Schneider Electric Cell Phone DS301 User Guide
IL•1F CANopen DS301  
Fieldbus interface  
Fieldbus manual  
V2.01, 11.2008  
www.schneider-electric.com  
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IL•1F CANopen DS301  
Table of Contents  
Table of Contents  
Important information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2  
Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3  
Writing conventions and symbols. . . . . . . . . . . . . . . . . . . . . . . 7  
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9  
1.1  
1.2  
1.3  
1.4  
1.5  
About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9  
CAN-Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9  
Fieldbus devices networked via CAN bus . . . . . . . . . . . 10  
Operating modes and functions in fieldbus mode . . . . . 10  
Documentation and literature references . . . . . . . . . . . 11  
2 Before you begin - safety information. . . . . . . . . . . . . . . . . . . 13  
3 Basics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15  
3.1  
CANopen technology . . . . . . . . . . . . . . . . . . . . . . . . . . 15  
CANopen description language . . . . . . . . . . . . . . . . 15  
Communication layers . . . . . . . . . . . . . . . . . . . . . . . 15  
Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16  
CANopen profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . 18  
3.1.1  
3.1.2  
3.1.3  
3.1.4  
3.2  
Communication profile. . . . . . . . . . . . . . . . . . . . . . . . . . 19  
Object dictionary. . . . . . . . . . . . . . . . . . . . . . . . . . . . 19  
Communication objects . . . . . . . . . . . . . . . . . . . . . . 21  
Communication relationships . . . . . . . . . . . . . . . . . . 24  
3.2.1  
3.2.2  
3.2.3  
3.3  
Service data communication. . . . . . . . . . . . . . . . . . . . . 26  
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26  
SDO data exchange . . . . . . . . . . . . . . . . . . . . . . . . . 26  
SDO message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27  
Reading and writing data . . . . . . . . . . . . . . . . . . . . . 28  
3.3.1  
3.3.2  
3.3.3  
3.3.4  
3.4  
3.4.1  
3.4.2  
Process data communication . . . . . . . . . . . . . . . . . . . . 31  
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31  
PDO data exchange . . . . . . . . . . . . . . . . . . . . . . . . . 32  
3.5  
Synchronization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44  
3.6  
3.6.1  
3.6.2  
Network management services. . . . . . . . . . . . . . . . . . . 46  
NMT services for device control . . . . . . . . . . . . . . . . 46  
NMT services for connection monitoring . . . . . . . . . 48  
4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51  
Fieldbus interface  
3
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Table of Contents  
IL•1F CANopen DS301  
5 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53  
5.1  
5.2  
Commissioning the device . . . . . . . . . . . . . . . . . . . . . . 53  
Address and baud rate . . . . . . . . . . . . . . . . . . . . . . . . . 54  
5.3  
5.3.1  
5.3.2  
Commissioning the fieldbus network . . . . . . . . . . . . . . 54  
Starting fieldbus mode. . . . . . . . . . . . . . . . . . . . . . . 54  
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55  
5.4  
SyCon CANopen configuration software . . . . . . . . . . . 56  
Creating a new network . . . . . . . . . . . . . . . . . . . . . . 56  
Selecting the CANopen master . . . . . . . . . . . . . . . . 56  
Setting the bus parameters . . . . . . . . . . . . . . . . . . . 57  
Selecting and inserting nodes . . . . . . . . . . . . . . . . . 58  
5.4.1  
5.4.2  
5.4.3  
5.4.4  
6 Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59  
6.1  
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59  
6.2  
Using SDO commands. . . . . . . . . . . . . . . . . . . . . . . . . 61  
Writing parameters. . . . . . . . . . . . . . . . . . . . . . . . . . 61  
Reading a parameter . . . . . . . . . . . . . . . . . . . . . . . . 62  
Synchronous errors . . . . . . . . . . . . . . . . . . . . . . . . . 62  
6.2.1  
6.2.2  
6.2.3  
6.3  
Changing operating states with PDO4 . . . . . . . . . . . . . 63  
Switching the power stage on and off . . . . . . . . . . . 64  
Triggering a "Quick Stop". . . . . . . . . . . . . . . . . . . . . 64  
Resetting faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66  
6.3.1  
6.3.2  
6.3.3  
6.4  
6.4.1  
Examples for the operating modes with PDO4. . . . . . . 67  
Operating mode Profile Position:  
absolute positioning . . . . . . . . . . . . . . . . . . . . . . . . . 68  
Operating mode Profile Position:  
6.4.2  
relative positioning . . . . . . . . . . . . . . . . . . . . . . . . . . 69  
Operating mode Profile Velocity. . . . . . . . . . . . . . . . 69  
Position setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70  
Operating mode Homing . . . . . . . . . . . . . . . . . . . . . 71  
6.4.3  
6.4.4  
6.4.5  
6.5  
6.5.1  
6.5.2  
Error signaling via PDO4 . . . . . . . . . . . . . . . . . . . . . . . 72  
Synchronous errors . . . . . . . . . . . . . . . . . . . . . . . . . 72  
Asynchronous errors . . . . . . . . . . . . . . . . . . . . . . . . 72  
7 Diagnostics and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . 75  
7.1  
Fieldbus communication error diagnostics . . . . . . . . . . 75  
7.2  
7.2.1  
7.2.2  
Error diagnostics via fieldbus . . . . . . . . . . . . . . . . . . . . 76  
Message objects . . . . . . . . . . . . . . . . . . . . . . . . . . . 76  
Messages on the device status . . . . . . . . . . . . . . . . 76  
7.3  
CANopen error messages . . . . . . . . . . . . . . . . . . . . . . 77  
Error register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77  
Error code table . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77  
SDO error message ABORT . . . . . . . . . . . . . . . . . . 78  
7.3.1  
7.3.2  
7.3.3  
4
Fieldbus interface  
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IL•1F CANopen DS301  
Table of Contents  
8 Object directory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79  
8.1  
8.1.1  
8.1.2  
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79  
Specifications for the objects . . . . . . . . . . . . . . . . . . 79  
Objects, overview . . . . . . . . . . . . . . . . . . . . . . . . . . . 80  
8.2  
Objects of the product . . . . . . . . . . . . . . . . . . . . . . . . . . 81  
9 Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93  
9.1  
Units and conversion tables . . . . . . . . . . . . . . . . . . . . . 93  
Length. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93  
Mass. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93  
Force. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93  
Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93  
Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94  
Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94  
Moment of inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . 94  
Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94  
Conductor cross section. . . . . . . . . . . . . . . . . . . . . . 94  
9.1.1  
9.1.2  
9.1.3  
9.1.4  
9.1.5  
9.1.6  
9.1.7  
9.1.8  
9.1.9  
9.2  
Terms and Abbreviations. . . . . . . . . . . . . . . . . . . . . . . . 95  
10 Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97  
Fieldbus interface  
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Table of Contents  
IL•1F CANopen DS301  
6
Fieldbus interface  
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IL•1F CANopen DS301  
Writing conventions and symbols  
Writing conventions and symbols  
Work steps If work steps must be performed consecutively, this sequence of steps  
is represented as follows:  
࡯
 Special prerequisites for the following work steps  
̈ Step 1  
୵ Specific response to this work step  
̈ Step 2  
If a response to a work step is indicated, this allows you to verify that the  
work step has been performed correctly.  
Unless otherwise stated, the individual steps must be performed in the  
specified sequence.  
Bulleted lists The items in bulleted lists are sorted alphanumerically or by priority. Bul-  
leted lists are structured as follows:  
•
•
Item 1 of bulleted list  
Item 2 of bulleted list  
– Subitem for 2  
– Subitem for 2  
•
Item 3 of bulleted list  
Making work easier Information on making work easier is highlighted by this symbol:  
Sections highlighted this way provide supplementary  
information on making work easier.  
SI units SI units are the original values. Converted units are shown in brackets  
behind the original value; they may be rounded.  
Example:  
2
Minimum conductor cross section: 1.5 mm (AWG 14)  
Fieldbus interface  
7
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Writing conventions and symbols  
IL•1F CANopen DS301  
8
Fieldbus interface  
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IL•1F CANopen DS301  
1 Introduction  
1
Introduction  
1.1  
About this manual  
This manual describes the fieldbus specifics for products in a fieldbus  
network addressed via CANopen DS301.  
1.2  
CAN-Bus  
The CAN bus (Controller Area Network) was originally developed for  
fast, economical data transmission in the automotive industry. Today, the  
CAN bus is also used in industrial automation technology and has been  
further developed for communication at fieldbus level.  
Features of the CAN bus The CAN bus is a standardized, open bus enabling communication be-  
tween devices, sensors and actuators from different manufacturers. The  
features of the CAN bus comprise  
•
Multimaster capability  
Each device in the fieldbus can transmit and receive data independ-  
ently without depending on an "ordering" master functionality.  
•
Message-oriented communication  
Devices can be integrated into a running network without reconfigu-  
ration of the entire system. The address of a new device does not  
need to be specified on the network.  
•
•
Prioritization of messages  
Messages with higher priority are sent first for time-critical applica-  
tions.  
Residual error probability  
Various security features in the network reduce the probability of  
-11  
undetected incorrect data transmission to less than 10  
.
Transmission technology In the CAN bus, multiple devices are connected via a bus cable. Each  
network device can transmit and receive messages. Data between net-  
work devices are transmitted serially.  
Network devices Examples of CAN bus devices are  
•
•
•
•
•
•
Automation devices, e.g. PLCs  
PCs  
Input/output modules  
Drives  
Analysis devices  
Sensors and actuators  
Fieldbus interface  
9
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1 Introduction  
IL•1F CANopen DS301  
1.3  
Fieldbus devices networked via CAN bus  
Different fieldbus devices can be operated in the same fieldbus seg-  
ment. The CANopen bus provides a common basis for interchanging  
commands and data between the product described and other network  
devices.  
L
N
Figure 1.1  
Fieldbus devices in the network  
1.4  
Operating modes and functions in fieldbus mode  
This manual only describes the protocol for the slave. See the chapters  
"Operation" and "Parameters" for descriptions of the operating modes,  
functions and all parameters of the slave:  
Operating modes  
Functions  
•
•
•
•
•
•
•
•
Profile Velocity  
Profile position  
Homing  
Jog  
Definition of direction of rotation  
Motion profile generation  
Quick Stop  
Fast position capture  
Settings The following settings can be made via the fieldbus:  
•
•
•
Reading and writing parameters  
Monitoring the inputs and outputs of the 24 V signal interface  
Activating diagnostics and fault monitoring functions  
Fieldbus mode  
10  
Fieldbus interface  
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IL•1F CANopen DS301  
1 Introduction  
1.5  
Documentation and literature references  
Manuals In addition to this fieldbus manual, the following manuals also belongs to  
the product:  
•
Product manual, describes the technical data, installation, com-  
missioning and all operating modes and functions.  
CAN users and manufacturers CiA - CAN in Automation  
organization  
Am Weichselgarten 26  
D-91058 Erlangen  
http://www.can-cia.org/  
CANopen standards  
•
CiA Standard 301 (DS301)  
CANopen application layer and communication profile  
V4.02, February 2002  
•
CiA Standard 402 (DSP402)  
Device profile for drives and motion control  
V2.0, July 2002  
•
•
ISO/DIS 11898: Controller Area Network (CAN) for high speed  
communication;1993  
EN 50325-4: Industrial communications subsystem based on  
ISO 11898 for controller device interfaces (CANopen); 2002  
Literature Controller Area Network  
Konrad Etschberger, Carl Hanser Verlag  
ISBN 3-446-19431-2  
Fieldbus interface  
11  
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1 Introduction  
IL•1F CANopen DS301  
12  
Fieldbus interface  
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IL•1F CANopen DS301  
2 Before you begin - safety information  
2
Before you begin - safety information  
The information provided in this manual supplements the product man-  
ual. Carefully read the product manual before you begin.  
Fieldbus interface  
13  
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2 Before you begin - safety information  
IL•1F CANopen DS301  
14  
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IL•1F CANopen DS301  
3 Basics  
3
Basics  
3.1  
CANopen technology  
3.1.1 CANopen description language  
CANopen is a device- and manufacturer-independent description lan-  
guage for communication via the CAN bus. CANopen provides a com-  
mon basis for interchanging commands and data between CAN bus  
devices.  
3.1.2 Communication layers  
CANopen uses the CAN bus technology for data communication.  
CANopen is based on the basic network services for data communica-  
tion as per the ISO-OSI model model. 3 layers enable data communica-  
tion via the CAN bus.  
•
Physical Layer  
Data Link Layer  
Application Layer  
•
•
device communication  
application Layer  
data Link Layer  
physical Layer  
fielb bus communication  
CAN-Bus  
Figure 3.1  
CANopen layer model  
Physical Layer The physical layer defines the electrical properties of the CAN bus such  
as connectors, cable length and cable properties such as bit-coding and  
bit-timing.  
Data Link Layer The data link layer connects the network devices. It assigns priorities to  
individual data packets and monitors and corrects errors.  
Application Layer The application layer uses communication objects (COB) to exchange  
data between the various devices. Communication objects are elemen-  
tary components for creating a CANopen application.  
Fieldbus interface  
15  
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3 Basics  
IL•1F CANopen DS301  
3.1.3 Objects  
All processes under CANopen are executed via objects. Objects carry  
out different tasks; they act as communication objects for data transport  
to the fieldbus, control the process of establishing a connection or mon-  
itor the network devices. If objects are directly linked to the device (de-  
vice-specific objects), the device functions can be used and changed via  
these objects.  
Object dictionary The object dictionary of each network device allows for communication  
between the devices. Other devices find all objects with which they can  
communicate in this dictionary.  
CANopen  
Communication  
Object  
directory  
Device  
functions  
Process data  
objects (PDO)  
1000h  
3000h  
6000h  
FFFFh  
Application  
Service data  
objects (SDO)  
Power  
amplifier  
Device profile  
Motor  
SYNC, EMCY  
Specific functions  
Network  
management NMT  
Figure 3.2  
Device model with object dictionary  
Objects for describing the data types and executing the communication  
tasks and device functions under CANopen are included in the object  
dictionary.  
Object index Every object is addressed by means of a 16 bit index, which is repre-  
sented as a four-digit hexadecimal number. The objects are arranged in  
groups in the object dictionary.  
Index (hex) Object groups  
Supported  
by the drive  
0000  
Reserved  
No  
No  
No  
h
0001 -009F Static and complex data types  
h
h
00A0 -0FFF Reserved  
h
h
1000 -1FFF Communication profile, standardized in DS 301 Yes  
h
h
2000 -5FFF Manufacturer-specific device profiles  
Yes  
No  
No  
h
h
6000 -9FFF Standardized device profiles, e.g. in DSP 402  
h
h
A000 -FFFF Reserved  
h
h
Table 3.1 Object index  
See page 79, 8.2 "Objects of the product" for a list of the CANopen ob-  
jects.  
Object group data types Data types are used so that the messages that are transmitted via the  
network as bit streams have the same meaning for the transmitting and  
16  
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IL•1F CANopen DS301  
3 Basics  
receiving devices. Data types are declared by means of the objects of  
the data types.  
Object groups of the profiles CANopen objects carry out various tasks in fieldbus mode. Profiles  
group the objects by tasks.  
Fieldbus interface  
17  
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3 Basics  
IL•1F CANopen DS301  
3.1.4 CANopen profiles  
Standardized profiles Standardized profiles describe objects that are used with different de-  
vices without additional configuration. The users and manufacturers or-  
ganization CAN in Automation has standardized various profiles. These  
include:  
•
•
DS301 communication profile  
DSP402 device profile  
Application Layer  
Application  
Device Profile for Drives and Motion Control (CiA DSP 402)  
CANopen Communication Profile (CiA DS 301)  
Data Link Layer  
Physical Layer  
CAN-Bus  
Figure 3.3  
CANopen reference model  
DS301 communication profile The DS301 communication profile is the interface between device pro-  
files and CAN bus. It was specified in 1995 under the name DS301 and  
defines uniform standards for common data exchange between different  
device types under CANopen.  
The objects of the communication profile in the device carry out the  
tasks of data exchange and parameter exchange with other network de-  
vices and initialize, control and monitor the device in the network.  
Objects of the communication profile are:  
•
•
•
Process Data Objects = PDO  
Service Data Objects = SDO  
Objects with special functions for synchronization SYNCand for  
error messages and error response EMCY  
•
Network management NMT objects for initialization, error monitor-  
ing and device status monitoring.  
DSP402 device profile The DSP402 device profile describes standardized objects for position-  
ing, monitoring and settings of drives. The tasks of the objects include:  
•
•
•
Device monitoring and status monitoring (Device Control)  
Standardized parameterization  
Changing, monitoring and execution of operating modes  
IMPORTANT: The product does not support the CiA 402 device profile.  
Vendor-specific profiles The basic functions of a device can be used with objects of standardized  
device profiles standardized. Only vendor-specific device profiles offer  
the complete range of functions. The objects with which the special func-  
tions of a device can be used under CANopen are defined in these ven-  
dor-specific device profiles.  
18  
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IL•1F CANopen DS301  
3 Basics  
3.2  
Communication profile  
CANopen manages communication between the network devices with  
object dictionaries and objects. A network device can use process data  
objects (PDO) and service data objects (SDO) to request the object data  
from the object dictionary of another device and, if permissible, write  
back modified values.  
