Stober SD6 Series User manual

Brand: Stober

Model: SD6 Series

Type: User manual

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

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

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

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

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

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

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

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

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

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

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— —

EXT

External supply voltage

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Electrical installation

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

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

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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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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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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Stober SD6 Series User manual

Stober SD6 Series User manual

Stober SD6 Series User manual

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