Manual
ID 442637.0006/2015en
ID 442637.00 2WE KEEP THINGS MOVING
Table of contents
Manual CANopen
Table of contents
1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .4
1.1 Further documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1.1 CiA specifications .. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1.2 Website downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Technical support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 Instructions for use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4 Abbreviations, symbols, indexes . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.5 Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .7
2.1 Operation in accordance with its intended use . . . . . . . . . . . . . . 7
2.2 Component part of the product . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.5 Working on the machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.6 Disposal .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.7 Presentation of notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . 8
3 Communication Module CA6 . . . . . . . . . . . . . . . . . . . . . . .. . . . .9
3.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .10
4.1 CAN bus - Network structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.2 Connection .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.2.1 Selection of suitable lines .. . . . . . . . . . . . . . . . . . . . . 10
4.2.2 SD6 - Terminal X200 . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.2.3 MC6 - CANopen interface . . . . . . . . . . . . . . . . . . . . . 12
4.2.4 States of the bus communication . . . . . . . . . . . . . . . . 12
5 Commissioning - SD6 and MC6 with CANopen . . . . . . . . . .14
5.1 DS6: Configure drive controller . . . . . . . . . . . . . . . . . . . . . . . . . 14
5.1.1 Activate CA6 and CiA402 .. . . . . . . . . . . . . . . . . . . . . 14
5.1.2 Configure global CANopen settings . . . . . . . . . . . . . . 15
5.1.3 Check PDO communication . . . . . . . . . . . . . . . . . . . . 16
5.1.4 Transfer project configuration .. . . . . . . . . . . . . . . . . . 17
5.1.5 Save project configuration . . . . . . . . . . . . . . . . . . . . . 18
5.2 CODESYS: set up CAN network . . . . . . . . . . . . . . . . . . . . . . . . 18
5.2.1 Install EDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.2.2 Map CAN bus system .. . . . . . . . . . . . . . . . . . . . . . . . 19
5.2.3 Map CANopen Manager .. . . . . . . . . . . . . . . . . . . . . . 19
5.2.4 Map drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.3 Configure data exchange .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3.1 Configure CAN bus system . . . . . . . . . . . . . . . . . . . . 20
5.3.2 Configure CANopen Manager . . . . . . . . . . . . . . . . . . 20
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Table of contents
Manual CANopen
5.3.3 Configure drive controller . . . . . . . . . . . . . . . . . . . . . . 22
5.4 Compile project configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.5 Transfer project configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6 More about CANopen? . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .26
6.1 CAN bus and CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.1.1 CANopen – Communication .. . . . . . . . . . . . . . . . . . . 26
6.1.2 Object directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.1.3 Network structure .. . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.2 CAN message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.2.1 COB-ID .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.3 Communication objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.3.1 Process Data Object - PDO . . . . . . . . . . . . . . . . . . . . 31
6.3.2 Service Data Object - SDO . . . . . . . . . . . . . . . . . . . . 33
6.3.3 Network Management Object - NMT . . . . . . . . . . . . . 39
6.3.4 Error Control Objects - ERROR . . . . . . . . . . . . . . . . 40
6.3.5 Synchronization Object - SYNC .. . . . . . . . . . . . . . . . 42
6.3.6 Emergency Objects - EMCY .. . . . . . . . . . . . . . . . . . . 42
7 Object directory - References .. . . . . . . . . . . . . . . . . . . . . . . . . .46
7.1 Communication objects - CiA DS 301 . . . . . . . . . . . . . . . . . . . 46
7.2 Communication objects - CiA DS 402 . . . . . . . . . . . . . . . . . . . 50
7.3 Communication objects -
STOBER-specific parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 53
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General Information
1
Manual CANopen
1 General Information
The new SD6 drive controller offers maximum precision and productivity for
automation technology and machine manufacturing despite ever more
complex functions. Highly dynamic drives ensure the shortest recovery times
from fast changes in reference value and load jumps. You also have the option
of connecting the drive controllers in a DC intermediate circuit, which improves
the energy footprint of the entire system.