The following can be done by accessing the objects of the network de-  
vices  
•
•
•
Exchange parameter values  
Start motion functions of individual CAN bus devices  
Request status information  
3.2.1 Object dictionary  
Each CANopen device manages an object dictionary which contains all  
objects for communication.  
Index, subindex The objects are addressed in the object dictionary via a 16 bit index.  
One or more 8 bit subindex entries for each object specify individual data  
fields in the object. Index and subindex are shown in hexadecimal nota-  
tion with a subscript " ".  
h
The following example shows the index entries and subindex entries for  
the object receive PDO4 mapping, 1603 for mapping in R_PDO4.  
h
Index Subindex Object  
Meaning  
1603  
00  
Number of elements  
Number of subindexes  
h
h
h
h
1603  
01  
1st mapped object  
R_PDO4  
First object for mapping in  
R_PDO4  
1603  
1603  
02  
03  
2nd mapped object  
R_PDO4  
Second object for mapping  
in R_PDO4  
h
h
h
h
3rd mapped object  
R_PDO4  
Third object for mapping in  
R_PDO4  
Table 3.2 Examples of index and subindex entries  
Fieldbus interface  
19  
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3 Basics  
IL•1F CANopen DS301  
Structure of object dictionary The objects in the object dictionary are sorted by index values. Table 3.3  
shows the index ranges of the object dictionary according to the CAN-  
open specifications.  
Index range Object groups  
(hex)  
Supported  
by the drive  
0000  
Reserved  
No  
No  
No  
No  
No  
No  
No  
Yes  
Yes  
No  
No  
h
0001 -001F  
Static data types  
h
h
h
h
h
h
0020 -003F  
Complex data types  
h
0040 -005F  
Manufacturer-specific data types  
Static data types for the device profiles  
Complex data types for the device profiles  
Reserved  
h
0060 -007F  
h
0080 -009F  
h
00A0 -0FFF  
h
h
h
h
h
1000 -1FFF  
Communication profile  
Manufacturer-specific profiles  
Standardized device profiles  
Reserved  
h
2000 -5FFF  
h
6000 -9FFF  
h
A000 -FFFF  
h
h
Table 3.3 Index ranges of the object dictionary  
Object descriptions inthe manual For CANopen programming of a product, the following object groups are  
described in detail:  
•
•
1xxx objects: Communication objects in this chapter  
h
3xxx objects: Manufacturer-specific objects to the extent they are  
h
required for controlling the product  
All operating modes and functions of the product are controlled by  
means of manufacturer-specific objects. These functions and objects  
are described in the device documentation.  
The manufacturer-specific objects are stored in the index range starting  
at 3000 . To derive the CAN index from the indexes given in the device  
h
documentation, it is sufficient to add 3000 .  
h
Example: The control word for a state transition has the index 28 and the subindex  
1. In the CAN protocol, this results in the index 301C (3000 + 1C [=  
h
h
h
28 ]) and the subindex 1.  
d
20  
Fieldbus interface  
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IL•1F CANopen DS301  
3 Basics  
3.2.2 Communication objects  
Overview The communication objects are standardized with the DS301 CANopen  
communication profile. The objects can be classified into 4 groups ac-  
cording to their tasks.  
Special objects  
PDO  
T_PDO1 R_PDO1  
SYNC  
EMCY  
T_PDO2 R_PDO2  
T_PDO3 R_PDO3  
T_PDO4 R_PDO4  
Communication  
objects  
Network  
management  
SDO  
NMT Services  
NMT Node guarding  
T_SDO  
R_SDO  
NMT Heartbeat  
Figure 3.4  
Communication objects; the following applies to the perspective  
of the network device: T_..: "Transmit", R_..: "Receive"  
•
•
•
PDOs (process data objects) for real-time transmission of process  
data  
SDOs (service data object) for read and write access to the object  
dictionary  
Objects for controlling CAN messages:  
– SYNC object (synchronization object) for synchronization of net-  
work devices  
– EMCY object (emergency object), for signaling errors of a device  
or its peripherals.  
•
Network management services:  
– NMT services for initialization and network control (NMT: net-  
work management)  
– NMT Node Guarding for monitoring the network devices  
– NMT Heartbeat for monitoring the network devices  
Fieldbus interface  
21  
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IL•1F CANopen DS301  
CAN message Data is exchanged via the CAN bus in the form of CAN messages. A  
CAN message transmits the communication object and a variety of ad-  
ministration and control information.  
CAN message  
1
11  
1
6
0..8 Byte  
16  
1
1
1
7
>=3  
End-Bits  
CRC  
Data  
Acknowledge  
Control  
RTR-Bit  
Identifier  
COB-ID  
Start-Bit  
data carrier  
11 Bit  
0..8 Byte  
4 Bit 7 Bit  
0
1
2
3
4
5
6
7
CANopen message (simplified)  
Figure 3.5  
CAN message and simplified representation of CANopen mes-  
sage  
CANopen message For work with CANopen objects and for data exchange, the CAN mes-  
sage can be represented in simplified form because most of the bits are  
used for error correction. These bits are automatically removed from the  
receive message by the data link layer of the OSI model, and added to  
a message before it is transmitted.  
The two bit fields "Identifier" and "Data" form the simplified CANopen  
message. The "Identifier" corresponds to the "COB ID" and the "Data"  
field to the data frame (maximum length 8 bytes) of a CANopen mes-  
sage.  
COB ID The COB ID (Communication OBject Identifier) has 2 tasks as far as  
controlling communication objects is concerned:  
•
•
Bus arbitration: Specification of transmission priorities  
Identification of communication objects  
An 11 bit COB identifier as per the CAN 3.0A specification is defined for  
CAN communication; it comprises 2 parts  
•
•
Function code, 4 bits  
Node address (node ID), 7 bits.  
Bit:10  
0
1
2
3
4
1
2
3
4
5
6
7
COB-ID  
Function code  
0...15  
Node-ID  
0...127  
Figure 3.6  
COB ID with function code and node address  
22  
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COB IDs of the communication The following table shows the COB IDs of all communication objects  
objects  
with the factory settings. The column "Index of object parameters"  
shows the index of special objects with which the settings of the com-  
munication objects can be read or modified via an SDO.  
Communication object Function Node address,  
COB ID decimal (hexadecimal)  
Index of object  
parameters  
code  
node ID [1...127]  
NMT Start/Stop Service 0 0 0 0  
0 0 0 0 0 0 0 0 (0 )  
-
h
SYNC object  
EMCY object  
0 0 0 1  
0 0 0 1  
0 0 1 1  
0 1 0 0  
0 1 0 1  
0 1 1 0  
0 1 1 1  
1 0 0 0  
1 0 0 1  
1 0 1 0  
1 0 1 1  
1 1 0 0  
1 1 1 0  
1 1 1 1  
1 1 1 1  
1 1 1 1  
1 1 1 1  
0 0 0 0 0 0 0 128 (80 )  
1005 ....1007  
h
h
h
x x x x x x x 128 (80 ) + node ID  
1014 , 1015  
h
h
h
1)  
T_PDO1  
x x x x x x x 384 (180 ) + node ID  
1800  
1400  
1801  
1401  
1802  
1402  
1803  
1403  
-
h
h
h
h
h
h
h
h
h
1)  
R_PDO1  
x x x x x x x 512 (200 ) + node ID  
h
1)  
T_PDO2  
x x x x x x x 640 (280 ) + node ID  
h
1)  
R_PDO2  
x x x x x x x 768 (300 ) + node ID  
h
1)  
T_PDO3  
x x x x x x x 896 (380 ) + node ID  
h
1)  
R_PDO3  
x x x x x x x 1024 (400 ) + node ID  
h
T_PDO4  
x x x x x x x 1152 (480 ) + node ID  
h
R_PDO4  
x x x x x x x 1280 (500 ) + node ID  
h
T_SDO  
x x x x x x x 1408 (580 ) + node ID  
h
R_SDO  
x x x x x x x 1536 (600 ) + node ID  
-
h
NMT error control  
x x x x x x x 1792 (700 ) + node ID  
h
1)  
LMT Services  
1 1 0 0 1 0 x 2020 (7E4 ), 2021 (7E5 )  
h
h
1)  
NMT Identify Service  
1 1 0 0 1 1 0 2022 (7E6 )  
h
1)  
DBT Services  
1 1 0 0 x x x 2023 (7E7 ), 2024 (7F8 )  
h
h
1)  
NMT Services  
1 1 0 1 0 0 x 2025 (7E9 ), 2026 (7EA )  
h
h
1) Not supported by the device  
Table 3.4 COB IDs of all communication objects  
COB IDs of PDOs can be changed as required. The  
assignment pattern for COB IDs only specifies a basic  
setting.  
Function code The function code classifies the communication objects. Since the bits  
of the function code in the COB ID are more significant, the function  
code simultaneously controls the transmission priorities: Objects with a  
lower function code are transmitted with higher priority. For example, an  
object with function code "1" is transmitted prior to an object with func-  
tion code "3" in the case of simultaneous bus access.  
Node address Every network device is configured before it is operated on the network.  
The device is assigned a 7 bit node address (node ID) between 1 (01 )  
h
and 127 (7F ). The device address "0" is reserved for "broadcast" trans-  
h
missions which are used to send messages to all devices simultane-  
ously.  
Fieldbus interface  
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IL•1F CANopen DS301  
Example Selection of a COB ID  
For a device with the node address 5, the COB ID of the communication  
object T_PDO1 is:  
384+node ID = 384 (180 ) + 5 = 389 (185 ).  
h
h
Data frame The data frame of the CANopen message can hold up to 8 bytes of data.  
In addition to the data frame for SDOs and PDOs, special frame types  
are specified in the CANopen profile:  
•
•
Error data frame  
Remote data frame for requesting a message  
The data frames contain the respective communication objects.  
3.2.3 Communication relationships  
CANopen uses 3 relationships for communication between network de-  
vices:  
•
•
•
Master-slave relationship  
Client-server relationship  
Producer-consumer relationship  
Master-slave relationship A network master controls the message traffic. A slave only responds  
when it is addressed by the master.  
The master-slave relationship is used with network management ob-  
jects for a controlled network start and to monitor the connection of de-  
vices.  
Slave  
Slave  
Slave  
Master  
Master  
data  
request  
data  
Slave  
Figure 3.7  
Master - slave relationships  
Messages can be interchanged with and without confirmation. If the  
master sends an unconfirmed CAN message, it can be received by a  
single or by several slaves or by no slave.  
To confirm the message, the master requests a message from a specific  
slave, which then responds with the desired data.  
24  
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3 Basics  
Client-server relationship A client-server relationship is established between 2 devices. The  
"server" is the device whose object dictionary is used during data ex-  
change. The "client" addresses and starts the exchange of messages  
and waits for a confirmation from the server.  
A client-server relationship with SDOs is used to send configuration data  
and long messages.  
data  
Client  
Server  
data  
Client-server relationship  
Figure 3.8  
The client addresses and sends a CAN message to a server. The server  
evaluates the message and sends the response data as an acknowl-  
edgement.  
Producer-consumer relationship The producer-consumer relationship is used for exchanging messages  
with process data, because this relationship enables fast data exchange  
without administration data.  
A "Producer" sends data, a "Consumer" receives data.  
Consumer  
Producer  
Producer  
Consumer  
Consumer  
data  
request  
data  
Consumer  
Consumer  
Figure 3.9  
Producer-consumer relationships  
The producer sends a message that can be received by one or more  
network devices. The producer does not receive an acknowledgement  
to the effect that the message was received. The message transmission  
can be triggered  
•
•
•
by an internal event, e.g. "target position reached"  
by the synchronization object SYNC  
a request of a consumer  
For details on the function of the producer-consumer relationship and on  
requesting messages see chapter 3.4 "Process data communication".  
Fieldbus interface  
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IL•1F CANopen DS301  
3.3  
Service data communication  
3.3.1 Overview  
Service Data Object(SDO: Service Data Object) can be used to access  
the entries of an object dictionary via index and subindex. The values of  
the objects can be read and, if permissible, also be changed.  
Every network device has at least one server SDO to be able to respond  
to read and write requests from a different device. A client SDO is only  
required to request SDO messages from the object dictionary of a dif-  
ferent device or to change them there.  
The T_SDO of an SDO client is used to send the request for data ex-  
change; the R_SDO is used to receive. The data frame of an SDO con-  
sist of 8 bytes.  
SDOs have a higher COB ID than PDOs and therefore are sent over the  
CAN bus at a lower priority.  
3.3.2 SDO data exchange  
A service data object (SDO) sends parameter data between two de-  
vices. The data exchange conforms to the client-server relationship. The  
server is the device to whose object dictionary an SDO message refers.  
Client  
R_SDO T_SDO  
(request)  
COB-ID  
data  
CAN  
data  
COB-ID  
(response)  
T_SDO R_SDO  
Server  
Figure 3.10 SDO message exchange with request and response  
Message types Client-server communication is triggered by the client to send parameter  
values to the server or to get them from the server. In both cases, the cli-  
ent starts the communication with a request and receives a response  
from the server.  
26  
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IL•1F CANopen DS301  
3.3.3 SDO message  
3 Basics  
Put simply, an SDO message consists of the COB ID and the SDO data  
frame, in which up to 4 bytes of data can be sent. Longer data se-  
quences are distributed over multiple SDO messages with a special pro-  
tocol.  
The device sends SDOs of up to 4 bytes data length (data). Greater  
amounts of data such as 8 byte values of the data type "Visible String 8"  
can be distributed over multiple SDOs and are transmitted successively  
in 7 byte blocks.  
Example The following illustration shows an example of an SDO message.  
SDO  
0
1
2
3
4
5
6
7
581  
43 00 10 00 92 01 02 00  
Data  
Subindex  
COB-ID  
(581 )  
Index  
h
Command Code  
Figure 3.11 SDO message, example  
COB ID and data frame R_SDO and T_SDO have different COB IDs.  
The data frame of an SDO messages consists of:  
•
•
•
Command code (ccd) in which the SDO message type and the data  
length of the transmitted value are encrypted  
Index and subindex which point to the object whose data is trans-  
ported with the SDO message  
Data of up to 4 bytes  
Evaluation of numeric values Index and data are transmitted left-aligned in Intel format. If the SDO  
contains numerical values of more than 1 byte in length, the data must  
be rearranged byte-by-byte before and after a transmission.  
Index:  
Data:  
0
1
2
3
4
5
6
7
581  
43 00 10 00 92 01 02 00  
Hex:  
Figure 3.12 Rearranging numeric values greater than 1 byte  
00 02 01 92  
10 00  
h
h
Fieldbus interface  
27  
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IL•1F CANopen DS301  
3.3.4 Reading and writing data  
Writing data The client starts a write request by sending index, subindex, data length  
and value.  
The server sends a confirmation indicating whether the data was cor-  
rectly processed. The confirmation contains the same index and  
subindex, but no data.  
Client  
write request  
Server  
0
2
3
4
5
6
7
1
ccd  
Idx  
Idx  
Sidx  
COB-ID  
ccd=  
data  
2
1
data  
23h  
27h  
2Bh  
2Fh  
data  
data  
data  
ccd=  
ccd=  
ccd=  
write response  
0
2
3
4
5
6
7
1
Idx  
Idx  
Sidx  
ccd  
COB-ID  
data  
1
2
ccd= 60h  
Figure 3.13 Writing parameter values  
Unused bytes in the data field are shown with a slash in the graphic. The  
content of these data fields is not defined.  
ccd coding The table below shows the command code for writing parameter values.  
It depends on the message type and the transmitted data length.  
Message type  
Data length used  
4 bytes 3 bytes 2 bytes 1 byte  
Write request  
23  
27  
2B  
2F  
Transmitting param-  
eters  
h
h
h
h
Write response  
Error response  
60  
80  
60  
80  
60  
80  
60  
80  
Confirmation  
Error  
h
h
h
h
h
h
h
h
Table 3.5 Command code for writing parameter values  
28  
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3 Basics  
Reading data The client starts a read request by sending the index and subindex that  
point to the object or the object value whose value it wants to read.  
The server confirms the request by sending the desired data. The SDO  
response contains the same index and subindex. The length of the re-  
sponse data is specified in the command code "ccd".  
Client  
read request  
Server  
0
2
3
4
5
6
7
1
ccd  
Idx  
Idx  
Sidx  
COB-ID  
ccd=  
data  
2
1
40h  
read response  
0
2
3
4
5
6
7
1
Idx  
Idx  
Sidx  
ccd  
COB-ID  
data  
1
2
data  
ccd= 43h  
data  
data  
data  
ccd= 47h  
ccd= 4Bh  
ccd= 4Fh  
Figure 3.14 Reading a parameter value  
Unused bytes in the data field are shown with a slash in the graphic. The  
content of these data fields is not defined.  
ccd coding The table below shows the command code for transmitting a read value.  
It depends on the message type and the transmitted data length.  
