Moog DS2100 Manuel d'utilisateur Page 237
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SECTION 6:CANOPEN INTERFACE DS2100 User's Manual
C27750-001 PAGE 6-11
6.7 Service Data Objects (SDO)
For basic asynchronous communication Service Data Objects (SDO) are supported. The following SDO protocols
are available:
- SDO expedited upload
- SDO expedited download
- SDO segmented upload
- SDO segmented download
- SDO block upload
- SDO block download
6.7.1 SDO communication object identifier
Depending on the drive node-id setting, the SDO client and server communication object identifiers (cob-id) are set
according to the pre defined connection set. The client cob-id sdo_client_cob-id (index 0x1200, subindex 1) is set
to 0x600 + node-id and the server cob-id sdo_server_cob-id (index 0x1200, subindex 2) is set to 0x580 + node-id.
6.7.2 SDO timeout
Although not explicitly specified in the DS 301 Standard a programmable timeout, sdo_timeout_ms (index 0x200A,
sub-index 0) is implemented in the communication protocol. The default value for the timeout is 1 second. In case
of segmented or block transfers the drive aborts the transfer and waits for a new SDO command. An emergency
message is not sent.
6.7.3 SDO abort codes
The following SDO abort codes are used by the drive:
0x05040001 - invalid command specifier
0x06010000 - access not allowed
0x06010001 - no read access right
0x06010002 - no write access right
0x06020000 - object not found error
0x06040041 - PDO mapping error
0x06040042 - invalid PDO size
0x06060000 - hardware error
0x06070010 - invalid data type
0x06090011 - subindex out of range
0x06090030 - value out of range
0x06090031 - value too big
0x06090032 - value too small
0x08000000 - generic error
0x08000020 - EEPROM save error (signature)
0x08000022 - access not possible due to drive state
- Digital Controller 1
- Installation & 1
- User’s Manual 1
- SECTION 1: DS2100 OVERVIEW 3
- 1.1 Introduction 5
- 1.2 DS2100 Models 6
- DS2100 User's Manual 10
- 1.4 Design Standards 10
- DS2100 User's Manual 11
- Page Intentionally Blank 16
- Required for 19
- CE-Compliance 19
- 2.2 Safety Regulations 20
- 2.4 UL Requirements 42
- 3.1 System Components 48
- 3.2 Equipment Mounting 53
- 3.3 Power Dissipation 62
- 3.8 24V Backup Connection 78
- 3.11 Motors - Installation 91
- Serial Communications 113
- Connector (RS232) 113
- 3.14 Wiring Summary 117
- DS2100 Cable End 125
- 15-Pin Sub-D Connector 125
- Plug (male) on cable 125
- SECTION 4: GETTING STARTED 127
- 4.1 Introduction 129
- 4.2 Initial Preparation 129
- 4.3 Power Supply 129
- 4.4 Installing Windrive 130
- 4.5 Controller Access 131
- 4.6 Motor Selection 132
- 4.8 Acceleration Limits 136
- 4.9 Parameter Utilities 137
- 4.10 Status & Faults 138
- 4.11 High Power Application 139
- 4.12 Autophasing 140
- 4.13 Torque Mode Enable 141
- 4.14 Velocity Mode Enable 142
- 4.15 Oscilloscope 143
- Click enable button ( ) 145
- 4.16 Power-Down Sequence 148
- ...... 5-29 150
- 5.1 Introduction 152
- 5.2 DS2100 Conventions 153
- 5.3 Power Interface Section 154
- 5.4 Motor Configuration 161
- 5.4.5 Bus Parameters 162
- 5.5 Resolver Input 166
- 5.5.2 Resolver Parameters 168
- 5.6 Encoder Input 170
- 5.6.2 Encoder Parameters 174
- 5.7 Commutation Module 176
- _adjustment 177
- 5.7.3 Commutation Parameters 178
- 5.8 Position Feedback 179
- 5.9 Velocity Feedback 180
- 5.10.1.1.4 Homing Switch 184
- 5.10.1.1.5 Quickstop 184
- 5.10.1.1.9 CAN Re-Enable 185
- 5.10.1.1.10 Re-Boot 185
- 5.11 Control Loops 190
- DS2100 User's Manual 191
- 5.12.1 Drive Monitoring 210
- 5.12.3 Drive Fault Reaction 214
- NON-FATAL 216
- 5.12.5 Fault Clearing 218
- 5.12.6 Event Log 218
- 5.13 Self Protection 222
- 5.14 Parameter Storage 223
- C27750-001 PAGE 6-1 227
- 6.1 Introduction 229
- 6.2 Reference Documentation 229
- CAN Cable Wiring 230
- 6.3 CAN node identifier 232
- 6.5 Data Types 234
- 6.6.1 CAN state 235
- 6.7.2 SDO timeout 237
- 6.7.3 SDO abort codes 237
- 6.7.4 SDO Parameters 238
- 6.8.2 Transmission Type 239
- 6.8.3 PDO Inhibit Time 239
- 6.8.4 PDO Event Time 239
- 6.8.5 PDO mapping 240
- 6.8.6 PDO Parameters 241
- DS2100 User's Manual 243
- 6.9 Synchronisation 243
- 6.10.1 Error reporting 245
- 6.10.2 Heartbeat Protocol 245
- 6.10.4 Drive Identification 245
- 6.10.5 Identity Object 246
- G361_CAN_Vx.x dd.mmm.yyyy 247
- 6.11 CAN Indicators 248
- 6.11.2 Error Indicator 249
- 6.12 Data Type Parameters 250
- 6.13.3 SYNC Transmit 252
- 6.13.4 Auto-Start 252
- 6.13.5 Calculate SYNC Period 252
- 6.13.7 Recovery From Bus-Off 252
- PAGE INTENTIONALLY BLANK 254
- DS2100 User’s Manual 255
- TABLE OF CONTENTS 256
- 7.1 Introduction 257
- 7.2 References 257
- 7.5 Revision History 258
- 7.6 Overview 259
- 7.7 Emergency Messages 260
- 7.8 Predefined Objects 260
- 7.9 Motor/Drive Parameters 263
- 7.10 Device Control 266
- 7.11 Factors Group 271
- Motor Revolution 276
- 7.14 Profile Velocity Mode 289
- 7.16 Profile Position Mode 297
- 7.18 Homing Mode 311
- DS2100 User’s Manual 323
- DS2100 User’s Manual 324
- PAGE INTENTIONALLY BLANK 324
- APPENDIX A DATA LOGGER 325
- A.1 Data Logger 327
- A.1.4 Data Access 329
- A.1.7 Trigger parameters 332
- APPENDIX B GUI 335
- B.1 Contents 336
- B.2 Introduction 338
- B.3.4 Main Window 340
- B.3.5 Main Menu 340
- B.3.6 Toolbar 340
- B.3.7 Status Bar 340
- B.3.9 Panel View 342
- B.3.10 Panel View Toolbar 342
- B.3.13 Macro Player 344
- B.3.14 Macro Player Toolbar 344
- B.3.15 Driver 346
- B.3.16.89.1 Display Area 440
- B.3.16.89.2 Timebase Panel 440
- B.3.16.89.3 Channel Panels 441
- B.3.16.89.4 Cursor Panel 441
- B.3.16.89.5 Trigger Panel 441
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