Properties
• Large power range using 4 sizes
• Quick DC-Link: Innovative installation concept for the DC link connection
• Very good control performance
• Easy to service
• Isochronous system bus (in preparation)
• Modular safety technology (in preparation)
• Free, graphical programming in accordance with IEC 61131-3 CFC (in
preparation)
1.1 Further documentation
The documentation listed in the following table provides relevant information on
the SD6 drive controller.
You can find the latest document versions at www.stoeber.de.
Device/software Documentation Contents ID
SD6 drive controllers Manual Technical data,
installation,
connection, setup,
commissioning and
customer service
442426
SD6 drive controllers Commissioning
instructions
Installation and
functional test
442537
Controller Based Mode
(CBM) application
Manual Operation and
setup,
commissioning
442454
MC6 Motion Controller Manual Projecting,
installation,
connection, setup,
customer service
and maintenance
442461
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General Information
1
Manual CANopen
1.1.1 CiA specifications
• CANopen communication profile; this specification describes the important
services and protocols under CANopen:
CiA DS 301 V4.02 – CANopen application layer and communication profile
• CANopen Framework for programmable devices:
CiA DSP 302 V3.0 – CANopen application layer and communication profile
• CANopen device profiles; these specifications describe the behavior of
many device classes:
CiA DS 402 V2.0 – CANopen device profile drives and motion control,
CiA DS 40x
• Recommendations for cable and plug connector:
CiA DRP 303-1, ISO 11898-2
• CANopen – Standardization as European Norm:
EN 50325-4 2002 Part 4: CANopen
1.1.2 Website downloads
Information about CANopen
You can find further general information about CAN and CANopen on the CiA
website "CAN in Automation" (www.can-cia.org).
Different CiA specifications as well as a dictionary covering CAN terminology
is available in the CAN download area (see www.can-cia.org/index.php?id=6
).
SD6 – Device description
You can get an EDS file for simple integration of the drive controller SD6 in
CODESYS at www.stoeber.de
.
CODESYS programing and project planning software
A current version of the CODESYS software as well as detailed software
documentation is available in the CODESYS download area at
http://de.codesys.com/
.
1.2 Technical support
If you have technical questions that are not answered by this document, please
contact:
• Phone: +49 7231 582-3060
• E-mail: applications@stoeber.de
If you have questions about training sessions, please contact:
• E-mail: training@stoeber.de
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General Information
1
Manual CANopen
1.3 Instructions for use
This documentation supports you with the installation and connection of the
CA6 communication module for connecting the SD6 drive controller to the
CANopen bus system.
Special knowledge
To be able to put the SD6 communication module into operation with the
STOBER MC6 controller, you should know the basics of CANopen. Intensive
training on the CiA specifications concerned is not necessary.
Technical requirements
Before putting the CA6 communication module into operation, you have to wire
the SD6 drive controller and initially check its correct function. To do this, follow
the instructions in the commissioning instructions of the SD6 drive controller.
1.4 Abbreviations, symbols, indexes
1.5 Trademarks
The following names that are used in conjunction with the device, its optional
equipment and its accessories are trademarks or registered trademarks of
other companies:
All other trademarks that are not listed here are the property of their respective
owners.
Abbreviations
CAN Controller Area Network
CBM Controller Based Mode
CiA CAN in Automation
COB-ID Communication Object Identification
DBT Distributor
I/O Input/Output
EMCY Emergency Message
GND Ground
IGB Integrated Bus
LSB Least Significant Byte
LSW Least Significant Word
MSB Most Significant Byte
MSW Most Significant Word
NMT Network Management
PDO Process Data Object
RxD Received Data
R T R R e m o t e T r a n s m i t R e q u e s t
SDO Service Data Object
PLC Programmable logic controller
SYNC Synchronization Message
TxD Transmitted Data
Trademarks
CANopen,
CiA
CANopen and CiA are registered Community trademarks
of CAN in Automation e.V., Nuremberg, Germany.