Message type Data length used  
4
3
2
1 byte  
bytes bytes bytes  
read request  
40  
40  
47  
80  
40  
40  
h
Request read value  
Return read value  
Error  
h
h
h
h
h
h
h
Read response 43  
Error response 80  
4B  
4F  
h
h
h
80  
80  
h
Table 3.6 Command code for transmitting a read value  
Fieldbus interface  
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IL•1F CANopen DS301  
Error response If a message could not be evaluated without errors, the server sends an  
error message. For details on the evaluation of the error message see  
chapter 7 "Diagnostics and troubleshooting".  
Client  
Server  
error response  
0
2
3
4
5
6
7
1
Idx  
Idx  
Sidx  
ccd  
COB-ID  
ccd:  
data  
1
2
Byte 4-7  
error code  
80  
Figure 3.15 Response with error message (error response)  
30  
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3.4  
Process data communication  
3.4.1 Overview  
This chapter describes the flow of information from the  
perspective of your product in compliance with CiA  
standard DS301. The designation "receive" relates to a  
flow of data from the master to the product, while "transmit"  
represents a flow of data from the product to the master.  
Process data objects (PDO: Process Data Object) are used for real-time  
data exchange of process data such as actual and reference or operat-  
ing state of the device. Transmission is very fast because the data is sent  
without additional administration data and a response from the recipient  
is not required.  
The flexible data length of a PDO message also increases the data  
throughput. A PDO message can transmit up to 8 bytes of data. If only  
2 bytes are assigned, only 2 data bytes are sent.  
The length of a PDO message and the assignment of the data fields are  
specified by PDO mapping. For more information see chapter 3.4.2.1  
"Dynamic and static PDO mapping".  
PDO messages can be exchanged between devices that generate or  
process process data.  
One PDO each is available for sending and receiving a PDO message:  
•
•
T_PDO to transmit the PDO message (T: "Transmit"),  
R_PDO to receive data (R: "Receive").  
Fieldbus interface  
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IL•1F CANopen DS301  
3.4.2 PDO data exchange  
PDO Consumer  
R_PDO  
PDO Consumer  
R_PDO  
COB-ID  
Data  
CAN  
T_PDO  
PDO Producer  
R_PDO  
PDO Consumer  
Figure 3.16 PDO data exchange  
Data exchange with PDOs follows to the producer-consumer relation-  
ship and can be triggered in 3 ways  
•
•
•
Synchronized  
Event-driven, asynchronous  
On request of a consumer, asynchronous  
The SYNC object controls synchronized data processing. Synchronous  
PDO messages are transmitted immediately like the standard PDO  
messages, but are only evaluated on the next SYNC. For example, sev-  
eral drives can be started simultaneously via synchronized data ex-  
change.  
The device immediately evaluates PDO messages that are called on re-  
quest or in an event-driven way.  
The transmission type can be specified separately for each PDO with  
subindex 02 (transmission type) of the PDO communication parameter.  
h
The objects are listed in 8 "Object directory".  
Event-driven The "event" is a change of the PDO data. In this mode, the data is im-  
mediately transmitted after a change. Please note that in the case of, for  
example, a positioning movement, the actual position changes con-  
stantly so that a large number of PDOs is transmitted. There are two  
ways to avoid such a large number of PDOs:  
•
A) You can set an "Inhibit Timer" (object 1803 subindex 3). The  
PDO is not sent until after this inhibit time has passed.  
h
•
B) By using a bit mask, you can limit the check for changes  
(=event). See section "Bit mask for T_PDO4" for a description.  
A further possibility of "creating" an event consists of activating an  
"Event Timer" (object 1803 subindex 5). You activate this counter by en-  
h
tering a value not equal to zero. When this counter is reached, this rep-  
resents an additional event. This means that the PDO is transmitted  
when a value changes or when the counter event occurs.  
Synchronized In the case of this transmission mode, a PDO is transmitted in relation  
to a SYNC object. See 3.5 "Synchronization" for a detailed description.  
32  
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Remotely requested Transmission of an asynchronous PDO is triggered when an external re-  
quest is received. Such a "Remote Request" is represented by a special  
bit in the CAN transmission frame; it has the same COB ID (communi-  
cation object identifier) as the requested communication object.  
An overview of the individual transmission types can be found in the ob-  
ject dictionary, PDO parameters.  
Bit mask for T_PDO4 A bit mask can be defined for the objects CAN.pdo4msk1(30:9) and  
CAN.pdo4msk2(30:10) in T_PDO4. All bit positions containing a "zero"  
are then no longer considered in the checks for changes (=event). This  
allows you, for example, to limit checks to changes of the driveStat in-  
formation.  
NameIdx:Sub MeaningBit assignment  
dec. (hex.)  
Data type UnitDe-  
R/W/  
fault (dez.) rem. Info  
30:9 (1E:09h) The default value 4294967295 corresponds to 0xFFFFFFFF.  
UINT32  
UINT32  
-
R/W/-  
R/W/-  
429496729  
5
30:10  
See object pdo4msk1 for a description.  
-0  
(1E:0Ah)  
Table 3.7 Parameters for the CAN bus  
Example In this example, setting the object CAN.pdo4msk2 to zero keeps modi-  
fications to the current position from triggering an event.  
00h 00h 00h 00h  
pdo4msk2  
FFh FFh FFh FFh  
pdo4msk1  
T_PDO4  
1
2
3
4
5
6
7
8
Byte  
actual Position  
reserved  
modeStat  
driveStat  
Figure 3.17 Setting the object CAN.pdo4msk2to zero  
Fieldbus interface  
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IL•1F CANopen DS301  
Requesting process data One or more network devices with consumer function can request PDO  
messages from a producer. The producer is identified by the COB ID of  
the request and responds with the requested PDO.  
RTR  
COB-Id  
COB-Id  
1
0
Producer  
Consumer  
Daten  
Figure 3.18 Requesting a message with RTR = 1  
The RTR bit (RTR: Remote Transmission Request) of a CAN message  
is used to detect a request. The COB ID remains the same for both mes-  
sages:RTR = 0: transmission of dataRTR = 1: request for data.  
Setting RTR request You can set for each PDO separately whether it responds to RTR re-  
quests. This is switched on or off via subindex 01, bit 30 of each PDO.  
h
Subindex 02 (transmission type) of the objects defines the transmis-  
h
sion type. The PDO only responds to a request via bit RTRif RTR trans-  
mission is enabled for a PDO. The subindex values for the RTRbit are:  
Objects 1403 , 1803 subindex 02 , Meaning  
h
h
h
"transmission type"  
252  
253  
RTR active, synchronous  
RTR active, asynchronous  
Table 3.8 Subindexes for using the bit  
An overview of all values for the subindex 02 can be found in the object  
h
dictionary for the corresponding object.  
The product cannot request PDOs, but it can respond to the request of  
PDOs.  
3.4.2.1 Dynamic and static PDO mapping  
Dynamic PDO mapping The settings for PDO mapping are defined in an assigned communica-  
tion object for each PDO. If the PDO mapping settings for a PDO can be  
changed, this is referred to as dynamic PDO mapping for the PDO. Dy-  
namic PDO mapping enables flexible combination of different process  
data during operation.  
Static PDO mapping Static PDO mapping means that all objects are mapped in accordance  
with a fixed setting in the corresponding PDO.  
Properties of the integrated drive. The integrated drive supports 2 PDOs, the communication objects  
T_PDO4and R_PDO4. These two PDO4 are enabled by default.  
These PDOs are mapped statically, i.e. they cannot be configured but  
only read. The indexes for the permanently entered objects can be read  
from the PDO mapping object range:  
•
•
•
•
Object 1403 : receive PDO4 communication parameter  
h
Object 1603 : receive PDO4 mapping  
h
Object 1803 : transmit PDO4 communication parameter  
h
Object 1A03 : transmit PDO4 mapping  
h
34  
Fieldbus interface  
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3 Basics  
3.4.2.2 Receive PDO R_PDO4 (master -> slave)  
The master device can execute the following actions via the PDO4 chan-  
nel to the slave:  
•
Control the state machine of the slave  
– Enable/disable the power stage of the product  
– Trigger and reset a "Quick Stop"  
– Resetting faults  
•
Toggle the operating modes  
– Profile Position operating mode, absolute and relative  
– Profile Velocity operating mode  
– Reference movement  
– Position setting  
•
Set reference values  
– Reference position  
– Reference speed  
– Type of reference movement  
Structure of R_PDO4:  
1
2
3
4
5
6
7
8
Byte  
Ref32 -> reference 32 bits - e.g. position  
Ref16 -> reference 16 bits - e.g. velocity  
modeCtrl  
driveCtrl  
driveCtrl - 8 Bits  
Bit  
7
0
6
0
5
0
4
3
2
1
0
QR FR QS EN DI  
Disable  
Enable  
Quickstop  
Fault Reset  
Quickstop Release  
modeCtrl - 8 Bits  
Bit  
7
MT  
6
5
4
3
0
2
1
0
ACTION  
MODE  
Requested Mode  
Action within Mode  
Mode Toggle  
Figure 3.19 Structure of R_PDO4  
Fieldbus interface  
35  
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IL•1F CANopen DS301  
State machine – drivectrl  
The state machine is controlled via PDO4 or the SDO object  
drivectrl, 28:1, in both cases via bits Bits 0 ... 4.  
In PDO mode, a change form 0 to 1 triggers the corresponding function.  
In the case of access via SDO, a write access with a set bit value is suf-  
ficient, i.e. a change of edge is not required.  
Controlling the state machine  
Bit 0: Power stage Disable  
Bit 1: Power stage Enable  
Bit 2: Quickstop  
PDO4Bits 0 ... 4  
SDO object drivectrl, 28:1Bits 0 ... 4  
Triggered when 0 changes to 1  
Triggered at write access if bit value = 1  
Bit 3: Fault Reset  
Bit 4: Quickstop Release  
The value "0" is a special case: If during transmission all bits 0 ... 7 are  
"zero", the product interprets this as "Disable" command and disables  
the power stage. This applies to both PDO and SDO access.  
Handling of errors If requests for controlling the state machine cannot be executed by the  
product, the product ignores such request. There is no error response.  
36  
Fieldbus interface  
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Operating modes – modeCtrl  
In PDO mode, the operating modes are controlled via object modeCtrl.  
The master must enter the following values to activate an operating  
mode or to change reference values:  
•
•
•
Reference values in fields "Ref16" and "Ref32"  
Select operating mode with modeCtrl, Bits 0 ... 2 (MODE)  
Select action for this operating mode with modeCtrl, bits 4 ... 6  
(ACTION)  
•
Toggle modeCtrl, bit 7 (MT)  
The following table shows the possible operating modes and the corre-  
sponding reference values:  
Mode bits Action  
modeCtrl Description  
Corre-  
Reference value Ref16 Reference  
value Ref32  
1)  
0... 2  
bits 4 ...  
6
. Bits 0  
sponds to  
2)  
... 6  
01h  
02h  
object  
1 (JOG)  
2 (REF)  
0
0
Jog  
41:3  
40:3  
Start (as object 41:1)  
-
-
Position setting  
Position for posi-  
tion setting  
1
0
12h  
03h  
Reference movement  
Absolute positioning  
40:1  
35:1  
Type (as object 40:1)  
Reference speed  
-
3 (PTP)  
Reference posi-  
tion  
1
13h  
Relative positioning  
35:3  
Reference speed  
Reference posi-  
tion  
2
0
23h  
04h  
Continue positioning  
Profile Velocity  
35:4  
36:1  
Reference speed  
Reference speed  
-
-
4 (VEL)  
1) Column corresponds to the value to be entered in byte modeCtrl, but without ModeToggle (bit 7)  
2) Column shows Index:Subindex (decimal) of the corressponding operating mode objects modes which are described in more  
detail in the device documentation.  
Fieldbus interface  
37  
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IL•1F CANopen DS301  
Reference positions are entered in increments, reference speeds in  
-1  
[min ].  
@ WARNING  
UNINTENDED OPERATION  
•
Note that any changes to the values of these parameters are exe-  
cuted by the drive controller immediately on receipt of the data  
set.  
•
Verify that the system is free and ready for movement before  
changing these parameters.  
Failure to follow these instructions can result in death, serious  
injury or equipment damage.  
If operating mode, reference position and reference speed are transmit-  
ted simultaneously in one PDO, data consistency is required. For this  
reason, the product evaluates the operating mode data only if bit 7 was  
toggled. Toggling means that a "0 -> 1" or a "1 -> 0" change of edge was  
detected.  
Bit 7 is mirrored in the response PDO4 from the product so that synchro-  
nized operation is possible via PDO4.  
Handling of errors Requests for operating mode are triggered by toggling the bit 7 . If these  
requests cannot be executed, the product provides an error response as  
described in section Transmit PDO4 - Handling of errors.  
3.4.2.3 Transmit PDO T_PDO4 (product to master)  
With the default product settings, the transmit PDO is sent asynchro-  
nously and in an "event-driven" way; an "Inhibit Time" can be set.  
The product provides the master with the following information via  
PDO4:  
•
•
•
•
State of state machine  
Errors and warnings  
Active operating mode  
Status of active operating mode  
– Operating mode terminated  
– Error occurred  
– Reference speed or reference position reached  
– Actual position  
•
•
•
Slave referenced  
Acknowledgement of operating mode requests  
Status of the 24 V inputs and outputs  
38  
Fieldbus interface  
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Structure of T_PDO4:  
1
2
3
4
5
6
7
8
Byte  
actual position (pact), 32 bits  
IO_act, 8 bits  
modeStat, 8 bits  
driveStat, 16 bits  
driveStat  
15  
14  
13  
12 --- 8  
7
6
5
4 3 --- 0  
Bit  
Bit  
x err x_end x_info 0 0 0 0 0  
warn Sig_SR FltSig 0 cos  
modeStat  
7
6
5
4
0
3
0
2
1
0
MT ME ref_ok  
mode  
actual operation mode  
drive referenced  
Mode Error  
Mode Toggle  
IO_act  
Bit  
7
0
6
0
5
4
3
2
1
0
STO_B STO_A  
IO3 IO2 IO1 IO0  
STO_A / STO_B  
(PWRR_A / PWRR_B)  
Figure 3.20 Structure of T_PDO4  
Status word driveStat The information in the status word driveStatcorresponds to bits 0  
...15 of object Status.driveStat, 28:2.  
Contents of information:  
•
•
•
State of state machine  
Warning and error bits  
Status of the current operating mode  
Fieldbus interface  
39  
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IL•1F CANopen DS301  
Operating mode modeStat This field corresponds to bits 0 ... 2 of the object Status.xMode_act.  
Bits 6 and 7 provide additional information that can be used for synchro-  
nized operating mode control via the PDOs.  
The field contains the following information:  
Bit  
0...2  
5
Name  
mode  
ref_ok  
Description  
currently set operating mode as in R_PDO4  
Is set if homing of the product by means of a reference movement or position setting was  
successful.  
6
7
ME, ModeError  
Set if a request of the master via R_PDO4 data was rejected by the product.  
MT, ModeToggle Mirrors bit 7 (Mode Toggle) of R_PDO4  
3.4.2.4 Handshake with Mode Toggle Bit  
Mode Toggle Synchronized processing is possible with the transmit data modeCtrl,  
bit 7 (MT) and the receive data modeStat, bits 6 (ME) and 7 (MT). Syn-  
chronized processing means that the master waits for feedback mes-  
sages from the slave so it can respond appropriately.  
Example of positioning The master starts a positioning movement at point in time t . At points in  
0
time t , t ..., the master checks the responses from the slave. It waits  
1
2
for the end of the positioning movement by checking the Input Assembly  
for bit x_end = 1(end of positioning).  
t0  
t1  
t2  
t3  
Master  
Slave  
Mode Toggle  
1
Mode Toggle  
x_end  
2
3
Figure 3.21 Mode Toggle Handshake  
(1)  
(2)  
Master starts positioning with MT = 1 in byte modeCtrl  
Slave signals that positioning is active with MT = 1 in  
modeStatand simultaneously with x_end= 0 in driveStat  
Slave signals end of positioning with x_end= 1 in  
driveStat  
(4)  
40  
Fieldbus interface  
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Example of short positioning The master starts a positioning movement that will only take a very short  
time. The duration is shorter than the polling cycle of the master. At point  
in time t the movement is already complete. Using bit x_end, the mas-  
1
ter does not know whether the movement is already complete or has not  
yet been started. However, it detects this with the MT bit from the slave:  
Master  
MT  
Slave  
MT  
Slave  
x_end  
1
1
0
1
1
0
Slave has not yet detected command  
Slave has detected command, positioning  
running  
1
1
1
Slave signals that positioning is complete  
The master may only evaluate data in which the received MT bit is iden-  
tical to the last bit transmitted by the master.  
t0  
t1  
t2  
Master  
Slave  
Mode Toggle  
1
Mode Toggle  
x_end  
2
3
Figure 3.22 Mode Toggle Handshake, short movement  
(1)  
(2+3)  
Master starts positioning with MT = 1 in byte modeCtrl  
Slave signals that positioning is active with MT = 1 in  
modeStatand simultaneously with x_end= 0 in driveStat  
Slave signals end of positioning with x_end= 1 in  
driveStat  
(4)  
Fieldbus interface  
41  
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Handling of errors If the master toggles bit 7 (MT), this is interpreted by the slave as a re-  
quest to start an operating mode or to change data of the current oper-  
ating mode. If the request cannot be processed, the active operating  
mode is not changed and the slave sets bit 6 in modeStat(ME =  
ModeError).  
