Infranor XtrapulsPac - Content; Table of Contents

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X
trapul
s
Pac – User Guide
Content
Content
CONTENT ............................................................................................................................................... 3
CHAPTER 1 - GENERAL DESCRIPTION .............................................................................................. 5
1.1 - INTRODUCTION ............................................................................................................................... 5
1.2 - ARCHITECTURE ............................................................................................................................... 6
1.3 - OTHER DOCUMENTS ........................................................................................................................ 7
CHAPTER 2 - COMMISSIONING ........................................................................................................... 8
2.1 - PC SOFTWARE INSTALLATION ......................................................................................................... 8
2.2 - STARTING THE SOFTWARE ............................................................................................................. 10
2.3 - DRIVE COMMUNICATION ................................................................................................................ 10
2.4 - PARAMETER SETTING ................................................................................................................... 11
2.4.1 - Configuration of the drive ..................................................................................................... 11
2.4.2 - Configuration of the motor ................................................................................................... 11
2.4.2.1 - Selection in the motor list .............................................................................................................. 11
2.4.2.2 - Manual motor configuration .......................................................................................................... 12
2.4.2.3 - Linear motor configuration ............................................................................................................ 14
2.4.3 - Position sensors .................................................................................................................. 15
2.4.4 - Servo loops adjustment ....................................................................................................... 17
2.4.5 - Configuration of the drive Enable ........................................................................................ 20
2.4.6 - Quick test of the servo drive ................................................................................................ 20
2.4.7 - Logic Inputs ......................................................................................................................... 22
2.4.8 - Logic Outputs ....................................................................................................................... 23
2.4.9 - Logic I/Os extension ............................................................................................................ 24
2.4.10 - Braking Resistor ................................................................................................................ 24
2.5 - DRIVE PARAMETER SAVING ........................................................................................................... 24
2.6 - OSCILLOSCOPE ............................................................................................................................ 25
2.7 - DIALOG TERMINAL ......................................................................................................................... 25
CHAPTER 3 - REFERENCE ................................................................................................................. 26
3.1 - CANOPEN COMMUNICATION .......................................................................................................... 27
3.1.1 - Communication objects ....................................................................................................... 27
3.1.1.1 - CAN Telegram .............................................................................................................................. 27
3.1.1.2 - Default COB-ID ............................................................................................................................. 28
3.1.1.3 - Network Management Objects ...................................................................................................... 28
3.1.1.4 - Synchronisation Object ................................................................................................................. 29
3.1.1.5 - Process Data Objects (PDO) ........................................................................................................ 31
3.1.1.6 - Service Data Objects (SDO) ......................................................................................................... 43
3.1.1.7 - Emergency Objects ...................................................................................................................... 44
3.1.1.8 - Node Guarding ............................................................................................................................. 45
3.1.2 - Network Initialisation ............................................................................................................ 45
3.1.2.1 - NMT State Machine ...................................................................................................................... 45
3.1.2.2 - Bootup Protocol ............................................................................................................................ 47
3.1.2.3 - Initialisation procedure .................................................................................................................. 47
3.2 - DEVICE PROFILE ........................................................................................................................... 48
3.2.1 - Device Control ..................................................................................................................... 48
3.2.1.1 - Drive State Machine ..................................................................................................................... 48
3.2.1.2 - Error & Warning ............................................................................................................................ 57
3.2.1.2.1 - Error ....................................................................................................................................... 57
3.2.1.2.2 - Warning .................................................................................................................................. 66
3.2.1.2.3 - I²t Protection ........................................................................................................................... 67
3.2.1.2.4 - Braking resistor Protection ..................................................................................................... 68
3.2.1.3 - Stop Operation .............................................................................................................................. 69