CODESYS CODESYS is a registered trademark of 3S-Smart
Software Solutions GmbH, Kempten, Germany.
Microsoft,
Windows,
Windows XP,
Windows 7
Microsoft, Windows, Windows XP and the Windows logo
are registered trademarks of Microsoft Corporation in the
USA and/or other countries.
Abbreviations
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Notes on safety
2
Manual CANopen
2 Notes on safety
The devices can represent a source of danger. Therefore observe
• the safety guidelines
• technical rules and regulations given in the following sections and points.
STOBER shall assume no liability for damage resulting from failure to comply
with the instruction manual or relevant regulations. We reserve the right to
make technical changes for the purpose of improving the devices.
2.1 Operation in accordance with its intended
use
As defined by DIN EN 50178 (previously VDE 0160), the drive controllers are
electrical equipment operating as power electronics to control the flow of
energy in high voltage systems. They are designed exclusively for installation
in switching cabinets, protection class at least IP54, and for supplying
• synchronous servo motors and
• asynchronous motors.
Designated use does not include connecting other electrical loads!
2.2 Component part of the product
The technical documentation is a component part of a product.
• Since the technical documentation contains important information, always
keep it handy in the vicinity of the device until the machine is disposed of.
• If the product is sold, disposed of, or rented out, always include the
technical documentation with the product.
2.3 Risk assessment
Before the manufacturer may bring a machine onto the market, he must
conduct a risk assessment according to Machine Directive 06/42/EC. As a
result, the risks associated with the use of the machine are determined. The
risk assessment is a multi-stage and iterative process. On no account can
sufficient insight into the Machine Directive be given as part of this
documentation. For this reason, seek detailed information about the norms and
legal position. When installing the drive controller in machines, commissioning
is forbidden until it has been determined that the machine meets the
requirements of EC Directive 06/42/EC.
2.4 Qualified personnel
Devices may cause residual risks. For this reason, all work on the devices as
well as operation and disposal must only be performed by qualified personnel
who are aware of the possible dangers.
Qualified personnel are persons who have acquired the authorisation to
perform these activities by
• Training from specialists and/or
• Instruction from specialists
In addition, they must have
• read,
• understood and
• observed the applicable regulations, legal provisions, rules and standards
and existing technical documentation including the safety information
contained in it.
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Notes on safety
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Manual CANopen
2.5 Working on the machine
Apply the 5 safety rules in the order stated before performing any work on the
machine:
1. Disconnect.
Also ensure that the auxiliary circuits are disconnected.
2. Protect against being turned on again.
3. Check that voltage is not present.
4. Ground and short circuit.
5. Cover or block off adjacent live parts.
2.6 Disposal
Please comply with the latest national and regional regulations! Dispose of the
individual parts separately depending on their nature and currently valid
regulations such as, for example:
• Electronic scrap (PCBs)
• Plastic
• Sheet metal
• Copper
•Aluminum
2.7 Presentation of notes on safety
NOTICE
Notice
means that property damage may occur
if the stated precautionary measures are not taken.
CAUTION!
Caution
with warning triangle means that minor injury may occur
if the stated precautionary measures are not taken.
WARNING!
Warning
means that there may be a serious danger of death
if the stated precautionary measures are not taken.
DANGER!
Danger
means that serious danger of death exists
if the stated precautionary measures are not taken.
Information
Note that the discharge time of the DC link capacitors is up to 5
minutes. You can only determine the absence of voltage after this
time period.
Information
refers to important information about the product or serves to
emphasize a section in the documentation to which the reader
should pay special attention.
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Communication Module CA6
3
Manual CANopen
3 Communication Module CA6
With the CA6 communication module, SD6 provides a universal fieldbus
interface for a connection of the drive controller to higher-level control systems
via CANopen.
CA6 fully complies with the CANopen standard and allows direct access to all
relevant drive parameters and functions.