The active operating mode is not changed and there is no state transi-  
tion.  
Bit 6 (ME) remains set until the master toggles bit 7 (MT) in modeCtrl  
again, thus triggering a new command.  
The master can read the corresponding error code by a read access to  
parameter ModeError.  
Possible reasons for a failure of the operating mode request:  
•
•
•
•
Reference values outside the value range  
Change of the operating mode during processing (impossible)  
Invalid operating mode requested  
The device is not in state 6 (Operation Enable) of the state  
machine.  
For more information see the product manual.  
42  
Fieldbus interface  
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3.4.2.5 Emergency service  
The Emergency Service signals internal device errors via the CAN bus.  
The error is sent to all network devices with an EMCYobject according to  
the "Consumer-Producer" relationship.  
EMCY-Consumer  
EMCY-Consumer  
CAN  
COB-ID  
data  
EMCY-Consumer  
EMCY-Producer  
Figure 3.23 Error message with the EMCYobject  
EMCY message Causes of an EMCYcomprise:  
•
asynchronous errors, error code = 1000 In the case of an internal  
h
device error, the product switches to fault state in accordance with  
the device's state machine. At the same time, the product transmits  
an EMCYmessage with error register and error code.  
•
•
PDO4 error during operating mode control, error code = 8200 If  
the request for an operating mode via PDO4 fails, the product also  
sends an EMCY message.  
h
CAN communication error, error code = 8100  
h
0
1
2
3
4
5
6
7
81  
12 22 00 00 00 00 00 00  
Manufacturer specific error field  
Error code  
Error register  
Error code  
COB-ID (80 + Node-ID)  
0
1
12 22  
h
22 12  
h
Figure 3.24 EMCYmessage  
•
•
•
Bytes 0, 1 (error code): CANopen error codeThis value is 1000,  
8200 or 8100 , depending on the cause of the error.  
h
h
Byte 2: Error registerThe value is also stored in the object Error reg-  
ister, 1001 .  
h
Byte 3 (Manufacturer-Specific Error Field):Manufacturer-specific  
error, error class  
Bytes 6 and 7 are 0. Bytes 4,5 contain a manufacturer-specific error  
number.See the product manual for a list of the error numbers.  
COB ID The COB ID for every device on the network supporting an EMCYobject  
is determined on the basis of the node address:  
COB ID = Function code of EMCY object, 80 + Node-Id  
h
Fieldbus interface  
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IL•1F CANopen DS301  
3.5  
Synchronization  
The synchronization object SYNC controls the synchronous exchange  
of messages between network devices for purposes such as the simul-  
taneous start of multiple drives.  
The data exchange conforms to the producer-consumer relationship.  
The SYNC object is transmitted to all devices by a network device and  
can be evaluated by all devices that support synchronous PDOs.  
SYNC-Consumer  
SYNC-Consumer  
CAN  
COB-ID  
SYNC-Consumer  
SYNC- Producer  
Figure 3.25 SYNC message  
Time values for synchronization Two time values define the behavior of synchronous data transmission:  
•
The cycle time specifies the time intervals between 2 SYNC mes-  
sages. It is set with the object Communication cycle  
period(1006 ).  
h
•
The synchronous time window specifies the time span during which  
the synchronous PDO messages must be received and trnasmitted.  
The time window is defined with the object Synchronous window  
length (1007 ).  
h
SYNC  
T_PDO (status)  
R_PDO (controller)  
CAN-Bus  
SYNC  
synchronous  
time window  
process  
R_PDO data  
cycle time  
Figure 3.26 Synchronization times  
Synchronous data transmission From the perspective of a SYNC recipient, in one time window the status  
data is transmitted first in a T_PDO, then new control data is received via  
an R_PDO. However, the control data is only processed when the next  
SYNC message is received. The SYNC object itself does not transmit  
data.  
44  
Fieldbus interface  
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Cyclic ad acyclic data transmission Synchronous exchange of messages can be cyclic or acyclic.  
T_PDO1: acyclical  
T_PDO2: cyclical  
SYNC  
Figure 3.27 Cyclic and acyclic transmission  
In the case of cyclic transmission, PDO messages are exchanged con-  
tinuously in a specified cycle, e.g. with every SYNC message.  
If a synchronous PDO message is transmitted acyclically, it can be  
transmitted or received at any time; however, it will not be valid until the  
next SYNC message.  
Cyclic or acyclic behavior of a PDO is specified in the subindex  
transmission type (02 )of the corresponding PDO parameter,  
h
e.g. in the object 1st receive PDO parameter (1400 :02 )for  
h
h
R_PDO1.  
COB ID, SYNC object For fast transmission, the SYNC object is transmitted unconfirmed and  
with high priority.  
The COB ID of the SYNC object is set to the value 128 (80 ) by default.  
h
The value can be changed after initialization of the network with the ob-  
ject COB-ID SYNC Message (1005 ) .  
h
Fieldbus interface  
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IL•1F CANopen DS301  
3.6  
Network management services  
Network management (NMT) is part of the CANopen communication  
profile; it is used to initialize the network and the network devices and to  
start, stop and monitor the network devices in network mode.  
NMT services are executed in a master-slave relationship. The NMT  
master addresses individual NMT slaves via their node address. A mes-  
sage with node address "0" is directed to all NMT slaves simultaneously.  
NMT-  
Slave  
NMT-  
Slave  
NMT-  
Slave  
NMT-  
Master  
COB-ID  
data  
CAN  
NMT-  
Slave  
NMT-  
Slave  
Figure 3.28 NMT services via the master-slave relationship  
The device can only take on the function of an NMT slave.  
NMT services NMT services can be divided into two groups:  
•
Services for device control, to initialize devices for CANopen com-  
munication and to control the behavior of devices in network mode  
•
Services:for connection monitoring  
3.6.1 NMT services for device control  
NMT state machine The NMT state machine describes the initialization and states of an  
NMT slave in mains operation.  
Power on  
Reset  
Application  
Reset  
Communication  
Initialization  
SDO, EMCY  
NMT  
E
Pre-Operational  
B
D
NMT  
C
Stopped  
A
PDO, SDO, SYNC  
EMCY, NMT  
Operational  
Figure 3.29 NMT state machine and available communication objects  
To the right, the graphic shows all communication objects that can be  
used in the specific network state.  
46  
Fieldbus interface  
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Initialization An NMT slave automatically runs through an initialization phase after  
the supply voltage is switched on (power on) to prepare it for CAN bus  
operation. On completion of the initialization, the slave switches to the  
state "Pre-operational" and sends a boot-up message. From now on, an  
NMT master can control the operational behavior of an NMT slave in the  
network via 5 NMT services, represented in the above illustration by the  
letters A to E.  
NMT service  
Transition  
Meaning  
Start remote node  
(Start network node)  
A
Transition to state "Operational"  
Start normal network mode with all network devices  
Stop remote node  
(Stop network node)  
B
C
Transition to state "Stopped"  
Stops communication of the network device in the network. If connection mon-  
itoring is active, it remains on. If the power stage is active (state "Operation  
Enabled" or "QuickStop"), an error of error class 2 is triggered. The drive is  
stopped and switched off.  
Enter Pre-Operational  
(Transition to "Pre-Opera-  
tional")  
Transition to "Pre-Operational"  
All communication objects except for PDOs can be used.  
The state "Pre-Operational" can be used for configuration by SDOs:  
- PDO mapping  
- Start of synchronization  
- Start of connection monitoring  
Reset node  
(Reset node)  
D
E
Transition to state "Reset application"  
Load stored data of the device profiles and automatically transition to "Pre-  
operational" via "Reset communication".  
Reset communication  
(Reset communication  
data)  
Transition to state "Reset communication"  
Load stored data of the communication profile and automatically switch to the  
state "Pre-Operational.". If the power stage is active (state "Operation Ena-  
bled" or "QuickStop"), an error of error class 2 is triggered. The drive is  
stopped and switched off.  
Persistent data memory When the supply voltage is switched on (power on), the device loads the  
saved object data from the non-volatile EEPROM for persistent data to  
the RAM.  
Fieldbus interface  
47  
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NMT message The NMT services for device control are transmitted as unconfirmed  
messages with the COB ID = 0 . By default, they have the highest priority  
on the CAN bus.  
The data frame of the NMT device service consists of 2 bytes.  
NMT-  
Slave  
Byte 0  
1
NMT-  
Master  
0
01 00  
NMT-  
Slave  
Node-ID  
Command specifier  
COB-ID  
NMT-  
Slave  
Figure 3.30 NMT message  
The first byte, the "Command specifier", indicates the NMT service  
used.  
Command Specifier  
1 (01 )  
NMT service  
Transition  
Start remote node  
Stop remote node  
Enter Pre-Operational  
Reset node  
A
B
C
D
E
h
2 (02 )  
h
128 (80 )  
h
129 (81 )  
h
130 (82 )  
Reset communication  
h
The second byte addresses the recipient of an NMT message with a  
node address between 1 and 127 (7F ). A message with the node ad-  
h
dress "0" is directed to all NMT slaves.  
3.6.2 NMT services for connection monitoring  
Connection monitoring monitors the communication status of network  
devices, so a response to the failure of a device or an interruption in the  
network is possible.  
Three NMT services for connection monitoring are available:  
•
•
"Node guarding" for monitoring the connection of an NMT slave  
"Life guarding" for monitoring the connection of an NMT master  
3.6.2.1 Node/Life guarding  
COB ID Communication object NMT error control (700 +node-Id)is  
h
used for connection monitoring. The COB ID for every NMT slave is de-  
termined on the basis of the node address:  
COB ID = function code NMTerror control (700 ) + node-Id..  
h
48  
Fieldbus interface  
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Structure of the NMT message After a request from the NMT master, the NMT slave responds with one  
data byte.  
Node-ID=04h  
Slave  
COB-ID  
704h  
Master  
704h  
05h  
85h  
05h  
guard  
time  
704h  
704h  
704h  
704h  
...  
Bit 7 6  
0
Bit 7 6  
0
05h  
=
85h  
=
0 0 0 0 0 1 0 1  
1 0 0 0 0 1 0 1  
Figure 3.31 Acknowledgement of the NMT slave  
Bits 0 to 6 identify the NMT state of the slave:  
•
•
•
4 (04 ): "Stopped"  
h
5 (05 ): "Operational"  
h
127 (7F ): "Pre-Operational"  
h
After each "guard time" interval, bit 7 switches toggles between "0" and  
"1", so the NMT master can detect and ignore a second response within  
the "guard time" interval. The first request when connection monitoring  
is started begins with bit 7 = 0.  
Connection monitoring must not be active during the initialization phase  
of a device. The status of bit 7 is reset as soon as the device runs though  
the NMT state "Reset communication".  
Connection monitoring remains active in the NMT state "Stopped".  
Configuration Node/Life Guarding is configured via:  
Guard time (100C )  
•
h
•
Life time factor (100D )  
h
Fieldbus interface  
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Connection error The NMT master signals a connection error to the master program if:  
•
•
the slave does not respond within the "guard time" period  
the NMT state of the slave has changed without a request by the  
NMT master.  
Figure 3.32 shows an error message after the end of the third cycle be-  
cause of a missing response from an NMT slave.  
request  
Slave  
Master  
response  
guard  
time  
life  
time  
request  
request  
response  
no  
response  
message  
Figure 3.32 "Node Guarding" and "Life Guarding" with time intervals  
Boot-up message The communication profile DS 301, version 4.0, defines an additional  
task for the NMT services: sending a boot-up message.  
A network device informs all other network devices that it is ready for op-  
eration using a boot-up message.  
A boot-up message consists of the COB ID of the NMT object NMT Er-  
ror Controland is transmitted without data. The default setting of the  
COB ID is 1792 (700h) + node-Id  
50  
Fieldbus interface  
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IL•1F CANopen DS301  
4 Installation  
4
Installation  
@ WARNING  
LOSS OF CONTROL  
•
The designer of any control scheme must consider the potential  
failure modes of control paths and, for certain critical functions,  
provide a means to achieve a safe state during and after a path  
failure. Examples of critical control functions are EMERGENCY  
STOP, overtravel stop, power outage and restart.  
•
•
Separate or redundant control paths must be provided for critical  
functions.  
System control paths may include communication links. Consid-  
eration must be given to the implication of unanticipated transmis-  
sion delays or failures of the link.  
•
•
Observe the accident prevention regulations and local safety  
guidelines.  
1)  
Each implementation of the product must be individually and thor-  
oughly tested for proper operation before being placed into serv-  
ice.  
Failure to follow these instructions can result in death or serious  
injury.  
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety  
Guidelines for the Application, Installation, and Maintenance of Solid State Control  
and to NEMA ICS 7.1 (latest edition), Safety Standards for Construction and  
Guide for Selection, Installation for Construction and Operation of Adjustable-  
Speed Drive Systems.  
@ WARNING  
SIGNAL AND DEVICE INTERFERENCE  
Signal interference can cause unexpected responses of device.  
•
•
Install the wiring in accordance with the EMC requirements.  
Verify compliance with the EMC requirements.  
Failure to follow these instructions can result in death, serious  
injury or equipment damage.  
For information on installation of the device and connecting the device to  
the fieldbus see the product manual.  
Slave withDIP switches Before installing the slave in the system, you must set the network ad-  
dress and the baud rate via the DIP switches in the connector housing.  
See the chapter "Installation" in the product manual for information on  
the DIP switch settings.  
Fieldbus interface  
51  
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4 Installation  
IL•1F CANopen DS301  
52  
Fieldbus interface  
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IL•1F CANopen DS301  
5 Commissioning  
5
Commissioning  
@ DANGER  
UNINTENDED CONSEQUENCES OF EQUIPMENT OPERATION  
When the system is started, the drives are usually out of the opera-  
tor's view and cannot be visually monitored.  
•
Only start the system if there are no persons in the hazardous  
area.  
Failure to follow these instructions will result in death or serious  
injury.  
@ WARNING  
UNINTENDED OPERATION  
•
•
Do not write values to reserved parameters.  
Do not write values to parameters unless you fully understand the  
function. For more information see the product manual.  
•
•
Run initial tests without coupled loads.  
Verify that the system is free and ready for the movement before  
changing parameters.  
•
Verify the use of the bits with fieldbus communication: bit 0 is far  
right (least significant). Bit 15 is far left (most significant).  
•
•
Verify the use of the word sequence with fieldbus communication.  
Do not establish a fieldbus connection unless you have fully  
understood all communications principles.  
Failure to follow these instructions can result in death, serious  
injury or equipment damage.  
5.1  
Commissioning the device  
For installation in the network, the device must first be properly installed  
(mechanically and electrically) and commissioned.  
Commission the device as per product manual. This prepares the device  
for operation in the network.  
Fieldbus interface  
53  
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5 Commissioning  
IL•1F CANopen DS301  
5.2  
Address and baud rate  
Up to 32 devices can be addressed in one CAN bus network branch and  
up to 127 devices in the extended network. Each device is identified by  
a unique address. The default node address for a device is 127.  
The default baud rate is 125 kbaud.  
Each device must be assigned its own node address, i.e.  
any given node address may be assigned only once in the  
network.  
Setting address and baud rate The address is set directly at the device via parameter canAddrand the  
baud rate via parameter canBaud.  
The baud rate must be the same for all devices in the fieldbus.  
5.3  
Commissioning the fieldbus network  
5.3.1 Starting fieldbus mode  
Configuration with SyCon Note on using the Hilscher configuration software SyCon:  
Do not change the setting Geräteprofil(value = 0) in the  
Knotenkonfigurationdialog box!  
If this value is changed, communication with the drive will no longer  
work. However, the setting cannot be reset to the initial value.  
To restore communication with the product:  
̈ Click the Knoten BootUp button in the Knotenkonfiguration  
dialog box.  
̈ Click Prüfe Knoten Type and Profilein the Knoten Auf-  
schaltreihenfolgedialog to skip this step.  
Testing fieldbus operation After correct configuration of the transmission data, test fieldbus opera-  
tion.  
This requires installation of a CAN configuration tool that displays CAN  
messages. The acknowledgement from the product is indicated by a  
boot-up message:  
̈ Switch the power supply of the product off and on again.  
̈ Observe the network messages shortly after switching on the  
device. The positioning controller sends a 1 byte boot-up message  
after initialization of the bus: 128 (80 )+node-Id.  
h
With the node address factory-set to 127 (7F ), boot-up message 255  
h
(FF ) is transmitted via the bus. The drive can then be put into operation  
h
via NMT services.  
54  
Fieldbus interface  
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IL•1F CANopen DS301  
5.3.2 Troubleshooting  
5 Commissioning  
Check the following settings if the slave does not respond:  
̈ Did you start the slave and switch on the master?  
̈ Are all cable connections ok (electrically and mechanically)?  
̈ Did you set the correct address at the slave? Check the DIP switch  
and HEX switch settings. The settings are described in the product  
manual. Products without DIP switches have the following default  
settings: CAN address 127 (7F ) and baud rate 125 [kBit/s]. You  
h
can change these settings via CAN itself or by means of the PC  
commissioning tool via the RS 485 interface.  
̈ Did you set the same baud rate and the same interface parameters  
for the master and the slave?  
