20.4.1 Basic Features implemented by CANopen
It is assumed that the basic operating functions of the communication profile are known and available as ref-
erence documentation. When working with the position controller that is integrated in AKD, the following func-
tions are available:
20.4.1.1 Setup and general functions:
l Homing, set reference point
l Provision of a digital setpoint for speed and torque control
l Support of the following modes of the CANopen Profile DS402:
l Profile position mode
l Homing mode
l Profile torque mode
l Interpolated position mode
l Profile velocity mode
20.4.1.2 Positioning functions:
l Execution of a motion task from the motion block memory of the drive
l Execution of a direct motion task
l Absolute trajectory, ip-Mode
20.4.1.3 Data transfer functions:
l Transmit a motion task to the drive's motion block memory. A motion task consists of these elements:
l Position setpoint (absolute task) or path setpoint (relative task)
l Speed setpoint
l Acceleration time, braking time
l Type of motion task (absolute/relative)
l Number of a following task (with or without pause)
l Read a motion task from the motion block memory of the drive
l Read actual values
l Read the error register
l Read the status register
l Read/write control parameters
20.4.2 Transmission Rate and Procedure
l Bus connection and bus medium: CAN-standard ISO 11898 (CAN high-speed)
l Transmission rate: max. 1Mbit/s
l Possible settings for the drive: 125 (default), 250, 500 and 1000 kbit/s
20.4.3 Response to BUSOFF Communication Faults
The communication fault BUSOFF is directly monitored and signaled by Level 2 (CAN controller). This message
may have various causes. A few examples:
l Telegrams are transmitted, although there is no other CAN node connected
l CAN nodes have different transmission rates
l The bus cable is faulty
l Faulty cable termination causes reflections on the cable.
A BUSOFF is only signaled by the AKD, if another CAN node is connected and at least one object was suc-
cessfully transmitted to start off with. The BUSOFF condition is signaled by the error message 702. If the output
stage is enabled at the moment when this fault occurs, the output stage is disabled.
AKD User Guide |
Kollmorgen | December 2010 38
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