Servoone

ServoOne
User Manual
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The bus modules for
ServoOne
This guide is currently subject to approval testing and is therefore
! not yet final and complete.

The technical data and agreed properties are therefore provisional
and still subject to change in line with further technical developments.
User Manual ServoOne

CANopen/EtherCAT
ID No.: 1100.28B.0-00
Status: 11/2007
We reserve the right to make technical changes.

How to use the document
1 General 1
2 Mounting and connection of CANopen 2
3 Mounting and connection of EtherCAT 3

Dear User
4 Commissioning and configuration of CANopen 4
This manual is intended for project engineers, commissioning engineers or program-
mers of drive and automation solutions on the CANopen and EtherCAT field bus. It is 5 Commissioning and configuration of EtherCAT 5
assumed that you are already familiar with these field bus systems through appropriate
6 Setting the device parameters for CANopen 6
training and from reading the relevant literature. We assume that your drive is already in
operation
7 Setting the device parameters for EtherCAT 7
– if not, you should first consult the Operation Manual.
8 Implemented DS402 functionality 8
This manual applies for the position controller system ServoOne, so you will
see only the abbreviation SO below. 9 Operation modes DS402 9
10 Emergency Objects 10
11 EDS file, object directory parameter list 11
12 Bibliography 12
13 Appendix glossary 13
14 Index 14
User Manual CANopen/EtherCAT

Pictograms
! Important! Misoperation may result in damage to the drive or malfunc-

tions.
Danger from electrical voltage! Improper behaviour may endanger human

life.
Danger from rotating parts! Drive may start up automatically.
Note: Useful information

Contents
4 Commissioning and Configuration of CANopen...............................................................19
4.1 Commissioning..............................................................................................................19
4.2 Commissioning sequence...............................................................................................19
How to use the document.......................................................................................................... 3 4.2.1 Setting the software address and Baud rate.........................................................20
4.3 Commissioning instructions...........................................................................................20
Pictograms............................................................................................................................... 4
4.4 Testing the higher-order controller.................................................................................20
4.5 Data handling................................................................................................................21
1 General Introduction............................................................................................................ 7
4.5.1 Saving the settings...............................................................................................21
1.1 Measures for your safety................................................................................................. 7 4.5.2 Restoring factory defaults....................................................................................21
1.2 Introduction to CANopen............................................................................................... 7 4.6 Commissioning via DriveManager. ..................................................................................21
1.3 Introduction to EtherCAT................................................................................................ 8 4.7 Control functions.......................................................................................................... 22
1.4 System requirements....................................................................................................... 8 4.8 Operation mode selection (Modes of operation)........................................................... 22
1.5 Further documentation................................................................................................... 8 4.8.1 Functionality of operation modes........................................................................ 23
2 Mounting and Connection of CANopen............................................................................. 9 5 Commissioning and Configuration of EtherCAT.............................................................. 25
2.1 Setting the address......................................................................................................... 9

2.2 Meanings of LEDs...........................................................................................................10 6 Setting the Device Parameters for CANopen................................................................... 27
2.3 Installation.....................................................................................................................11
6.1 Implemented DS301 functionality..................................................................................27
2.3 Transmission speeds.......................................................................................................13
6.1.1 Communication objects.......................................................................................27
2.4 Display of the operating states via 7-segment display.....................................................13
6.1.2 Object directory of DS301....................................................................................27
2.5 Hardware enable............................................................................................................14
6.2 Parameter channel (Service Data Objects).......................................................................28
6.2.1 Data types...........................................................................................................29
3 Mounting and Connection of EtherCAT............................................................................15
6.2.2 Representation of data types in the control protocol............................................29
3.1 Installation and cabling..................................................................................................15 6.2.3 Access to device parameters............................................................................... 30
3.2 Pin assignment of the RJ-45 socket................................................................................16 6.3 Examples of SDO handling............................................................................................ 30
3.3 Meanings of LEDs...........................................................................................................17 6.3.1 Parameter set download......................................................................................33
3.4 Display of operating states via 7-segment display...........................................................18 6.4 PDO transmission types................................................................................................. 34
3.5 Hardware enable............................................................................................................18 6.5 Event-controlled TxPDO transmission............................................................................ 34

6.6 PDO mapping.................................................................................................................35 9.2 Profile Velocity Mode.....................................................................................................53