SD6 itself is parameterized via Service Data Objects (SDO) and controlled via
fast cyclic Process Data Objects (PDO) that assign target positions, travel
speeds or acceleration specifications, for example.
3.1 Installation
Installation work is only admissible when no voltage is present. Observe the 5
safety rules.
Remove the additional covers before commissioning so that the device will not
overheat.
Note the minimum open areas specified in the technical data during installation
to prevent the drive controller from overheating.
Protect the device against falling parts (bits or strands of wire, pieces of metal,
etc.) during installation or other work in the control cabinet. Parts with
conductive properties may result in a short circuit or device failure within the
drive controller.
WARNING!
Danger of personal injury and material damage due to electric shock!
Always switch off all power supply voltage before working on the drive
controller! Note that the discharge time of the DC link capacitors is up to 5
minutes. You can only determine the absence of voltage after this time
period.
CAUTION!
Danger of material damage due for example to electrostatic discharge!
Take suitable protective measures when handling open printed circuit
boards, for example clothing appropriate for ESD and an environment free
of dirt and grease.
Do not touch the contact surfaces.
CA6 is installed on the upper slot of the drive controller.
You need:
• A Torx screwdriver TX10.
• The cover and screw included with the communication module.
Installation of the communication module
1. Loosen the fastening screw for the dummy cover on the top of the drive
controller.
2. Push the communication module into the drive controller on the guide
rails.
3. Push the module in so that the pin contacts are pushed into the female
connector strip.
4. Insert the tips of the cover included with the communication module into
the recess in the front at an angle.
5. Set the cover down on the drive controller so that the tips are resting under
the edge.
6. Fasten the cover with the two screws.
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Electrical installation
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Manual CANopen
4 Electrical installation
4.1 CAN bus - Network structure
CAN operates as standard with a linear topology where all subscribers
(masters and slaves) are connected to each other via three shielded lines:
CAN-High and CAN-Low; a line for the reference ground between the
subscribers is also provided.
To prevent superimposed data due to signal reflections at both bus ends and
so significantly reduce failure susceptibility, termination resistors of 120 Ω are
connected between CAN-H and CAN-L.
The following figure abstracts a CANopen network consisting of a MC6
controller as master as well as several SD6 drive controllers as bus
subscribers, i.e. slaves.
One of the two necessary termination resistors is integrated in the MC6
CANopen interface and permanently activated; the second must be connected
to the last subscribing SD6 (X200: sliding switch set to "On"). Connecting the
termination resistors is also necessary for very short lines.
4.2 Connection
To be able to connect individual drive controllers to each other or to the MC6
controller, CA6 and MC6 each have their own interfaces in the form of 9-pin
Sub-D connectors for connecting to the CAN bus system.
4.2.1 Selection of suitable lines
4.2.1.1 CAN cable and plug connector
CAN cable
CAN bus lines are available with different sheath materials for different
application scenarios and environmental conditions.
For the transfer of CAN signals, at least a 3-pin cable with CAN-High, CAN-Low
and a reference ground is required.
To ensure correct operation – particularly at high transfer rates – we
recommend using bus lines that meet the requirements stated in ISO 11898-2,
for example:
• Ripple resistance: 95 – 140 Ω
• Maximum mutual capacitance: 60 nF/km
• Conductor resistance: 70 mΩ/m
Plug connector
9-pin Sub-D connectors with metal housings or housings made of metalized
plastic are suitable as plug connectors at the start and at the end of a CAN bus
line; plug connectors with two cable inlets are advantageous for looping
through.
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Electrical installation
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Manual CANopen
4.2.1.2 Shielding
Above all, suitable shielding is essential at high transfer rates.
The shielding of the CAN cable is mounted under the strain relief of the
connector; the shielding is therefore connected to the drive controller via the
plug housing and the Sub-D connector.
Ensure continual shielding over the entire bus length.
4.2.1.3 Transfer speed and line length
The maximum length of a CAN bus line is dependent on the transfer speed, i.e.
the baud rate.