If the slave still does not respond:  
̈ Open the cover of the connector housing.  
̈ When a slave works properly with the power stage disabled, the  
LED in the connector housing flashes constantly at 0.5 Hz (1 sec-  
ond on, 1 second off). If this is not the case, the product is inopera-  
tive. See the product manual for information on errors and  
troubleshooting.  
̈ Compare the behavior of LED with the information in the table  
below.  
Error  
Error class  
Cause of error  
Troubleshooting  
LED off  
–
No supply voltage.  
Check supply voltage and fuses.  
LED flashes at 0.5 Hz(1 s .–  
on, 1 s off)  
Firmware works without errors,  
power stage disabled.  
Check cable connections. Check  
DIP switch settings.  
LED flashes at 6 Hz.  
4
4
Incorrect flash checksum.  
Hardware error  
Reinstall firmware. Replace slave.  
LED flashes at 10 Hz.  
Watchdog  
Switch slave off and on again.  
Replace slave.  
See the product manual for additional information on the cause of errors  
and on troubleshooting.  
Fieldbus interface  
55  
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5 Commissioning  
IL•1F CANopen DS301  
5.4  
SyCon CANopen configuration software  
The CANopen network can be configured with the "SyCon" configura-  
tion software. An additional EDS file is included in the SYCON subdirec-  
tory on the product CD.  
̈ Procedure:  
5.4.1 Creating a new network  
Create a new network via the menu item "File - New".  
̈ Select CANopen as the fieldbus network.  
̈ Confirm your selection with "OK".  
5.4.2 Selecting the CANopen master  
Use the menu item "Insert - Master" to select the network master. The  
screenshot shows the example of a TSX CCP 110 board of a Premium  
PLC.  
The node ID and a brief description can be entered in the appropriate  
fields.  
̈ Confirm your selection with "OK".  
56  
Fieldbus interface  
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IL•1F CANopen DS301  
5 Commissioning  
5.4.3 Setting the bus parameters  
The menu item "Settings - Bus Parameter..." allows you to set the CAN-  
open communication parameters. Please also consult the operating in-  
structions of the SyCon configuration software.  
̈ Confirm your selection with "OK".  
Fieldbus interface  
57  
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5 Commissioning  
IL•1F CANopen DS301  
5.4.4 Selecting and inserting nodes  
Use the menu item "Insert - Node" to select the network nodes. The ex-  
ample shows a Lexium 05.  
̈ Confirm your selection with "OK".  
58  
Fieldbus interface  
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IL•1F CANopen DS301  
6 Operation  
6
Operation  
@ WARNING  
UNINTENDED OPERATION  
•
•
Do not write values to reserved parameters.  
Do not write values to parameters unless you fully understand the  
function. For more information see the product manual.  
•
•
Run initial tests without coupled loads.  
Verify that the system is free and ready for the movement before  
changing parameters.  
•
Verify the use of the bits with fieldbus communication: bit 0 is far  
right (least significant). Bit 15 is far left (most significant).  
•
•
Verify the use of the word sequence with fieldbus communication.  
Do not establish a fieldbus connection unless you have fully  
understood all communications principles.  
Failure to follow these instructions can result in death, serious  
injury or equipment damage.  
6.1  
Overview  
The programming examples show hands-on applications for network  
operation. There are 2 access methods via the CANopen fieldbus: SDO  
"Service Data Objects" and PDO "Process Data Objects".  
Using SDOs An SDO access is a write or a read access to an individual object. The  
available objects are described in the product manual and also summa-  
rized in a table in the chapter "Parameters". This chapter describes the  
use of SDOs on the basis of just a small number of objects since this  
type of communication can be used with all available objects and the  
structure is very similar in all cases.  
Using PDOs PDOs are recommended for positioning mode because the information  
is transmitted much more efficiently. The chapter provides various  
hands-on examples of the application of PDO4 supported by the product  
and describes the general procedure.  
•
•
The PDO from the master to the product is referred to as "R_PDO".  
The PDO from the product to the master is referred to as "T_PDO".  
Fieldbus interface  
59  
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6 Operation  
IL•1F CANopen DS301  
Structure of the examples The PDOs are described from the perspective of the slave:  
The examples describe:  
•
•
•
•
•
Task  
Initial conditions  
Required commands in the transmit data frame  
Response of the product in the receive data frame  
Possible restrictions for command execution.  
You should be familiar with the following to be able to understand the ex-  
amples:  
•
Operating concept and functionality of the product. For more infor-  
mation see the product manual.  
•
•
Fieldbus protocol and connection to the master controller  
Functionality of the fieldbus profile.  
Product manual The examples are intended to supplement the function descriptions in  
the product manuals. The basic function principles of the operating  
modes and functions are described in the product manual.  
All parameters for the operating modes and functions are also listed in  
the product manual.  
See table 9.2, page 9-1 in the device manual for a description of the  
number format of the parameter values in a fieldbus command.  
60  
Fieldbus interface  
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IL•1F CANopen DS301  
6 Operation  
6.2  
Using SDO commands  
6.2.1 Writing parameters  
Task The parameter Motion.acc, 29:26 (acceleration) is to be set to a value  
of 10,000.  
Index and subindex must be converted to hexadecimal notation and the  
constant 3000 added to the index for the SDO access:  
h
•
•
•
Index:29 = 1D + 3000 = 301D  
h
h
h
Subindex: 26 = 1A  
h
Value:10000 = 00002710  
h
The value 23 is to be entered as a CCD (Client Command Specifier)  
h
since the parameter has a 32 bit data type.  
Transmit data  
COB ID CCD Idx  
Object  
Sdx  
1A  
Data  
10 27 00 00  
Description  
Tx 301D :1A Motion.acc 600 +ID 23  
1D 30  
Sets the acceleration to  
h
h
h
h
h
h
h
h
h
-1  
10000 min *s = 2710 as a 32 bit  
h
value  
Refer to the column "Data type" in the parameter description for the data  
type of the value to be written. The CAN protocol used transmits 16 bit  
values and 32 bit values in the format "lowest value byte first – highest  
value byte last". When an INT16 or a UINT16 value is transmitted, the  
CCD corresponding to the data type must be included. The value must  
be stored in the first two data bytes, the last two data bytes must be "0".  
Receive data  
Object  
COB ID CCD Idx  
1D 30  
Sdx  
1A  
Data  
Description  
Rx 301D :1A Motion.acc 580 +ID 60  
XX XX XX XX  
The response data does not have  
a meaning.  
h
h
h
h
h
h
h
Fieldbus interface  
61  
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6 Operation  
IL•1F CANopen DS301  
6.2.2 Reading a parameter  
Task The parameter Status.n_act, 31:9(actual speed) is to be read.  
Index and subindex must be converted to hexadecimal notation and the  
constant 3000 added to the index for the SDO access:  
h
•
•
Index:31 = 1F + 3000 = 301F  
h
h
h
Subindex 9 = 09  
h
The value "40 " must be entered as the CCD. This value identifies a  
h
"Read Request".  
Transmit data  
COB ID CCD Idx  
Object  
Sdx  
09  
Data  
Description  
Tx 301F :09 Sta-  
tus.n_actT  
600 +ID 40  
1F 30  
XX XX XX XX  
Reads the actual speed. The data  
has no significance.  
h
h
h
h
h
h
h
The 4 data bytes have no significance for a read request.  
Receive data  
Object  
COB ID CCD Idx  
1F 30  
Sdx  
09  
Data  
Description  
Rx 301D :09 Status.n_act 580 +ID 43  
E8 03 00 00  
The data 000003E8 corresponds  
h
h
h
h
h
h
h
-1  
to 1000 min .  
The product transmits the data as 32 bit values back to the master (CCD  
is "43 "). It also sends back data as a 32 bit value which are described  
h
as INT16 or UINT16 data types in the product manual. When an INT16  
or a UINT16 value is read, it is therefore possible to evaluate all 4 data  
bytes. However, for 16 bit data it is also correct to evaluate only the first  
two data bytes and to ignore the last two data bytes.  
6.2.3 Synchronous errors  
Receive data with error frame "Error If an SDO write or read command fails, the product responds with an er-  
Response"  
ror frame "Error Response". This may happen if, for example, you try to  
read or write a non-existent object. The transmitted error number pro-  
vides information on the exact cause.  
Object  
COB ID CCD Index  
580 +ID 80 28 30  
Sub  
20  
Data  
Description  
Rx 3028 :20  
00 00 02 06  
Error value 06020000h means  
"object does not exist in object dic-  
tionary"  
h
h
h
h
h
h
h
The example shows the response to a write or read request for a non-  
existent object 40:32.  
The error number of a synchronous error message is stored as a  
UINT16 value and the corresponding CCD (Error Response) is as-  
signed the value 80 . Refer to 7.3.2 "Error code table" for a table with the  
h
error numbers.  
62  
Fieldbus interface  
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IL•1F CANopen DS301  
6 Operation  
6.3  
Changing operating states with PDO4  
The product operates in different operating states. The individual oper-  
ating states are numbered from 1 to 9 . The operating states and the  
transition conditions are described in more detail in the product manual,  
chapters "Basics" and "Operation".  
Operating Name  
state  
Power  
stage  
Description  
4
6
7
9
Ready To Switch On off  
Passive operating state,  
motor without current  
Operation Enable  
Quick Stop active  
Fault  
on  
on  
off  
Active operating state, current  
available to motor  
Fault state, power stage  
remains enabled  
Fault state, power stage is  
disabled  
Table 6.1 Important operating states  
Requests for switching operating states are transmitted to the product in  
R_PDO4in the field drivectrl. The product signals the current oper-  
ating state back to the master in T_PDO4, field driveStat.  
Table 6.2 shows the bit assignment of the field drivectrlin the object  
R_PDO4:  
Bit no.  
Value  
Meaning  
0
1
2
3
4
01  
02  
04  
08  
10  
Disable  
h
h
h
h
h
Enable  
Quick Stop  
Fault Reset  
Quick Stop release  
Table 6.2 R_PDO4, drivectrl, bit assignment  
Fieldbus interface  
63  
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6 Operation  
IL•1F CANopen DS301  
6.3.1 Switching the power stage on and off  
The power stage is enabled by the transition from operating state 4 to 6  
. For this purpose, the two bits Enableand Disableare available in the  
R_PDO4. One of them must be "1", the other "0".  
Enabling the power stage Prerequisite: the product in in operating state 4.  
To enable the power stage, a "0 -> 1" edge must be generated in  
drivectrl, bit 1 (Enable). This can be done by deleting bit 0 (Disable)  
and setting bit 1 . The master then waits until the product signals oper-  
ating state 6 . This may take a while (approx. 1 second) since various  
tests are run when the power stage is enabled.  
Example  
Master <---> Slave  
Disable is requested  
--->  
<---  
drivectrl01  
h
Slave signals operating  
state 4  
driveStat XXX4  
h
Request Enable  
--->  
<---  
drivectrl02  
h
Slave signals operating  
state 5  
driveStat XXX5  
h
h
Slave signals operating  
state 6  
<---  
driveStat XXX6  
Disabling the power stage Prerequisite: Product is in operating state 6 or 7.  
To disable the power stage, a "0 -> 1" edge must be generated in drivec-  
trl, bit 0 (Disable). This can be done by setting Bit 0(Disable) and de-  
leting bit 1 (Enable). The product switches to operating state 4.  
Example  
Master <---> Slave  
Enable is requested  
--->  
<---  
drivectrl 02  
h
Slave signals operating  
state 6  
driveStat XXX6  
h
h
Request disable  
--->  
<---  
drivectrl 01  
h
Slave signals operating  
state 4  
driveStat XXX4  
6.3.2 Triggering a "Quick Stop"  
A running motion command can be interrupted via the fieldbus at any  
time with the Quick Stop command. The stop is triggered by a "0 -> 1"  
edge in drivectrl, bit 2. After the state transition to operating state 7  
(Quick Stop), the product decelerates with the set EMERGENCY STOP  
ramp and comes to a standstill.  
In order to start a new motion command, you must first set the product  
to operating state 6 . To achieve this, do one of the following:  
•
•
Fault Reset"0 -> 1" edge in drivectrl, bit 3  
Quick Stop release"0 -> 1" edge in drivectrl, bit 4  
64  
Fieldbus interface  
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IL•1F CANopen DS301  
6 Operation  
Example  
Master <---> Slave  
"Enable" is requested  
--->  
<---  
drivectrl 02  
h
Slave signals operating  
state 6  
driveStat XXX6  
h
request "Quick Stop" and --->  
"Enable"  
drivectrl 06  
h
Slave signals operating  
state 7  
<---  
driveStat XXX7  
h
Wait until the product has --->  
come to a standstill and the  
system is to resume opera-  
tion  
Request "Quick Stop  
Release" and "Enable"  
<---  
--->  
<---  
drivectrl 12  
h
Slave signals operating  
state 6  
driveStat XXX6  
h
Cancel "Quick Stop  
Release"  
drivectrl 02  
h
Fieldbus interface  
65  
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6 Operation  
IL•1F CANopen DS301  
6.3.3 Resetting faults  
If an error occurs during operation, the product switches to operating  
state 7 "Quick Stop" or operating state 9 "Fault", depending on the type  
of error.  
After having remedied the cause of the fault, you can reset the error  
state with a Fault Reset ("0 -> 1" edge in drivectrl, bit 3).  
If the product was originally in operating state 7, it will switch to operating  
state 6 after the "Fault Reset".  
If the product was originally in operating state 9, it will switch to operating  
state 4 after the "Fault Reset". You then have to transmit a "0 -> 1" edge  
in drivectrl, bit 1 "Enable", in order to enable the power stage.  
Example  
Master <---> Slave  
Request Enable  
--->  
<---  
drivectrl 02  
h
Slave signals operating  
state 9 (Fault)  
driveStat XXX9  
h
Remedy cause of error  
Request "Fault Reset"  
--->  
<---  
drivectrl 08  
h
Slave signals operating  
state 4  
driveStat XXX4  
h
h
Request "Enable"  
--->  
<---  
drivectrl 02  
h
Slave signals operating  
state 5  
driveStat XXX5  
Slave signals operating  
state 6  
<---  
driveStatXXXX6  
h
Table 6.3 Disabling the power stage  
Note: In this example, the master deletes the Bit 1"Enable" during the  
"Fault Reset" in order to implicitly effect a "0 -> 1" edge in Bit 1. This  
switches the product back to operating state 6.  
66  
Fieldbus interface  
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IL•1F CANopen DS301  
6 Operation  
6.4  
Examples for the operating modes with PDO4  
R_PDO4 With the R_PDO4you can start motion commands and change them  
while they are being processed.  
R_PDO4provides three fields for these purposes:  
• modeCtrlStarting and changing operating modes  
•
"Ref16" and "Ref32" Operating mode-dependent reference values  
The specified values for these three fields are not taken over by the prod-  
uct until modeCtrl, bit 7 (ModeToggle) changes.  
Proceed as follows to assign values to the product:  
̈ Enter the desired operating mode and the corresponding values in  
the fields modeCtrl, "Ref16" or "Ref32".  
̈ Change modeCtrl, bit 7 (ModeToggle)  
This avoids consistency problems within the R_PDO4.  
T_PDO4 T_PDO4allows you to monitor motion commands.  
T_PDO4 provides three fields for this purpose:  
• modeStatFor Handshake purposes  
• driveStatSignals motion status and errors  
• p_actActual position of the product  
ModeToggle The bit ModeToggleis available in the R_PDO4and in the T_PDO4. The  
master provides this bit in the and the product mirrors is in the . This pro-  
cedure allows the master to detect whether the data transmitted by the  
slave is current.  
Example The master starts a positioning movement that will only take a very short  
time. The master waits for the end of the positioning movement by  
checking T_PDO4for bit x_end = 1(positioning end).  
The master may receive data from the slave that still originate from a  
point in time before the positioning movement was started. This data  
also contains x_end = 1. The master detects that the data is obsolete  
because the included bit ModeToggledoes not match that of its motion  
command.  
The master may only evaluate data in which the received ModeToggle  
bit is identical to the last bit transmitted by the master.  
Acceleration Prior to positioning, you can first set the desired acceleration with an  
SDO access (object Motion.acc, 29:26). Note that the acceleration  
can only be changed when the product is at a standstill.  
Assumptions The examples in this chapter are based on the following assumptions:  
•
•
Operating state 6 "Operation Enable"  
Homing has not yet been performed (bit ref_ok = 0)  
• p_act = 0(actual position)  
• R_PDO4: modeCtrl, Bit 7 = 0(ModeToggle)  
Fieldbus interface  
67  
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6 Operation  
IL•1F CANopen DS301  
6.4.1 Operating mode Profile Position: absolute positioning  
To start an absolute positioning movement, the following settings must  
be made in the R_PDO4:  
̈ Enter the reference speed in "Ref16" and the target position in  
"Ref32".  
̈ Enter operating mode 03 (Profile Position operating mode, abso-  
h
lute positioning) in the field modeCtrl.  
̈ Change modeCtrl, bit 7, so the data is taken over by the product.  
