SYSTEM Electronics ETC-QUAD UL - Web Interface; Canopen Interface

page 15
January 2020 - Rev. 1.2
Order Cod. 1902503003
Forexample,ifonewantstoobtainaspeedof50000
microstep/s
2
,onemustcalculatethefollowing:
Theparameterswithonejerkdimensions(rstderivative
of acceleration)must be intended as unsigned 32-bit
integers;theseintegers(actuallyxedpointnumbers
informat0:32)areobtainedbymultiplyingby2
32
)the
numberofmicrosteps/cycle
3
.
For example, if one wants to obtain a jerk of 500
microstep/s
3
,onemustcalculatethefollowing:
7. WEB interface
Theaxesmanagementrmwarecontainsawebserver
thatallowstointerfacethedrivewithanybrowser.
Figure 7.1
From the Home Page one can access three dierent
pages:
1. “Firmwareinvalidation”and“drivereset”page.
Thispageisveryusefulifonewantstoupdatethe
axesmanagementrmwareviathebrowser.
2. Managementpage(partial)ofthedriveautomaton
state.
3. Webcontrolledmovementsmanagementpage.
NOTE:
The use of the last two pages listed requires the
drive being set (via the front keypad) in CANopen
communication mode (actually, CANopen/
Ethernet) and is strongly unadvised. Ethernet/
HTTP communication, in fact, is not real-time
and is not recommended for controlling motors;
it is only envisaged as an internal tool for System
Spa developers.
NOTE:
Do not connect the Ethernet cable during normal
operation of the drive and replace the connector
protection cap at the end of the operation.
8. CANopen interface
ThedriveisequippedwithaCANcommunicationport
andisdesignedtooperateasaCANopennodeandit
is actually allowed to set (via the front keypad) the
CANopencommunicationmode,aswellastheCANopen
node address, the bit rate (between 10 kbps and 1
Mbps), the insertion of the termination resistor and
theslopecontrol(intheeventthetransmissionrateis
particularlyhigh,i.e.above500kbps).
At present, however, there is NO CANopen object
implemented that allows the use of the drive for axes
management.
Defaultconguration:
• Transmissionspeed500Kbit
• TerminationNOTinserted
• Slopeinserted
For settings refer to paragraphs 3.2.5, 3.2.6 and
3.2.7.
Connection to the CAN network
The physical medium used for the connection is a
shieldedtwo-wirecable.Thearrangementofthenodes
mustbesuchthattheterminationresistorsareplaced
atthetwoendsofthenetwork;itisalsoadvisableto
maketheconnectionsavoidingTconnections.
Figure 8.1
120 ohm
120 ohm
Acceleration = 50000 microstep/s²
50000 * 65536
3906.25²
= 214 (format 16:16)
Jerk = 500 microstep/s²
500 * 2³²
3906.25³
= 36 (format 0:32)