The following table shows the maximum permitted cable lengths (over the
entire extension of the bus) in combination with each of the possible baud
rates.
Note that the sensitivity of serial bus systems increases as the transfer speed
increases.
4.2.2 SD6 - Terminal X200
To be able to connect the drive controllers to each other, the CA6
communication module has a 9-pin Sub-D connector.
Terminal description X200
Baud rate (kbit/s) Maximum cable length (m)
10 5000
20 2500
50 1000
100 800
125 500
250 250
500 100
800 < 30, only with special cable ± 60 nF/km
1000 < 10, only with special cable ± 60 nF/km
Information
All drive controllers that are connected via a CAN network must
have the same baud rate.
Pin Designation Function
Connecto
r
1— —
2 CAN-L CAN-Low line
3 GND Reference ground
4— —
5— —
6— —
7 CAN-H CAN-High line
8— —
9— —
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Electrical installation
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Manual CANopen
4.2.3 MC6 - CANopen interface
To connect the SD6 drive controller with the MC6 controller, MC6 provides a
predefined CANopen interface.
The CANopen interface involves a SJA1000 CAN controller with physical
layers according to ISO 11898-2 (high-speed CAN). The interface is floating
and has a 120 ohm termination resistor that is permanently active and not
variable.
4.2.4 States of the bus communication
The state of the bus communication is apparent directly at the communication
module. CA6 is fitted with a green and a red LED. Both LEDs display
communication-specific states according to CiA DR-303-3 and thus allow for a
quick and easy diagnosis of the bus system directly at the drive controller.
Pin Designation Function
1— —
2 CAN-L CAN-Low line
3 GND Reference ground
4— —
5— —
6 GND Reference ground
7 CAN-H CAN-High line
8— —
9V
EXT
External supply voltage
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Electrical installation
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Manual CANopen
Green LED display
Red LED display
LED state Meaning
Off No error, no warning.
Flashing Drive controller is ready for parameterization for
the preparation of actual operation.
Single flash "Stopped" NMT state, all communication
activities are stopped.
On "Operational" NMT state, CAN bus is activated,
all services are in operation.
LED state Meaning Measure
Off No error, no warning. –
Single
Flash
Communication error
in operation mode
(Warning Level)
Check the bus cabling, shielding and
compliance with the CAN Specifications
regarding this.
Double
flash
Node Guard Event Check the Node Guard function of the
controller.
Triple
flash
SYNC error Check the SYNC configuration of the
controller.
On Bus off The SD6 concerned no longer
subscribes to the CAN communication.
Check the baud rate and bus cabling and
switch off the drive controller and then
switch on again.
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Commissioning - SD6 and MC6 with CANopen
5
Manual CANopen
5 Commissioning - SD6 and MC6 with
CANopen
You want to operate several SD6 drive controllers in conjunction with the
STOBER MC6 Motion Controller via a CANopen network.
The following chapter describes the commissioning of the stated systems with
the aid of the STOBER DS6 Software DriveControlSuite as well as the
CODESYS project planning software from the manufacturer 3S-Smart
Software Solutions GmbH.
To be able to implement the individual commissioning steps exactly, we require
the following system environment:
• STOBER Motion Controller MC6
• STOBER SD6A drive controller with CA6A communication module
• STOBER DS6 DriveControlSuite from version 6.0-F
• CODESYS from version 3.5
Commissioning is divided into the following steps:
1. DriveControlSuite: Configure drive controller
The CA6 communication module in conjunction with the CiA 402 device
controller are activated separately for each subscribing drive controller on
the bus system in the DriveControlSuite. Associated CANopen-specific
settings such as parameterization and assignment of the process data
channels are also configured for data transfer for each drive controller.
2. CODESYS: map and configure CAN network
CODESYS provides a platform in which the CANopen hardware
environment can be mapped, set up and saved as a global project
configuration. This project configuration is finally saved in the MC6
controller. The CODESYS software is thus the CAN interface for the
connection of all drive controllers in the CAN group to the MC6 controller.