Example Absolute positioniing to position 100,000 (000186A0 )  
h
-1  
at a reference speed of 1000 min (03E8 )  
h
Master <---> Slave  
Triggering positioning  
R_PDO4 --->  
drivectrl  
02  
modeCtrl Ref16  
83 03E8  
Ref32  
000186A0  
h
h
h
h
Positioning runningx_err = 0,  
x_end = 0  
T_PDO4 <---  
T_PDO4 <---  
driveStat  
0006  
modeStat  
83  
p_act  
XXXXXXXX  
h
h
h
Positioning completex_err = 0,  
x_end = 1, x_info = 1  
driveStat  
6006  
modeStat  
83  
p_act  
000186A0  
h
h
h
Table 6.4 Operating mode Profile Position, absolute positioning at constant ref-  
erence speed  
Note: The data frame "positioning running" can be sent several times;  
the current actual position is contained in the field p_act.  
-
Example As the above example, but the reference speed is changed to 2000 min  
1
(07D0 ) during the movement.  
h
Master <---> Slave  
Triggering positioning  
R_PDO4 --->  
drivectrl  
02  
modeCtrl Ref16  
83 03E8  
Ref32  
000186A0  
h
h
h
h
Positioning runningx_err = 0,  
x_end = 0  
T_PDO4 <---  
R_PDO4 --->  
T_PDO4 <---  
T_PDO4 <---  
driveStat  
0006  
modeStat  
83  
p_act  
XXXXXXXX  
h
h
h
h
Change reference speed  
drivectrl  
02  
modeCtrl Ref16  
03 07D0  
Ref32  
000186A0  
p_act  
h
h
h
h
Positioning runningx_err = 0,  
x_end = 0  
driveStat  
0006  
modeStat  
03  
XXXXXXXX  
h
h
Positioning complete x_err=0,  
x_end = 1, x_info = 1  
driveStat  
6006  
modeStat  
03  
p_act  
000186A0  
h
h
h
Table 6.5 Operating mode Profile Position, absolute positioning with change of  
reference speed  
Note: The data frame "positioning running" can be sent several times.  
The current actual position is contained in the field p_act. When the ref-  
erence speed is changed, the same target position is sent because it  
does not change in this example.  
68  
Fieldbus interface  
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IL•1F CANopen DS301  
6 Operation  
6.4.2 Operating mode Profile Position: relative positioning  
Relative positioning is similar to absolute positioning. You only need to  
enter the value 13 (operating mode Profile Positioning, relative posi-  
h
tioning) in field modeCtrl. Also note that several target positions trans-  
mitted in succession are added up.  
Example: Relative positioning by 100,000 (000186A0 ) increments at a speed of  
h
-1  
1000 min (03E8 )  
h
-1  
During the movement, the speed is to be changed to 2000 min  
(07D0 ).  
h
Master <---> Slave  
Triggering positioning  
R_PDO4 --->  
drivectrl  
02  
modeCtrl Ref16  
93 03E8  
Ref32  
000186A0  
h
h
h
h
Positioning runningx_err = 0,  
x_end = 0  
T_PDO4 <---  
driveStat  
0006  
modeStat  
83  
p_act  
XXXXXXXX  
Ref32  
h
h
h
h
Change reference speed Trans- R_PDO4 --->  
mit relative postion "0"  
drivectrl  
02  
modeCtrl Ref16  
13 07D0  
00000000  
h
h
h
h
Positioning runningx_err = 0,  
x_end = 0  
T_PDO4 <---  
driveStat  
0006  
modeStat  
03  
p_act  
XXXXXXXX  
p_act  
h
h
Positioning completex_err = 0,  
x_end = 1, x_info = 1  
T_PDO4 <---  
driveStat  
6006  
modeStat  
03  
000186A0  
h
h
h
Table 6.6 Profile Position operating mode, relative positioning with change of  
reference speed  
Note: The data frame "positioning" running can be sent several times;  
the current actual position is contained in the field p_act. When the ref-  
erence speed is changed, the value "0" must be sent as the new target  
position because the new value is added to the previously calculated tar-  
get position.  
6.4.3 Operating mode Profile Velocity  
In Profile Velocity operating mode, a reference speed for the motor is set  
and a movement without a target position is started.  
To start the Profile Velocity operating mode or to change the reference  
speed in Profile Velocity operating mode, you must make the following  
settings in R_PDO4:  
̈ Enter the reference speed in Ref16t. (Ref32has no significance  
here)  
̈ Enter the operating mode 04 (operating mode Profile Velocity) in  
h
modeCtrl.  
̈ Toggle modeCtrl, bit 7, so the data is taken over by the slave.  
Fieldbus interface  
69  
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6 Operation  
IL•1F CANopen DS301  
Example The Profile Velocity operating mode is started with a reference speed of  
-1  
1000 min (03E8 ).  
h
-1  
The reference speed is changed to 2000 min (07D0 ) during the  
h
movement.  
Master <---> Slave  
Start Profile Velocity operating  
mode with 1000 min  
R_PDO4 --->  
T_PDO4 <---  
T_PDO4 <---  
R_PDO4 --->  
T_PDO4 <---  
T_PDO4 <---  
R_PDO4 --->  
T_PDO4 <---  
T_PDO4 <---  
drivectrl  
02  
modeCtrl Ref16  
84 03E8  
Ref32  
XXXXXXXX  
-1  
h
h
h
h
h
h
h
h
h
h
h
h
Product accelerates xerr=0,  
xend=0, xinfo=0  
driveStat  
0006  
modeStat  
84  
p_act  
XXXXXXXX  
h
h
Reference speed reached  
xerr=0, xend=0, xinfo=1  
driveStat  
2006  
modeStat  
84  
p_act  
XXXXXXXX  
h
h
-1  
Change speed to 2000 min  
drivectrl  
02  
modeCtrl Ref16  
04 07D0  
Ref32  
XXXXXXXX  
h
h
h
Product accelerates xerr=0,  
xend=0, xinfo=0  
driveStat  
0006  
modeStat  
04  
p_act  
XXXXXXXX  
h
h
Reference speed reached  
xerr=0, xend=0, xinfo=1  
driveStat  
2006  
modeStat  
04  
p_act  
XXXXXXXX  
h
h
-1  
Change speed to 0 min  
drivectrl  
02  
modeCtrl Ref16  
84 0000  
Ref32  
XXXXXXXX  
h
h
h
Product decelerates xerr=0,  
xend=0, xinfo=0  
driveStat  
0006  
modeStat  
84  
p_act  
XXXXXXXX  
h
h
Profile Vel. mode terminated  
xerr=0, xend=1, xinfo=1  
driveStat  
6006  
modeStat  
84  
p_act  
XXXXXXXX  
h
h
The Profile Velocity operating mode is terminated when the reference  
speed "0" is transmitted; standstill is waited for.  
Note: The field p_actof the T_PDO4contains the current position of the  
drive in increments.  
6.4.4 Position setting  
During position setting, a new position is assigned to the current motor  
position. This only shifts the coordinate system, the motor itself does not  
move.  
You must make the following settings for position setting in the R_PDO4:  
•
•
Enter the new position in Ref32. (Ref16has no significance here)  
Enter operating mode 02 in modeCtrl("Homing", "Position Set-  
h
ting").  
•
Toggle modeCtrl, bit 7, so the data is taken over by the slave.  
Example: The motor is at position -100,000 (FFFE7960 ).  
h
Position 200,000 is assigned to the motor (00030D40 ).  
h
Master <---> Slave  
Product signals position-100,000 T_PDO4 <---  
driveStat  
XXXX  
modeStat  
XX  
p_act  
FFFE7960  
h
h
h
Position setting to 200,000  
R_PDO4 --->  
T_PDO4 <---  
drivectrl  
02  
modeCtrl Ref16  
82 XXXX  
Ref32  
00030D40  
h
h
h
h
Position taken over x_err = 0,  
x_end = 1, x_info = 0  
driveStat  
4006  
modeStat  
A2  
p_act  
00030D40  
h
h
h
70  
Fieldbus interface  
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IL•1F CANopen DS301  
6 Operation  
6.4.5 Operating mode Homing  
During the reference movement a limit switch or reference switch is ap-  
proached and then a new value is assigned to this position.  
Before a reference movement is started, the parameters must be set by  
means of SDO write access to satisfy the requirements. See the product  
manual for detailed information on parameterization and on performing  
a reference movement.  
To start a reference movement the following settings must be made in  
the R_PDO4:  
•
Enter the type of reference movement in Ref16(Ref32has no sig-  
nificance here).  
The available types of reference movement are described in the  
device manual.  
•
•
In modeCtrl, enter operating mode 12 "Homing".  
h
Toggle modeCtrl, bit 7, so the data is taken over by the slave.  
Example A reference movement to the negative limit switch (LIMN) is to be per-  
formed; this is reference movement type 2.  
Master <---> Slave  
Trigger reference movement  
R_PDO4 --->  
drivectrl  
02  
modeCtrl Ref16  
92 0002  
Ref32  
XXXXXXXX  
h
h
h
h
h
Reference movement runningx- T_PDO4 <---  
err=0, xend=0  
driveStat  
0006  
modeStat8  
p_act  
XXXXXXXX  
2
h
h
Reference movement complete T_PDO4 <---  
xerr=0, xend=1  
driveStat  
4006  
modeStat  
A2  
p_act  
00000000  
h
h
h
Table 6.7 Reference movement  
Fieldbus interface  
71  
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6 Operation  
IL•1F CANopen DS301  
6.5  
Error signaling via PDO4  
6.5.1 Synchronous errors  
If a request for an operating mode sent via R_PDO4 cannot be proc-  
essed by the product, the product rejects processing and sets  
modeStat, bit 6 ("ModeError") in the T_PDO4. This does not interrupt  
the current process. To determine the cause of the error, the master can  
read the error number from the object CAN.modeError, 30:11 with an  
SDO access.  
Example The product rotates in Profile Velocity operating mode.  
Master <---> Slave  
Profile Velocity operating  
modex_end = 0  
T_PDO4 <---  
driveStat  
0006  
modeStat  
04  
p_act  
XXXXXXXX  
h
h
h
Request: Dimension setting to 0 R_PDO4 --->  
drivectrl  
02  
modeCtrl Ref16  
82 XXXX  
Ref32  
00000000  
h
h
h
h
Request rejected "ModeError" = T_PDO4 <---  
1
driveStat  
0006  
modeStat  
C4  
p_act  
XXXXXXXXh  
h
h
Table 6.8 Synchronous error, invalid operating mode request  
NOTE: When the request for position setting is rejected, the product  
continues to run in Profile Velocity operating mode; there is no change.  
However, the product sends an EMCY message with the corresponding  
error number to the master .  
6.5.2 Asynchronous errors  
Asynchronous errors are triggered by internal monitoring (e.g. temper-  
ature) or by external monitoring (e.g. limit switch). If an asynchronous er-  
ror occurs, the product responds by braking or by disabling the power  
stage.  
Asynchronous errors are indicated in the following way:  
•
Change to operating state 7 "Quick Stop" or to operating state 9  
"Fault".  
The change is represented in T_PDO4, driveStat, bits 0 ... 3.  
•
•
Setting of driveStat, bit 5 (fault detected by internal monitoring)  
or driveStat, bit 6 (fault detected by internal monitoring)  
In the event of an error message by internal monitoring:  
Setting of the bit corresponding to the fault in object  
Status.FltSig_SR, 28:18.  
In the event of an error message by external monitoring:Setting of  
the bit corresponding to the fault in object Status.Sign_SR, 28:15  
•
In addition, an error number is assigned to each error. In the event  
of an asynchronous error, the corresponding error number can be  
read from the object Status.StopFault(32:7).  
72  
Fieldbus interface  
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IL•1F CANopen DS301  
6 Operation  
Example: External monitoring triggers a fault message; positive limit switch "LIMP"  
was hit.  
Master <---> Slave  
Positioning running xerr=0,  
xend=0  
T_PDO4 <---  
T_PDO4 <---  
T_PDO4 <---  
driveStat  
0006  
modeStat  
03  
p_act  
XXXXXXXX  
h
h
h
h
h
Limit switch detected xerr=1,  
xend=0  
driveStat  
8047  
modeStat  
03  
p_act  
XXXXXXXX  
h
h
Motor stopped xerr=1, xend=1  
driveStat  
C047  
modeStat  
03  
p_act  
XXXXXXXX  
h
h
Table 6.9 Asynchronous error, triggering of an external  
Note: When the limit switch is detected, the motor is decelerated with the  
EMERGENCY STOP ramp until it comes to a standstill and the bit  
x_erris set. After the motor has come to a standstill, bit x_endis set.  
Fieldbus interface  
73  
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6 Operation  
IL•1F CANopen DS301  
74  
Fieldbus interface  
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IL•1F CANopen DS301  
7 Diagnostics and troubleshooting  
7
Diagnostics and troubleshooting  
7.1  
Fieldbus communication error diagnostics  
A properly operating fieldbus is essential for evaluating operating and er-  
ror messages.  
Connections for fieldbus mode If the product cannot be addressed via the fieldbus, first check the con-  
nections. The product manual contains the technical data of the device  
and information on network and device installation. Check the following:  
•
•
•
•
24V power supply  
dc  
Power connections to the device  
Fieldbus cable and fieldbus wiring  
Network connection to the device  
You can also use the commissioning software for troubleshooting.  
Baud rate and address If it is impossible to connect to a device, check the baud rate and node  
address.  
•
•
The baud rate must be the same for all devices in the network.  
The node address of each device must be between 1 and 127 and  
unique for each device.  
To set the baud rate and node address see chapter 5.2 "Address and  
baud rate".  
Fieldbus function test After correct configuration of the transmission data, test fieldbus mode.  
This requires installation of a CAN configuration tool that displays CAN  
messages. Feedback from the product is indicated by a boot-up mes-  
sage:  
•
•
Switch the power supply off and on again.  
Observe the network messages after switching on. After initializa-  
tion of the bus, the device sends a boot-up message (COB ID 700  
h
+ node ID and 1 data byte with the content 00 ).  
h
•
With the factory setting 127 (7F ) for the node address, the boot-up  
message is sent via the bus . The device can then be put into oper-  
ation via NMT services.  
h
If network operation cannot be started, the network  
function of the device must be checked by your local  
representative. Contact your local sales representative.  
Fieldbus interface  
75  
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7 Diagnostics and troubleshooting  
IL•1F CANopen DS301  
7.2  
Error diagnostics via fieldbus  
7.2.1 Message objects  
A number of objects provide information on the operating and error  
state:  
•
Object Statusword (6041 )  
Operating states, see product manual  
h
•
Object EMCY (80 + Node-ID)  
Error message from a device with fault state and error code, see  
chapter 3.4.2.5 "Emergency service"  
h
•
•
•
Object Error register (1001 )  
Fault state  
h
Object Error code (603F )  
h
Error code of the most recent error  
Devices use the special SDO error message ABORT to signal  
errors in exchanging messages by SDO.  
7.2.2 Messages on the device status  
Synchronous and asynchronous errors are distinguished in the evalua-  
tion and handling of errors.  
Synchronous errors The device signals a synchronous error directly as a response to a mes-  
sage that cannot be evaluated. Possible causes comprise transmission  
errors or invalid data. For a list of synchronous errors see chapter 7.3.1  
"Error register".  
Asynchronous errors Asynchronous errors are signaled by the monitoring units in the device  
as soon as a device fault occurs. An asynchronous error is signal via bit  
3, "Fault", of the object statusword (6041 ). In the case of errors  
h
that cause a an interruption of the movement, the device transmits an  
EMCY message.  
Asynchronous errors are also reported via bits 5..7 of the object  
driveStat (2041 ).  
h
76  
Fieldbus interface  
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IL•1F CANopen DS301  
7 Diagnostics and troubleshooting  
7.3  
CANopen error messages  
CANopen error messages are signaled in the form of EMCY messages.  
They are evaluated via the objects Error register (1001 )and  
h
Error code (603F ). For information on the object EMCYsee chapter  
h
3.4.2.5 "Emergency service".  
CANopen signals errors that occur during data exchange via SDO with  
the special SDO error message ABORT.  
7.3.1 Error register  
The object Error register(1001 )indicates the error state of a de-  
h
vice in bit-coded form. The exact cause of error must be determined with  
the error code table. Bit 0 is set as soon as an error occurs.  
Bit Message  
Meaning  
0
1
2
3
4
5
6
7
Generic error  
An error has occurred  
reserved  
-
-
reserved  
-
reserved  
Communication  
Device profile-specific  
-
Network communication error  
Error in execution as per device profile  
reserved  
Manufacturer-specific  
Vendor-specific error message  
7.3.2 Error code table  
The error code is evaluated with the object error code (603F ), an  
h
object of the DSP402 device profile, and output as a four-digit hexadec-  
imal value. The error code indicates the cause of the last interruption of  
movement. See the Troubleshooting chapter of the product manual for  
the meaning of the error code.  
Fieldbus interface  
77  
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7 Diagnostics and troubleshooting  
7.3.3 SDO error message ABORT  
IL•1F CANopen DS301  
An SDO error message is generated as a response to an SDO trans-  
mission error. The cause of error is contained in error code, byte 4 to  
byte 7.  