6.6.1 Mapping - general...............................................................................................35 9.2.1 Mode-dependent bits in the control word.......................................................... 54
6.6.2 Mapping notes.....................................................................................................35 9.2.2 Mode-dependent bits in the status word............................................................ 54
6.7 Heartbeat function........................................................................................................ 36 9.3 Homing mode................................................................................................................55
9.3.1 Mode-specific bits in the control word................................................................ 56
7 Setting the Device Parameters for EtherCAT.................................................................... 37 9.3.2 Mode-specific bits in the status word................................................................. 56
7.1 Supported EtherCAT functionality..................................................................................37 9.4 Profile position mode.....................................................................................................57
7.2 Configuration for the operation in a controller.............................................................. 40 9.4.1 Mode-specific bits in the control word................................................................ 58
9.4.2 Mode-specific bits in the status word................................................................. 58
8 Implemented DS402 Functionality.....................................................................................41 9.4.3 Functional description......................................................................................... 58
8.1 Device control and state machine...................................................................................41

10 Emergency Objects..............................................................................................................61
8.1.1 General information.............................................................................................41
8.1.2 State machine......................................................................................................41 10.1 Error acknowledgement, general...................................................................................61
8.1.3 Device states........................................................................................................42 10.2 Error acknowledgment via bus system...........................................................................61
8.2 Option codes................................................................................................................. 44

11 EDS File, Object Directory Parameter List......................................................................... 63
8.3 Device control objects ...................................................................................................45
8.4 Units and scalings, factor group.....................................................................................45 11.1 EDS file, object directory............................................................................................... 63
8.5 I/O map, object 60FDH..................................................................................................47
8.5.1 Object 60FDh – Digital inputs..............................................................................47 12 Bibliography........................................................................................................................ 65
8.5.2 Object 2079h – MPRO_INPUT_STATE................................................................. 48

8.5.3 Object 208Fh – MRPO_OUTPUT_STATE.............................................................. 48 13 Appendix Glossary.............................................................................................................. 67
9 Operation modes DS402..................................................................................................... 49 Index........................................................................................................................................... 69
9.1 DS402 compatible operation modes............................................................................. 49

9.1.1 Parameter setting of ServoOne for activation via DS402:.................................... 49
9.1.2 Control word DS402........................................................................................... 50
9.1.3 Status word DS402..............................................................................................51

1 General Introduction 1.2 Introduction to CANopen
CANopen is an interconnection concept based on the CAN (Controller Area Network)
serial bus system. CAN has many specific advantages, in particular multi-master capabi-
lity, real-time capability, resistant response to electromagnetic interference and the high
1.1 Measures for your safety level of availability and low cost of controller chips. These advantages have resulted in
CAN being introduced into widespread use in automation too.
The ServoOne family drive devices are quick and safe to handle. For your own safety and
for the safe functioning of your device, please be sure to observe the following points:
Simplified cross-manufacturer communication
Read the Operation Manual first The integration of any number of devices in a manufacturer-specific network involves
substantial expense. CANopen was developed to solve this problem. In CANopen the
1.
use of CAN identifiers (message addresses), the time response on the bus, the network
• Follow the safety instructions management (e. g. system start and user monitoring) and coding of the data contents
is specified in a uniform way. CANopen makes it possible for devices from different
manufacturers to communicate in a network at minimal cost. CANopen uses a subset
Electric drives are dangerous: of the communication services offered by CAL to define an open interface. The selected
• Electrical voltages > 230 V/460 V: CAL services are summarised in a kind of “user guide“. This guide is called the CANopen
Dangerously high voltages may still be present 10 minutes after
the power is cut. So always make sure the system is no longer live.
Communication Profile.
• Rotating parts
• Hot surfaces
Your qualification:
CANopen functionality of ServoOne
• In order to prevent personal injury and damage to property, only
personnel with electrical engineering qualifications may work on the The CANopen Communication Profile is documented in CiA DS-301 and regulates “how“
device. communication is executed. It distinguishes between process data objects (PDOs) and
• Knowledge of national accident prevention regulations (e. g. VBG4 service data objects (SDOs). The Communication Profile additionally defines a simplified
in Germany)
• Knowledge of layout and interconnection with the CAN bus field bus
network management system.
During installation observe the following instructions: Based on the communication services of DS-301 (Rev. 4.01), the device profile for vari-
• Always comply with the connection conditions and technical specifi-
U
able-speed drives DSP-402 (Rev2.0) was compiled. It describes the operation modes and
cations.
U
V
V
N
N
L+
RB
L-
L+
RB
L-
• Electrical installation standards, e.g. for cable cross-section, shiel- device parameters supported.
ding, etc.
L3
L3
L2
L2
L1
L1
• Do not touch electronic components and contacts (electrostatic The following sections will provide you with an overview of the CANopen functionality
discharge may destroy components). integrated in ServoOne. There then follows the information necessary for commissioning.
[Chapter 1]

