Parker Hauser COMPAX-S Series - 1 Content; Table of Contents

COMPAX CANopen
2
1 Content
1 Content ..................................................................2
2 Device assignment ...............................................3
3 General................................................................... 4
4 Bus Wiring............................................................. 4
Design.............................................................................4
4.2 CAN-Bus components ..........................................5
4.3 Device Settings......................................................5
4.3.1 Node ID (Device address)............................5
4.3.2 Baud rate .....................................................5
4.4 Bus setting via front panel ...................................6
4.5 Data types ..............................................................7
4.5.1 Integer..........................................................7
4.5.2 Unsigned......................................................7
5 Object types ..........................................................8
6 Object list............................................................... 9
6.1 Overview of communication-specific objects ....9
6.2 General objects ...................................................10
6.2.1 Device type ................................................10
6.2.2 Error register..............................................10
6.2.3 Number of PDOs........................................11
6.2.4 COB-ID SYNC............................................11
6.2.5 Communication cycle period......................11
6.2.6 Synchronization window length..................12
6.2.7 Device name..............................................12
6.2.8 Hardware version.......................................12
6.2.9 Software version ........................................12
6.2.10 Node number (address, node ID) ..............13
6.3 Node guarding (node guarding).........................14
6.3.1 COB-ID for node guarding (node
guarding)....................................................14
6.3.2 Guard period (node guarding)....................14
6.3.3 Lifetime factor (node guarding)..................14
6.4 Emergency...........................................................15
6.4.1 COB-ID EMCY ...........................................15
6.4.2 Emergency message.................................15
6.5 Boot-up object.....................................................15
6.6 Service data objects............................................16
6.6.1 Number of SDOs........................................16
6.6.2 Server SDO1 parameters...........................16
6.6.3 Server SDO2 parameters...........................17
6.7 Transmission of process data to COMPAX .....18
6.7.1 Communication parameters for receiving
PDO1 (R-PDO1) ........................................18
6.7.2 Communication parameters for receiving
PDO2 (R-PDO2) ........................................19
6.7.3 Mapping-Parameter receiving PDO1 (R-
PDO1)........................................................20
6.7.4 R-PDO control............................................21
6.7.5 Mapping parameter for receiving PDO2
(R-PDO2) .................................................. 22
6.8 Reading process data from COMPAX............... 23
6.8.1 Communication parameters for
transmission PDO1 (T-PDO1)................... 23
6.8.2 Communication parameters for
transmission PDO2 (T-PDO2)................... 24
6.8.3 Mapping parameters for transmission
PDO1 (T-PDO1)........................................ 25
6.8.4 Mapping parameters for transmission
PDO2 (T-PDO2)........................................ 26
6.9 Control................................................................. 27
6.9.1 Selection code operating mode................. 27
6.9.2 Operating mode display............................ 27
6.9.3 Control byte............................................... 28
6.9.4 Status byte ................................................ 28
6.9.5 COMPAX control word .............................. 29
6.9.6 CPX_ZSW................................................. 30
6.9.7 Control word.............................................. 30
6.9.8 Status word ............................................... 31
6.9.9 Pop-up message processing..................... 31
6.9.10 Control commands.................................... 32
6.9.11 COMPAX commands ................................ 33
6.9.12 COMPAX parameters................................ 33
6.10 Diagnostics ......................................................... 34
6.10.1 Status S6................................................... 34
6.10.2 Status S9................................................... 34
6.10.3 Status S10................................................. 34
6.10.4 Status S11................................................. 35
6.10.5 Status S16_S17 ........................................ 35
6.10.6 Status S23_S26 ........................................ 35
6.10.7 Status S30................................................. 36
6.10.8 Error .......................................................... 37
6.11 Torque, power, voltage ...................................... 38
6.11.1 Maximum permissible motor torque .......... 38
6.11.2 Motor rated torque..................................... 38
6.11.3 Torque actual value................................... 38
6.11.4 Status S5................................................... 39
6.11.5 Motor nominal current ............................... 39
6.11.6 Intermediate circuit voltage ....................... 39
6.11.7 Status S7_S8 ............................................ 40
6.12 Positioning.......................................................... 41
6.12.1 Position target ........................................... 41
6.12.2 Position actual value ................................. 41
6.12.3 Status S2................................................... 42
6.12.4 Status S12................................................. 42
6.12.5 Real zero................................................... 42
6.12.6 Limits......................................................... 43
6.12.7 Positioning window.................................... 43
6.12.8 Lag error window....................................... 43
6.12.9 Status S3................................................... 44
6.12.10 Polarity ...................................................... 44
6.12.11 Reference movement selection................. 44
6.12.12 Traverse rate and set point position
default ....................................................... 45
6.13 Speed................................................................... 46