5.1 DS6: Configure drive controller
To be able to configure all drive controllers of the bus system via the
DriveControlSuite, you must record them as part of a project. You then define
global CANopen settings and adapt the predefined communication objects and
their channels to your requirements.
Perform the steps included in the following chapters in the specified order!
5.1.1 Activate CA6 and CiA402
We recommend recording all drive controllers in the DriveControlSuite
subscribing to the bus system in one project and under one module.
1. Start the DriveControlSuite and click on Create new standard project.
The newly created project automatically includes a module, a drive
controller and an axis. You can rename these elements as desired.
2. Mark the (first) drive controller in the project tree and click on Project
planning.
The project planning window opens.
3. Select the Option modules tab and activate the communication module
CA6A CANopen.
4. Select the Device controller tab and activate (the latest version of) the
device controller CiA 402 CANopen.
5. Confirm with OK and close the subsequent information window.
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Commissioning - SD6 and MC6 with CANopen
5
Manual CANopen
5.1.2 Configure global CANopen settings
Requirement:
You have activated the CA6 module as well as the CiA 402 device controller.
1. Mark the drive controller concerned in the project tree and click on
Wizards > CANopen.
The CANopen wizard opens.
2. Configure CANopen as follows:
A213
Fieldbus scaling
Define how the PDO elements are represented
(scaled) for the transfer.
Permitted values:
Raw value (values are passed without change) or
integer (values are converted)
Default: raw value
A82
CAN baud rate
Define the transfer rate depending on the bus length.
Permitted value range: 10 – 1000 kbit/s
Default: 250 kbit/s
A83
Bus address
Enter the bus address (node ID) of the drive controller.
Permitted address range: 0 – 125
Default: 1
A203
Guard Time
Define the time between two consecutive remote
requests of the controller.
Permitted value range: 0 – 4000 ms
(0 = no monitoring)
Default: 0 ms
Note that the simultaneous use of Guard Time and
Heartbeat is not permitted! You can disable both
control services or enable one of them.
A204
Life Time Factor
Specify how high the number of remaining remote
requests from the controller must be before the drive
controller changes to the Fault state.
Permitted value range: 0 – 255
Default: 0.
Note:
The Life Time is the product of A203 x A204 and must
lie within the value range 0 – 65535 ms.
A210
Producer
Heartbeat Time
Define the time between two consecutive heartbeat
messages of the drive controller.
Permitted value range: 0 – 65535 ms
(0 = deactivated)
Default: 200 ms
Note that the simultaneous use of Guard Time and
Heartbeat is not permitted! You can disable both
control services or enable one of them.
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Commissioning - SD6 and MC6 with CANopen
5
Manual CANopen
5.1.3 Check PDO communication
The CA6 communication module allows the simultaneous operation of a
maximum of four independent PDO channels for each transmission and
reception direction.
Each of these PDO channels includes a PDO with a maximum of six elements
to be transmitted in a defined order.
The current default settings are recommendations of STOEBER
Antriebstechnik to ensure correct communication between controller and drive
controller.
The assignment of the COB-ID corresponds to the principle of "Predefined
Connection Sets". Only change this if you operate outside of the norm.
Due to the restricted transfer rate of the CAN bus, only two channels are active
in the CANopen PDO defaults.
The STOBER drive controller supports a flexible assignment of the elements to
be transmitted to the individual PDO. If you reconfigure this predefined PDO
mapping according to your requirements, note that the entire length of the
elements to be transmitted may not exceed 8 byte per channel.
5.1.3.1 Check receive PDO
Requirement:
You have activated the CA6 module as well as the CiA 402 device controller
and configured the global CANopen settings.
1. Mark the drive controller concerned in the project tree and click on
Wizards > CANopen > CANopen RxPDO.
The CANopen RxPDO wizard opens.
2. Check the default settings for the elements that are transmitted from the
controller in the direction of the drive controller.
A221[0]
COB-ID
COB-ID of the first RxPDO that is transmitted via this
channel.
