3.10 Object 6502
h
: Supported drive modes .....................................................39
9.3.11 Object 6503
h
: Drive catalog number ........................................................40
9.3.12 Object 6504
h
: Drive manufacturer ...........................................................40
9.3.13 Object 6505
h
: http drive catalog address .................................................40
CONTENTS Drives and Motion Control CiA DSP 402 V 2.0
4
9.3.14 Object 6510
h
: Drive data ........................................................................41
9.3.15 Object 60FD
h
: Digital inputs....................................................................42
9.3.16 Object 60FE
h
: Digital outputs..................................................................42
10 DEVICE CONTROL..............................................................................................44
10.1 General information .....................................................................................44
10.1.1 State machine .......................................................................................45
10.2 Object dictionary entries...............................................................................48
10.2.1 Objects defined in this chapter................................................................48
10.3 Object description........................................................................................49
10.3.1 Object 6040
h
: Controlword......................................................................49
10.3.2 Object 6041
h
: Statusword .......................................................................50
10.3.3 Object 605B
h
: Shutdown option code ......................................................52
10.3.4 Object 605C
h
: Disable operation option code...........................................53
10.3.5 Object 605A
h
: Quick stop option code .....................................................53
10.3.6 Object 605D
h
: Halt option code...............................................................54
10.3.7 Object 605E
h
: Fault reaction option code.................................................55
10.3.8 Object 6060
h
: Modes of operation ...........................................................55
10.3.9 Object 6061h
:
Modes of operation display ...............................................56
10.4 Functional description ..................................................................................57
10.4.1 Modes of operation function....................................................................57
10.4.2 Drive disabling function ..........................................................................58
10.4.3 Quick stop function ................................................................................58
10.4.4 Stop function .........................................................................................58
10.4.5 Fault reaction ........................................................................................59
11 FACTOR GROUP ................................................................................................60
11.1 General information .....................................................................................60
11.1.1 Factors..................................................................................................60
11.1.2 Relationship between physical and internal units......................................60
11.2 Object dictionary entries...............................................................................61
11.2.1 Objects defined in this chapter................................................................61
11.3 Object description........................................................................................61
11.3.1 Object 6089
h
: Position notation index ......................................................61
11.3.2 Object 608A
h
: Position dimension index ..................................................62
11.3.3 Object 608B
h
: Velocity notation index......................................................63
11.3.4 Object 608C
h
: Velocity dimension index ..................................................63
11.3.5 Object 608D
h
: Acceleration notation index...............................................64
11.3.6 Object 608E
h
: Acceleration dimension index............................................64
11.3.7 Object 608F
h
: Position encoder resolution ...............................................65
11.3.8 Object 6090
h
: Velocity encoder resolution................................................66
11.3.9 Object 6091
h
: Gear ratio.........................................................................67
11.3.10 Object 6092
h
: Feed constant.............................................................68
11.3.11 Object 6093
h
: Position factor.............................................................69
11.3.12 Object 6094
h
: Velocity encoder factor................................................70
11.3.13 Object 6095
h
: Velocity factor 1..........................................................71
11.3.14 Object 6096
h
: Velocity factor 2..........................................................72
11.3.15 Object 6097
h
: Acceleration factor ......................................................73
11.3.16 Object 607E
h
: Polarity ......................................................................74
12 PROFILE POSITION MODE.................................................................................75
12.1 General information .....................................................................................75
CONTENTS Drives and Motion Control CiA DSP 402 V 2.0
5
12.1.1 Input data description.............................................................................76
12.1.2 Output data description ..........................................................................76
12.1.3 Internal states........................................................................................76
12.2 Object dictionary entries...............................................................................77
12.2.1 Objects defined in this chapter................................................................77
12.2.2 Objects defined in other chapters............................................................78
12.3 Object description........................................................................................78
12.3.1 Object 607A
h
: Target position .................................................................78
12.3.2 Object 607B
h
: Position range limit ...........................................................79
12.3.3 Object 607D
h
: Software position limit.......................................................80
12.3.4 Object 607F
h
: Max profile velocity ...........................................................81
12.3.5 Object 6080
h
: Max motor speed..............................................................81
12.3.6 Object 6081
h
: Profile velocity ..................................................................81
12.3.7 Object 6082
h
: End velocity......................................................................82
12.3.8 Object 6083
h
: Profile acceleration ...........................................................82
12.3.9 Object 6084
h
: Profile deceleration ...........................................................83
12.3.10 Object 6085
h
: Quick stop deceleration...............................................83
12.3.11 Object 6086
h
: Motion profile type ......................................................83
12.3.12 Object 60C5
h
: Max acceleration........................................................84
12.3.13 Object 60C6
h
: Max deceleration........................................................84
12.4 Functional description ..................................................................................85
13 HOMING MODE...................................................................................................87
13.1 General information .....................................................................................87
13.1.1 Input data description.............................................................................87
13.1.2 Output data description ..........................................................................87
13.1.3 Internal states........................................................................................87
13.2 Object dictionary entries...............................................................................88
13.2.1 Objects defined in this chapter................................................................88
13.2.2 Objects defined in other chapters............................................................88
13.3 Object description........................................................................................88
13.3.1 Object 607C
h
: Home offset .....................................................................88
13.3.2 Object 6098
h
: Homing method ................................................................89
13.3.3 Object 6099
h
: Homing speeds.................................................................90
13.3.4 Object 609A
h
: Homing acceleration.........................................................91
13.4 Functional description ..................................................................................91
13.4.1 Homing methods ...................................................................................91
14 POSITION CONTROL FUNCTION........................................................................96
14.1 General information .....................................................................................96
14.1.1 Following error.......................................................................................96
14.1.2 Position reached....................................................................................97
14.1.3 Input data description.............................................................................97
14.1.4 Output data description ..........................................................................97
14.2 Object dictionary entries...............................................................................97
14.2.1 Objects defined in this chapter................................................................97
14.2.2 Objects defined in other chapters............................................................98
14.3 Object description........................................................................................98
14.3.1 Object 6062
h
: Position demand value......................................................98
14.3.2 Object 6063
h
: Position actual value*........................................................99
14.3.3 Object 6064
h
: Position actual value .........................................................99
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