Client  
Server  
error response  
0
2
3
4
5
6
7
1
Idx  
Idx  
Sidx  
ccd  
COB-ID  
ccd:  
data  
1
2
Byte 4-7  
error code  
80  
Figure 7.1  
SDO error message as a response to an SDO message  
The table below shows all error messages that may occur during data  
exchange with the product.  
Error code  
Meaning  
0504 0000  
0504 0001  
0601 0000  
0601 0001  
0601 0002  
0602 0000  
0604 0041  
0604 0042  
Time-out during SDO transfer  
h
h
h
h
h
h
h
h
Command specifier CS incorrect or unknown  
Access to object impossible  
No read access, because write-only object (wo)  
No write access, because read object (ro)  
Object does not exist in object dictionary  
Object does not support PDO mapping  
PDO mapping: number or length of objects exceed the byte  
length of the PDO  
0607 0010  
0607 0012  
0607 0013  
0609 0011  
0609 0030  
Data type and parameter length do not match  
Data type does not match, parameter too long  
Data type does not match, parameter too short  
Subindex not supported  
h
h
h
h
h
Value range of parameter too large (relevant only for write  
access)  
0609 0031  
0609 0032  
0800 0000  
0800 0022  
Parameter values too great  
h
h
h
h
Parameter values too small  
General error  
Device status keeps data from being transmitted and saved.  
78  
Fieldbus interface  
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IL•1F CANopen DS301  
8 Object directory  
8
Object directory  
8.1  
Overview  
This object dictionary only describes the protocol for the product as per  
CANopen DS 301. The objects for controlling operating modes, func-  
tions and all parameters can be found in the product manual for the prod-  
uct.  
8.1.1 Specifications for the objects  
Index The index specifies the position of the object in the object dictionary. The  
index value is specified as a hexadecimal value.  
Object code The object code specifies the data structure of the object.  
Object code  
Meaning  
Coding  
VAR  
A single value, for example of the type  
Integer8, Unsigned32 or Visible String8.  
7
ARR (ARRAY)  
A data field in which every entry is of the  
same data type.  
8
9
REC (RECORD)  
A data field that contains entries that are  
a combination of single data types.  
Data type  
Boolean  
INT8  
Value range  
Data length  
1 byte  
0 = false, 1 = true  
-128 ..+127  
1 byte  
INT16  
-32768 ..+32767  
-2147483648 ..+2147483647  
0 ..255  
2 byte  
INT32  
4 byte  
UINT8  
1 byte  
UINT16  
0 ..65535  
2 byte  
UINT32  
0 ..4294967295  
ASCII characters  
ASCII characters  
4 byte  
Visible String8  
Visible String16  
8 byte  
16 byte  
Access ro: "Read Only"value can be read only  
rw: "Read Write"value can be read and written  
wo: "Write Only"value can be written only  
PDO R_PDO: mapping for R_PDO possible  
T_PDO: mapping for T_PDO possible  
No specification: PDP mapping not possible with the object  
Value range Specifies the permissible range in which the object value is defined and  
valid.  
Default value Load the saved factory settings to reset the product to the default values.  
Fieldbus interface  
79  
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8 Object directory  
IL•1F CANopen DS301  
Can be saved yes: values can be saved to the memory of the product and are available  
when the product is switched on again.  
–: values are lost when the product is switched off.  
8.1.2 Objects, overview  
Index  
Subindex  
Designation  
Obj. code Data type  
Access  
ro  
1000  
1001  
1008  
device type  
VAR  
VAR  
VAR  
VAR  
VAR  
VAR  
UINT32  
UINT8  
String  
h
h
h
error register  
ro  
manufacturer device name  
guard time  
ro  
100C  
100D  
UINT16  
UINT8  
UINT16  
rw  
rw  
rw  
ro  
h
h
life time factor  
1015  
1018  
1018  
1018  
1018  
1403  
1403  
1403  
1403  
1403  
1403  
1403  
1603  
1603  
1603  
1603  
1603  
1603  
1803  
1803  
1803  
1803  
1803  
1803  
1803  
inhibit time EMCY  
h
identity object  
RECORD Identity  
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
0
1
2
number of elements  
VAR  
VAR  
VAR  
UINT8  
UINT32  
UINT8  
ro  
Vendor id  
ro  
product code  
ro  
receive PDO4 communication parameter  
number of elements  
RECORD PDO_Com  
ro  
0
1
2
3
4
5
VAR  
VAR  
VAR  
VAR  
VAR  
VAR  
UINT8  
UINT32  
UINT8  
UINT16  
UINT8  
UINT16  
ro  
COB ID used by R_PDO4  
transmission type R_PDO4  
inhibit time R_PDO4  
compatibility entry R_PDO4  
event timer R_PDO4  
receive PDO4 mapping  
number of elements  
ro  
rw  
rw  
rw  
rw  
ro  
RECORD PDO_Map  
0
1
2
3
4
VAR  
VAR  
VAR  
VAR  
VAR  
UINT8  
ro  
1st mapped object R_PDO4  
2nd mapped object R_PDO4  
3rd mapped object R_PDO4  
4th mapped object R_PDO4  
transmit PDO4 communication parameter  
number of elements  
UINT32  
UINT32  
UINT32  
UINT32  
ro  
ro  
ro  
ro  
RECORD PDO_Com  
ro  
0
1
2
3
4
5
VAR  
VAR  
VAR  
VAR  
VAR  
VAR  
UINT8  
UINT32  
UINT8  
UINT16  
UINT8  
UINT16  
ro  
COB ID used by T_PDO4  
transmission type T_PDO4  
inhibit time T_PDO4  
ro  
rw  
rw  
rw  
rw  
ro  
reserved T_PDO4  
event timer T_PDO4  
transmit PDO4 mapping  
number of elements  
1A03  
1A03  
1A03  
1A03  
1A03  
1A03  
RECORD PDO_Map  
h
h
h
h
h
h
0
1
2
3
4
VAR  
VAR  
VAR  
VAR  
VAR  
UINT8  
ro  
1st mapped object T_PDO4  
2nd mapped object T_PDO4  
3rd mapped object T_PDO4  
4th mapped object T_PDO4  
UINT32  
UINT32  
UINT32  
UINT32  
ro  
ro  
ro  
ro  
80  
Fieldbus interface  
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IL•1F CANopen DS301  
8 Object directory  
8.2  
Objects of the product  
1000h Device type  
The object specifies the device profile used as well as the device type.  
Object description  
Index  
1000  
h
Object name  
Object code  
Data type  
device type  
VAR  
Unsigned32  
Value description  
Subindex  
00 , device type  
h
Meaning  
Device type and profile  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0
–
1001h Error register  
The object specifies the error state of the product. The manufacturer-  
specific object Status.StopFault 32:7 provides detailed informa-  
tion on the cause of the error.  
Errors are signaled by an EMCY message as soon as they occur.  
Object description  
Value description  
Index  
1001h  
Object name  
Object code  
Data type  
error register  
VAR  
Unsigned8  
Subindex  
00 , error register  
h
Meaning  
error register  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
–
–
Fieldbus interface  
81  
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8 Object directory  
IL•1F CANopen DS301  
Bit coding, subindex 00h  
Bit  
0
Access Value  
Meaning  
ro  
ro  
ro  
ro  
ro  
ro  
ro  
ro  
–
–
–
–
–
–
–
–
Error! (generic error)  
Current  
1
2
Voltage  
3
Temperature  
4
Communication profile (communication error)  
Device profile (device profile error)  
Reserved  
5
6
7
Manufacturer-specific  
1008h Manufacturer device name  
The object specifies the device name (e.g. “IFS ”)  
Object description  
Index  
1008  
h
Object name  
Object code  
Data type  
manufacturer device name  
VAR  
String  
Value description  
Subindex  
00 , manufacturer device name  
h
Meaning  
Manufacturer name  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
–
–
100Ch Guard time  
The object specifies the time span for node guarding of an NMT slave.  
Object description  
Index  
100C  
h
Object name  
Object code  
Data type  
guard time  
VAR  
Unsigned16  
Value description  
Subindex  
00 , guard time  
h
Meaning  
Time span for node guarding [ms]  
Access  
read-write  
PDO mapping  
Value range  
Default value  
Can be saved  
–
0...65535  
0
–
82  
Fieldbus interface  
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8 Object directory  
The time span for connection monitoring of an NMT master results from  
the time span "guard time" multiplied by the factor "life time", object  
Life time factor(100D ).  
h
The time span can be changed in the NMT state "Pre-Operational".  
100Dh Life time factor  
The object specifies the factor that, together with the time span "guard  
time", results in the time interval for connection monitoring of an NMT  
master. Within this period, the NMT slave device expects a monitoring  
request via node guarding from the NMT master.  
life time = guard time * life time factor  
The value "0" deactivates monitoring of the NMT master.  
Object description  
Value description  
Index  
100D  
h
Object name  
Object code  
Data type  
life time factor  
VAR  
Unsigned8  
Subindex  
00 , life time factor  
h
Meaning  
Time factor for the node guarding protocol  
Access  
read-write  
PDO mapping  
Value range  
Default value  
Can be saved  
–
0...255  
0
–
If there is no connection monitoring through the NMT master during the  
time interval "life time", #Variable:device-name# signals an error and  
switches to error state.  
The time factor can be changed in the NMT state "Pre-Operational".  
The time span "guard time" is set with the object Guard time(100C ).  
h
1015h Inhibit time emergency message  
The object specifies the waiting time for the repeated transmission of  
EMCY messages as a multiple of 100μs.  
Object description  
Index  
1015  
h
Object name  
Object code  
Data type  
inhibit time EMCY  
VAR  
Unsigned16  
Fieldbus interface  
83  
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IL•1F CANopen DS301  
Value description  
Subindex  
00h, inhibit time EMCY  
Meaning  
Waiting time for repeated transmission of an EMCY  
Access  
read-write  
PDO mapping  
Value range  
Default value  
Can be saved  
–
0...65535  
0
–
1018h Identity Object  
The object provides information on the product. Subindex 01 (vendor  
h
Id) contains the vendor identification, subindex 02 (product Id) contains  
h
the vendor-specific product code.  
Value description  
Index  
1018  
h
Object name  
Object code  
Data type  
Identity Object  
RECORD  
Identity  
Subindex  
00h, number of elements  
Meaning  
Number of subindexes  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
1...4  
2
–
Subindex  
01 , vendor id  
h
Meaning  
Vendor ID  
read-only  
–
Access  
PDO mapping  
Value range  
Default value  
Can be saved  
0...4294967295  
0x0100002E  
–
Subindex  
02 , product code  
h
Meaning  
Product identification  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
0...4294967295  
0x01  
–
84  
Fieldbus interface  
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8 Object directory  
1403h Receive PDO4 communication parameter  
The object stores settings for the fourth receive PDO R_PDO4.  
Object description  
Value description  
Index  
1403  
h
Object name  
Object code  
Data type  
receive PDO4 communication parameter  
RECORD  
PDO Communication parameter  
Subindex  
00 , number of elements  
h
Meaning  
Number of subindexes  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
5
–
Meaning  
Identifier of the R_PDO4  
Subindex  
01 , COB-ID R_PDO4  
h
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0x40000500+nodeID  
–
Subindex  
02 , transmission type R_PDO4  
h
Meaning  
Transmission type  
Access  
read-write  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
254  
–
Subindex  
03 , inhibit time R_PDO4  
h
Meaning  
Delay time for repeated transmissions (1=100 μsec)  
Access  
read-write  
PDO mapping  
Value range  
Default value  
Can be saved  
–
0...65535  
0
–
Fieldbus interface  
85  
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8 Object directory  
IL•1F CANopen DS301  
Subindex  
04 , compatibility entry R_PDO4  
h
Meaning  
For compatibility purposes only  
Access  
read-write  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
–
–
Subindex  
05 , event timer R_PDO4  
h
Meaning  
Time setting for event triggering  
Access  
read-write  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0
–
Bit assignment subindex 01h  
Bit  
Acces Value Meaning  
s
31  
30  
rw  
ro  
0
0
0: PDO is active 1: PDO is inactive  
b
b
0: RTR (see below) is possible 1: RTR is not per-  
mitted  
29  
ro  
0
0: 11 bit identifier (CAN 2.0A) 1: 29 bit identifier  
(CAN 2.0B)  
b
28-11 ro  
0000  
0100  
–
Only relevant if bit 29=1 is not used by the product.  
Function code, bit 10-7 of the COB ID  
h
10-7  
6-0  
rw  
ro  
h
Node address, bit 6-0 of the COB ID  
Bit 31 A R_PDO can only be used if bit 31="0".  
Bit 30 RTR bit If a device supports R_PDOs with RTR (remote transmission request),  
it can request a PDO from a PDO producer with RTR = "0" in accordance  
with the producer-consumer relationship.  
The product cannot request PDOs, but it can respond to the request for  
a PDO, see RTR bit for T_PDO1 settings (1800h).  
Bit coding, subindex 02h The control for evaluating R_PDO data is specified via subindex 02h.  
The values 241..251 are reserved.  
Transmission type cyclic  
acyclic  
synchronous  
asynchronous  
RTR-controlled  
0
–
X
–
–
–
–
X
–
–
–
–
–
X
X
X
–
–
–
–
–
–
X
X
X
–
–
1-240  
252  
253  
254  
255  
X
X
–
–
86  
Fieldbus interface  
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8 Object directory  
If an R_PDO is transmitted synchronously (transmission type=0..252),  
the product evaluates the received data depending on the SYNC object.  
•
In the case of acyclic transmission (transmission type=0), the evalu-  
ation depends on the SYNC object, but not the transmission of the  
PDO. A received PDO message is evaluated with the following  
SYNC.  
A value between 1 and 240 specifies the number of SYNC cycles  
after which a received PDO is evaluated.  
The values 252 to 254 are relevant for updating T_PDOs, but not for  
sending them.  
•
•
252: Updating of transmit data with receipt of the next SYNC  
253: Updating of transmit data with receipt of a request from a PDO  
consumer  
•
254: Updating of data in an event-controlled way, the triggering  
event is specified in a manufacturer-specific way  
R_PDOs with the value 255 are updated immediately upon receipt of the  
PDOs. The triggering event is the data that is transmitted corresponding  
to the definition of the device profile in the PDO.  
Subindex 03h The "Inhibit time" interval is only relevant for T_PDOs.  
A T_PDO is retransmitted after expiration of the "Inhibit time" interval at  
the earliest. The value is specified as a multiple of 100 μs, however, it is  
rounded down to milliseconds as an integer value.  
Subindex 04h The value is reserved and not used. Write or read access triggers an  
SDO error message.  
Subindex 05h The time interval "event timer" is only relevant for T_PDOs. A T_PDO is  
transmitted after expiry of the time interval "event timer". At the same  
time, the time interval is restarted. The "transmission type" must be set  
to one of the values 254 or 255 via subindex 02h.  
Settings R_PDO4 is processed asynchronously and in an event-controlled way.  
The byte assignment of R_PDO4 is specified via PDO mapping with the  
object Receive PDO4 mapping(1603 ) and cannot be modified. The  
h
assignment is described in 3.4.2.2 "Receive PDO R_PDO4 (master ->  
slave)".  
The COB ID of the object can be changed in the NMT state "Pre-Oper-  
ational".  
1603h Receive PDO4 mapping  
The object specifies the objects mapped in R_PDO4 and transmitted  
with the PDO. When the object is read, subindex 00 , the number of  
h
mapped objects is read.  
Object description  
Index  
1603h  
Object name  
Object code  
Data type  
receive PDO4 mapping  
RECORD  
PDO Mapping  
Fieldbus interface  
87  
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IL•1F CANopen DS301  
Value description  
Subindex  
00h, number of elements  
Meaning  
Number of subindexes  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
4
–
Subindex  
01 , 1st mapped object R_PDO4  
h
Meaning  
First object for mapping in R_PDO4  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0x301E0108  
–
Subindex  
02 , 2nd mapped object R_PDO4  
h
Meaning  
Second object for mapping in R_PDO4  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0x301E0208  
–
Subindex  
03 , 3rd mapped object R_PDO4  
h
Meaning  
Third object for mapping in R_PDO4  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0x301E0510  
–
Subindex  
04 , 4th mapped object R_PDO4  
h
Meaning  
Fourth object for mapping in R_PDO4  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0x301E0620  
–
88  
Fieldbus interface  
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8 Object directory  
Bit coding from subindex 01h Every subindex entry from subindex 01h on specifies the object and the  
byte length of the object. The object is identified via the index and the  
subindex, which refer to the object dictionary of the device.  
Bit  
Meaning  
31..16  
15..8  
7..0  
Index  
Subindex  
Object length in bytes  
Settings The assignment of the R_PDO4 is preset and cannot be modified.  
The assignment is described in 3.4.2.2 "Receive PDO R_PDO4 (master  
-> slave)".  
1803h Transmit PDO4 communication parameter  
The object stores settings for the fourth transmit PDO T_PDO4.  
Object description  
Index  
1803  
h
Object name  
Object code  
Data type  
Transmit PDO4 communication parameter  
RECORD  
PDO Communication Parameter  
Value description  
Subindex  
00 , number of elements  
h
Meaning  
Number of subindexes  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
5
–
Subindex  
01 , COB ID used by T_PDO4  
h
Meaning  
Identifier of the T_PDO4  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0x00000480+nodeID  
–
Subindex  
02 , transmission type T_PDO4  
h
Meaning  
Transmission type  
Access  
read-write  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
254  
–
Fieldbus interface  
89  
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Subindex  
Meaning  
03 , inhibit time T_PDO4  
h
Delay time for repeated transmission (in [100μsec]). The  
value is rounded down to milliseconds as an integer  
value.  