A221[1]
Transmission Type
Transmission type of the RxPDO.
A225[0] – A225[5]
1st – 6th mapped
parameter
Elements that are transmitted via the first RxPDO of
this channel. The respective position (1st – 6th) has
information about the associated transmission order.
Resulting length Total length of the elements of the first RxPDO to be
transmitted. The value must not exceed 8 byte. To
comply with the value, change the type or number of
the elements to be transmitted in this channel if
necessary.
3. Repeat step 3 for all RxPDO channels that receive the "active" status.
4. Check the activity status of the channels and activate/deactivate it if
necessary by clicking on the green status light of a channel.
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Manual CANopen
5.1.3.2 Check Transmit PDO
Requirement:
You have activated the CA6 module as well as the CiA 402 device controller
and configured the global CANopen settings.
5.1.4 Transfer project configuration
To be able to transfer a project configuration to one or more drive controllers as
part of an IGB network, you must connect your computer to the network.
Requirement:
You have recorded all drive controllers of your bus system in the
DriveControlSuite in a project and under one module. The drive controller is
switched on.
1. Mark the drive controller concerned in the project tree and click on
Wizards > CANopen > CANopen TxPDO.
The CANopen TxPDO wizard opens.
2. Check the default settings for the elements that are transmitted from the
drive controller in the direction of the controller.
A229[0]
COB-ID
COB-ID of the first TxPDO that is transmitted via this
channel.
A229[1]
Transmission Type
Transmission type of the TxPDO.
A229[2]
Inhibit Time
Minimum time between the transmission of two PDO
elements.
A233[0] – A233[5]
1st – 6th mapped
parameter
Elements that are transmitted via the first TxPDO of
this channel. The respective position (1st – 6th) has
information about the associated transmission
order.
Resulting length Total length of the elements of the first TxPDO to be
transmitted. The value must not exceed 8 byte. To
comply with the value, change the type or number of
the elements to be transmitted in this channel if
necessary.
3. Repeat step 3 for all TxPDO channels that you want to set to the "active"
state.
4. Check the activity status of the channels and activate/deactivate it if
necessary by clicking on the green status light of a channel.
5. When you have recorded all drive controllers of your bus system in the
current project, continue by saving the project configuration and transfer
to the drive controller of your bus system.
1. Mark the module in the project tree under which you have recorded the
drive controller concerned and click on Establish connection.
The connection window opens.
2. Direct connection > Column IGB IP address tab:
Mark the IP address you want to connect with and confirm with OK.
The assignment window opens.
3. For each drive controller, assign the In project column, the Send to drive
controller action in the Method column and confirm the assignment with
Start.
The project file is transferred to the selected drive controller.
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5.1.5 Save project configuration
Requirement:
You have transferred the project configuration to a drive controller.
5.2 CODESYS: set up CAN network
CODESYS offers the option to map and configure your real CANopen
hardware environment and to make it available as a global project file of your
controller.
You can get the CODESYS software in the download area of the CODESYS
website.
Always comply with the following sequence of steps when mapping your
CANopen network in CODESYS.
5.2.1 Install EDS
The functions and properties of the STOBER drive controllers are described in
the form of numerous objects and summarized in an EDS file. Integrate this
"SD6-EDS" in the CODESYS library.
Preconditions:
You have downloaded the SD6-EDS from the STOBER download area and
saved it locally or copy it directly from the CD STOBER ELECTRONICS 6
during the installation process.
1. Mark the drive controller concerned in the project tree and click on
Wizards > Save action values.
The storage wizard opens.
2. Save the project configuration in the drive controller by setting A00[0] Start
to 1: active.
3. The configuration changes are only effective when the drive controller is
restarted. Click on Action System Reset.
The restart wizard opens.
4. Restart the drive controller by setting A09[0] Start to 1: active.
5. Restablish a connection to the drive controller.
6. Transfer and save the project configuration to all drive controllers of your
bus system.
1. Start CODESYS, create a standard project and save it.
CODESYS opens, the Devices view is active.
2. Click on Tools > Device repository > Install.
3. Navigate to the storage location of the SD6-EDS, mark it and click on
Open.
The EDS file is integrated in the CODESYS library.
4. Check the installation in the Device repository > Installed device
descriptions window:
Click on Fieldbuses > CiA CANopen > CiA Remote Device > SD6.
The SD6-EDS has been installed.
5. Close the Device repository window.
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5.2.2 Map CAN bus system
Map your real CAN bus system in the project by integrating a corresponding
hardware module in the CODESYS device tree.
5.2.3 Map CANopen Manager
Map your real CANopen Master (CANopen Manager) in the project by
integrating a corresponding hardware module in the CODESYS device tree.
Preconditions:
You have integrated a CAN bus system in the device tree.
5.2.4 Map drive controller
Map all SD6 drive controllers that you operate in your CANopen network in the
project by integrating the corresponding hardware modules in the CODESYS
device tree.
Preconditions:
You have integrated the SD6-EDS in the CODESYS library and a CANopen
Manager in the device tree.
1. Click in the device tree on Devices > left mouse button > Add device.
The Add device window opens.
2. Device > Manufacturer section:
Select 3S - Smart Software Solutions GmbH.
The devices of the manufacturer 3 S that may be mounted to the
current position in the device tree are displayed.
3. Click on CANbus and confirm with Add device.
The CAN bus system is mapped in the device tree.
4. Close the Add device window.
1. Click in the device tree on CANbus > left mouse button > Add device.
The Add Device window opens.
2. Device > Vendor section:
Select 3S - Smart Software Solutions GmbH.
The devices of the manufacturer 3 S that may be mounted to the
current position in the device tree are displayed.
3. Click on CANopen_Manager and confirm with Add Device.
The CANopen Manager is mapped in the device tree.
4. Close the Add Device window.
1. Click in the device tree on CANopen_Manager > left mouse button > Add
Device.
The Add Device window opens.
2. Device > Vendor section:
Select STOEBER ANTRIEBSTECHNIK GmbH &Co. KG.
The devices from STOBER that may be mounted to the current
position in the device tree are displayed.
3. Click on SD6 and confirm with Add Device.
The SD6 drive controller is mapped in the device tree.
4. Repeat step 3 for all drive controllers that exist in your real CANopen
network.
5. Close the Add Device window.
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5.3 Configure data exchange
Configure the data exchange between the drive controllers and controller via
the CAN bus system.
5.3.1 Configure CAN bus system
Configure the general communication properties of your CAN bus system.
5.3.2 Configure CANopen Manager
Configure the communication properties of your CANopen Manager.
We recommend only changing the default settings when you operate outside
of the norm or are prompted to do so in the following step directions.
1. Double click in the device tree on the module CANbus > Sub-tab CANbus.
The CANbus sub-tab opens.
2. Configure the CAN bus as follows:
Network Specify the number of the CAN bus system that
should be addressed.
Default: 0
Baudrate (bit/s) Specify the baud rate that you have defined in the
DriveControlSuite for this CAN bus.
Default: 250000
1. Double click in the device tree on the module CANopen_Manager > Sub-
tab CANopen Manager.
The CANopen Manager sub-tab opens.
2. General section:
Node ID Specify the bus address of the master. Permitted
address range: 0 – 127
Default: 127
Autostart
CANopenManager
The master changes automatically to operation
mode as soon as all necessary drive controllers are
ready for use.
Default: activated
Polling of optional
slaves
Every second the master queries the status of a
drive controller that does not provide a response
during the boot sequence until it receives a positive
response from it.
Default: activated
Start slaves The master is responsible for the start of the drive
controller.
Default: activated
NMT Start All
(if possible)
The master starts all drive controllers ready for use
with the command NMT Start All.
Default: deactivated
NMT Error
Behavior
Defines the behavior in the case of an error during
drive controller monitoring.
Default: Restart Slave
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