Access  
read-write  
PDO mapping  
Value range  
Default value  
Can be saved  
–
0...65535  
0
–
Subindex  
04 , reserved T_PDO4  
h
Meaning  
Reserved (for compatibility purposes only)  
Access  
read-write  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
–
–
Subindex  
05h, event timer T_PDO4  
Meaning  
Time setting for event triggering  
Access  
read-write  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0
–
The meaning of the bit states and subindex values is described with the  
object receive PDO4 communication parameter(1403 ).  
h
Settings R_PDO4 is transmitted asynchronously and in an event-driven way.  
The byte assignment of T_PDO4 is specified via PDO mapping with the  
object transmit PDO4 mapping(1A03 ) and cannot be modified.  
h
The assignment is described in 3.4.2.3 "Transmit PDO T_PDO4 (prod-  
uct to master)".  
The COB ID of the object can be changed in the NMT state "Pre-Oper-  
ational".  
1A03h Transmit PDO4 mapping  
The object specifies the objects mapped in T_PDO4 and transmitted  
with the PDO. When the object is read, subindex 00 , the number of  
h
mapped objects is read.  
Object description  
Index  
1A03  
h
Object name  
Object code  
Data type  
transmit PDO4 mapping  
RECORD  
PDO Mapping  
90  
Fieldbus interface  
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IL•1F CANopen DS301  
8 Object directory  
Value description  
Subindex  
00 , number of elements  
h
Meaning  
Number of subindexes  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
4
–
Subindex  
01 , 1st mapped object T_PDO4  
h
Meaning  
First object for the mapping in T_PDO4  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0x301E0410  
–
Subindex  
02 , 2nd mapped object T_PDO4  
h
Meaning  
Second object for the mapping in T_PDO4  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0x301E0308  
–
Fieldbus interface  
91  
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IL•1F CANopen DS301  
Subindex  
03 , 3rd mapped object T_PDO4  
h
Meaning  
Third object for the mapping in T_PDO4  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0x301E0708  
–
Subindex  
04 , 4th mapped object T_PDO4  
h
Meaning  
Fourth object for the mapping in T_PDO4  
Access  
read-only  
PDO mapping  
Value range  
Default value  
Can be saved  
–
–
0x301E0820  
–
The meaning of the bit states is described with the object receive  
PDO4 mapping(1603 ).  
h
Settings The PDO assignment for T_PDO4 cannot be modified. The assigne-  
ment is described in 3.4.2.3 "Transmit PDO T_PDO4 (product to mas-  
ter)".  
92  
Fieldbus interface  
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IL•1F CANopen DS301  
9 Glossary  
9
Glossary  
9.1  
Units and conversion tables  
The value in the specified unit (left column) is calculated for the desired  
unit (top row) with the formula (in the field).  
Example: conversion of 5 meters [m] to yards [yd]  
5 m / 0.9144 = 5.468 yd  
9.1.1 Length  
in  
ft  
yd  
m
cm  
mm  
in  
-
/ 12  
/ 36  
* 0.0254  
* 0.30479  
* 0.9144  
-
* 2.54  
* 30.479  
* 91.44  
* 100  
-
* 25.4  
* 304.79  
* 914.4  
* 1000  
* 10  
ft  
* 12  
-
/ 3  
yd  
m
* 36  
* 3  
-
/ 0.0254  
/ 2.54  
/ 25.4  
/ 0.30479  
/ 30.479  
/ 304.79  
/ 0.9144  
/ 91.44  
/ 914.4  
cm  
mm  
/ 100  
/ 1000  
/ 10  
-
9.1.2 Mass  
lb  
oz  
* 16  
-
slug  
kg  
g
lb  
-
* 0.03108095  
* 1.942559*10  
-
* 0.4535924  
* 0.02834952  
* 14.5939  
-
* 453.5924  
* 28.34952  
* 14593.9  
* 1000  
-3  
oz  
slug  
kg  
g
/ 16  
-3  
/ 0.03108095  
/ 0.45359237  
/ 453.59237  
/ 1.942559*10  
/ 0.02834952  
/ 28.34952  
/ 14.5939  
/ 14593.9  
/ 1000  
-
9.1.3 Force  
lb  
oz  
p
dyne  
N
lb  
-
* 16  
* 453.55358  
* 28.349524  
-
* 444822.2  
* 27801  
* 980.7  
-
* 4.448222  
* 0.27801  
oz  
p
/ 16  
-
-3  
/ 453.55358  
/ 444822.2  
/ 4.448222  
/ 28.349524  
/ 27801  
/ 0.27801  
* 9.807*10  
3
dyne  
N
/ 980.7  
/ 100*10  
-3  
3
/ 9.807*10  
* 100*10  
-
9.1.4 Power  
HP  
W
HP  
W
-
* 746  
-
/ 746  
Fieldbus interface  
93  
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9 Glossary  
IL•1F CANopen DS301  
9.1.5 Rotation  
-1  
min (RPM)  
rad/s  
* π / 30  
-
deg./s  
-1  
min (RPM) -  
* 6  
rad/s  
* 30 / π  
/ 6  
* 57.295  
-
deg./s  
/ 57.295  
9.1.6 Torque  
lb·in  
lb·ft  
oz·in  
* 16  
* 192  
-
Nm  
kp·m  
kp·cm  
dyne·cm  
6
lb·in  
-
/ 12  
* 0.112985  
* 1.355822  
* 7.0616*10  
-
* 0.011521  
* 0.138255  
* 720.07*10  
* 0.101972  
-
* 1.1521  
* 13.8255  
* 72.007*10  
* 10.1972  
* 100  
* 1.129*10  
6
lb·ft  
* 12  
-
* 13.558*10  
* 70615.5  
-3  
-6  
-3  
oz·in  
Nm  
/ 16  
/ 192  
-3  
6
/ 0.112985  
/ 0.011521  
/ 1.1521  
/ 1.355822  
/ 0.138255  
/ 13.8255  
/ 13.558*10  
/ 7.0616*10  
/ 720.07*10  
/ 72.007*10  
/ 70615.5  
* 10*10  
-6  
-3  
6
6
kp·m  
kp·cm  
dyne·cm  
/ 0.101972  
/ 10.1972  
* 98.066*10  
* 0.9806*10  
-
/ 100  
-
6
6
6
6
6
/ 1.129*10  
/ 10*10  
/ 98.066*10  
/ 0.9806*10  
9.1.7 Moment of inertia  
2
2
2
2
2
2
lb·in  
lb·ft  
kg·m  
kg·cm  
kp·cm·s  
/ 335.109  
* 0.429711  
* 10.1972  
/ 980.665  
-
oz·in  
2
lb·in  
-
/ 144  
-
/ 3417.16  
* 0.04214  
-
/ 0.341716  
* 16  
2
lb·ft  
* 144  
* 421.4  
* 2304  
* 54674  
* 5.46  
* 5361.74  
-
2
3
kg·m  
* 3417.16  
* 0.341716  
* 335.109  
/ 16  
/ 0.04214  
/ 421.4  
* 10*10  
2
3
kg·cm  
/ 10*10  
-
2
kp·cm·s  
/ 0.429711  
/ 2304  
/ 10.1972  
/ 54674  
* 980.665  
/ 5.46  
2
oz·in  
/ 5361.74  
9.1.8 Temperature  
°F  
°C  
K
°F  
°C  
K
-
(°F - 32) * 5/9  
(°F - 32) * 5/9 + 273.15  
°C * 9/5 + 32  
-
°C + 273.15  
-
(K - 273.15) * 9/5 + 32  
K - 273.15  
9.1.9 Conductor cross section  
AWG  
1
2
3
4
5
6
7
8
9
10  
11  
12  
13  
2
mm  
42.4  
33.6  
26.7  
21.2  
16.8  
13.3  
10.5  
8.4  
6.6  
5.3  
4.2  
3.3  
2.6  
AWG  
14  
15  
16  
17  
18  
19  
20  
21  
22  
23  
24  
25  
26  
2
mm  
2.1  
1.7  
1.3  
1.0  
0.82  
0.65  
0.52  
0.41  
0.33  
0.26  
0.20  
0.16  
0.13  
94  
Fieldbus interface  
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IL•1F CANopen DS301  
9 Glossary  
9.2  
Terms and Abbreviations  
AC Alternating current  
CAN (Controller Area Network), standardized open fieldbus as per ISO  
11898, allows drives and other devices from different manufacturers to  
communicate.  
CANopen Device- and manufacturer-independent description language for com-  
munication via the CAN bus  
CiA CAN in Automation, CAN interest group, standardization group for CAN  
and CANopen.  
COB ID Communication OBject IDentifier; uniquely identifies each communica-  
tion object in a CAN network  
DC Direct current  
Default value Factory setting.  
DriveCom Specification of the DSP402 state machine was created in accordance  
with the DriveCom specification.  
DS301 Standardizes the CANopen communication profile  
DSP402 Standardizes the CANopen device profile for drives  
E
Encoder  
EDS (Electronic Data Sheet); contains the specific properties of a product.  
Electronic gear Calculation of a new output speed for the motor movement based on the  
input speed and the values of an adjustable gear ratio; calculated by the  
drive system.  
EMC Electromagnetic compatibility  
EMCY object Emergency Object  
Encoder Sensor for detection of the angular position of a rotating component. In-  
stalled in a motor, the encoder shows the angular position of the rotor.  
Error Discrepancy between a computed, observed or measured value or con-  
dition and the specified or theoretically correct value or condition.  
Error class Classification of errors into groups. The different error classes allow for  
specific responses to faults, for example by severity.  
Fault Operating state of the drive caused as a result of a discrepancy between  
a detected (computed, measured or signaled) value or condition and the  
specified or theoretically correct value or condition.  
Fault reset A function used to restore the drive to an operational state after a de-  
tected error is cleared by removing the cause of the error so that the er-  
ror is no longer active (transition from operating state "Fault" to state  
"Operation Enable").  
I/O Inputs/outputs  
Input device A device that can be connected via the RS232 interface; either the hand-  
held HMI device or a PC with commissioning software.  
Limit switch Switches that signal overtravel of the permissible range of travel.  
Fieldbus interface  
95  
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9 Glossary  
IL•1F CANopen DS301  
Power stage The power stage controls the motor. The power stage generates current  
for controlling the motor on the basis of the positioning signals from the  
controller.  
Heartbeat Used for unconfirmed connection acknowledgement messages from  
network devices.  
HMI Human Machine Interface: hand-held operating device.  
Power amplifier See power stage  
Life guarding For monitoring the connection of an NMT master  
Mapping Assignment of object dictionary entries to PDOs  
Node ID Node address assigned to a device on the network.  
NMT Network Management (NMT), part of the CANopen communication pro-  
file; tasks include initialization of the network and devices, starting, stop-  
ping and monitoring of devices  
Node guarding Monitoring of the connection to the slave at an interface for cyclic data  
traffic.  
Object dictionary List of all parameters, values and functions available in the device. Each  
entry is uniquely referenced via index (16 bit) and subindex (8 bit).  
Parameter Device data and values that can be set by the user.  
PDO Process Data Object  
Persistent Indicates whether the value of the parameter remains in the memory af-  
ter the device is switched off.  
Quick Stop Function used to enable fast deceleration of the motor via a command  
or in the event of an error.  
R_PDO Receive PDO  
SDO Service Data Object  
SYNC object Synchronization object  
T_PDO Transmit PDO  
Warning If the term is used outside the context of safety instructions, a warning  
alerts to a potential problem that was detected by a monitoring function.  
A warning is not an error and does not cause a transition of the operating  
state.  
96  
Fieldbus interface  
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IL•1F CANopen DS301  
10 Index  
10  
Index  
A
Abbreviations 95  
ABORT 76, 78  
Acyclic data transmission 45  
Address 54  
Checking 75  
Asynchronous errors 76  
B
Baud rate 54  
Checking 75  
Before you begin  
Safety information 13  
Bit field data 22  
Bit field identifier 22  
Bit fields  
Data 22  
Identifier 22  
Boot Up  
Message 47  
Bus arbitration 22  
C
CAN  
message 22  
CAN 3.0A 22  
CANopen  
Communication profile, NMT 46  
error messages 77  
Message 22  
Standards 11  
ccd  
See command code  
Checking  
Address 75  
Baud rate 75  
Client-Server 25  
Client-server  
SDO data exchange 26  
COB ID 22  
for node guarding 48  
of communication objects 23  
SDO 27  
SYNC object 45  
COB Id  
bus arbitration 22  
Identification of communication objects 22  
tasks 22  
Coding  
Command code 28, 29  
Command code  
Fieldbus interface  
97  
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10 Index  
IL•1F CANopen DS301  
Read value 29  
SDO 27  
Write value 28  
Command specifier 48  
Command-code  
See command code  
Commissioning 53  
Commissioning the device 53  
Communication objects  
COB IDs 23  
Controlling 22  
Identification 22  
overview 21  
Communication profile  
DS301 18  
Communication relationship  
client - server 24  
master - slave 24  
producer - consumer 24  
Connection error  
Node guarding 50  
Connection monitoring  
NMT services 48  
Cyclic data transmission 45  
D
Data  
Persistent data 47  
Reading 29  
SDO 27  
Writing 28  
Data frame 24  
of the NMT device service 48  
SDO 27  
Data length  
Flexible 31  
Data transmission  
Acyclic 45  
Cyclic 45  
Synchronous 44  
Device profile  
DS402 18  
Diagnostics 75  
Documentation and literature references 11  
DS301  
communication profile 18  
DS402  
Device profile 18  
E
EMCY  
object 21  
Emergency object  
See EMCY object  
Error  
98  
Fieldbus interface  
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IL•1F CANopen DS301  
10 Index  
messages for CANopen 77  
Response with SDO 30  
Error code  
table 77  
Error diagnostics  
Connections to for fieldbus operation 75  
Function test of fieldbus 75  
error register 77  
Example  
SDO message 27  
Selection of a COB ID 24  
F
Function code 23  
function code  
See Function code  
Function test  
Fieldbus 75  
G
Glossary 93  
H
Homing 71  
I
Identification  
of communication objects 22  
Index  
SDO 27  
Interruption of movement  
Cause 77  
Introduction 9  
L
Layer model  
Application Layer 15  
Data Link Layer 15  
Physical Layer 15  
Life guarding 48  
M
Master - Slave 24  
Message 22  
CANopen 22  
NMT 48, 49  
SDO 27  
Message objects 76  
EMCY(80h+ node ID) 76  
Error code (603Fh) 76  
error register (1001h) 76  
Status word (6041h) 76  
Message-oriented communication 9  
Fieldbus interface  
99  
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10 Index  
IL•1F CANopen DS301  
Messages  
Asynchronous errors 76  
Error code (603Fh) 77  
Error register (1001h) 77  
on the device status 76  
Synchronous errors 76  
Mode Toggle 40  
Multimaster capability 9  
N
Network management  
See NMT  
NMT  
Message 48  
Network services 46  
Recipient of a message 48  
Services  
Initialization 47  
services 21, 46  
for connection monitoring 48  
for device control 46  
State machine 46  
State of slave 49  
Structure of a message 49  
Node address 22, 23, 48  
Node guarding 48  
COB ID 48  
Connection error 50  
Node ID 22  
O
Object groups  
overview 16  
Operating mode  
homing 71  
profile velocity 69  
Operation 59  
Overview  
communication objects 21  
object groups 16  
P
PDO 21, 31  
Producer-consumer 32  
Prioritization of messages 9  
Process Data Object  
see PDO  
process data objects  
see PDO  
Producer-Consumer 25  
Producer-consumer  
PDO 32  
SYNC 44  
Profile velocity 69  
100  
Fieldbus interface  
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IL•1F CANopen DS301  
10 Index  
Profiles  
standardized 18  
Vendor-specific 18  
R
Real-time data exchange 31  
Recipient  
of an NMT message 48  
Residual error probability 9  
Response  
to SDO error 30  
S
SDO 21, 26  
COB ID 27  
Command code 27  
Data 27  
Data frame 27  
Error message 76  
error message 78  
Error response 30  
Index, Subindex 27  
message 27  
Message types 26  
Response 29  
Transmission error 78  
Service Data Object  
See SDO  
Service data objects 21  
See SDO  
Services  
For connection monitoring 46  
For device control 46  
NMT 21, 46  
Specification  
CAN 3.0A 22  
State machine  
NMT 46  
Subindex  
SDO 27  
SYNC object 21, 44  
COB ID 45  
with PDO 32  
Synchronization 44  
Time values 44  
Synchronization object  
See SYNC object  
Synchronous  
Data transmission 44  
Errors 76  
T
Tasks  
of the COB Id 22  
Fieldbus interface  
101  
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10 Index  
IL•1F CANopen DS301  
Terms 95  
Time values  
For synchronization 44  
Troubleshooting 75  
U
Units and conversion tables 93  
V
Vendor-specific  
Profiles 18  
102  
Fieldbus interface  
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