1.3 Introduction to EtherCAT 1.5 Further documentation

As far as real-time Ethernet systems are concerned, EtherCAT has become well es- • Operation Manual, for commissioning of the drive unit
tablished in the area of automation. The decisive factor here is not only the IEEE802.3/ • Application Manual, for additional parameter setting to adapt to the application.
100BaseTX Ethernet physics known in the home office area, but also the excellent value The Application Manual can be downloaded as a PDF file from our website at
for money with regard to implementation in the master and slave modules. http://www.lust-tec.de. Follow the Service link.
• CiA DS-301 (Rev. 4.0): Application Layer and Communication Profile
Interconnection can be optionally executed in a star, ring or line structure using standard
patch or crossover cables and is therefore easily adapted to the machine infrastructure. • CiA DSP-402 (Rev. 2.0): Device Profile Drives and Motion Control
• EtherCAT Communication Specification Version 1.0 2004
To reduce the amount of training required, familiar communication and device profiles • EtherCAT Indicator Specification Proposal V0.91 2005
were used as of the application layer. In this way, users familiar with CANopen profiles
• IEC61158-2-12 to IEC61158-6-12
such as CiA DS301 or DSP402 can change over to this new field bus technology with
minimal training.
In ServoOne we have combined all our past experiences in the CANopen area with this
new field bus technology and achieved maximum compatibility and functionality.
1.4 System requirements

It is assumed you have a standard CANopen setup program and a CANopen interface
driver.
For the precise protocol definitions refer to the CAL specification.
With the aid of these objects it is possible to configure the actual CANopen communica-
tion very flexibly and adapt it to the specific needs of the user.

2 Mounting and Connection Three possible methods of address assignment
of CANopen
1. Only using bus address parameter 2005-COM_CAN_Adr: You will find parameter
2005-COM_CAN_Adr (factory setting 1) in the “field bus“ subject area under
CANopen.
2. Only using DIP switch S4
Attention: Do NOT insert or remove the CANopenconnector during opera- . Combination of bus address parameter and DIP switch S4
! tion. CAN address = hardware address (S4) + Parameter 2005-COM_CAN_Adr

This option is advantageous, for example, if you intend always to use the same
parameter set with up to 15 drives, but the lowest address is 30. Parameter
2005-COM_CAN_Adr is then set to 30. The device address is then defined using
the coding switch, which ranges from 0-15.
2.1 Setting the address
L
3
L
2
L
1
11
ϑ+ x
ϑ-
ϑ+
ϑ+
ϑ-
ϑ-
ϑ+
ϑ-
10 8
Step Action Note

x
9
x
7
x
6
x
1.
56
Find out which address is assigned to S e rv
Ask your project engineer. onoe
the module you are installing. x1
x2
2.
Select the mode of addressing: x3
• by bus address parameter REL
See below
REL 24
12
23 RSH
ISD 11
SH RSH
ISD
06
22
10 x4
• by DIP switch (S4)
ISD 21 ENP
05 9 O
20 OSD
ISD 8 02
04 OSD
ISD 19
03 7 01
ISD 18 OSD
02 6 00
ISD 17 ISA
01 5 1-
16 ISA
• by bus address parameter and DIP switch (S4)

ISD 4 1+
00
+24 15 ISA
3 0-
V 14 ISA
DGN 2 0+
D 13 +24
1 V
DGN
D
h 14
x5
h 15
Address setting finished; for further procedure see Installation.
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1 2 3 4 5 6 7 8
s4
AC
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de
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x33
Pay timedischarg
Bet zeit enen

atte
ope ntio> 3 mine
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on to the.
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ual! rieb > 3 t-
sanl min
.
x32
beaceitung
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Cap
R
acito NIN !
r
Pay tim discha G
at e rg
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io i
Figure Position of CAN connection on ServoOne
[Chapter 2]

User Manual CANopen/EtherCAT 10
Address setting using DIP switch IMPORTANT: Switch 8 = Bus termination!!!
An address between 0 and 127 can be decimally selected using DIP switch S4 on the !
position controller.
Note: Changes to the CAN address are applied on a
The DIP switch is assigned as follows: Positions 1-7 are reserved for the address setting, - Reset node command
position 8 for the activation/deactivation of the 120 Ohm bus termination in the device. - Restart (device power-up).
Function/assignment:
Note: The active bus address can be found in the boot-up message.
Dip switch 1 - ð significance 20 = 1
...
Dip switch 7 - ð significance 26 = 64 2.2 Meanings of LEDs
Dip switch 8 = Bus termination ON/OFF The CAN option of ServoOne has two diagnosis LEDs (H14, H15).
1 2 3 4 5 6 7 8
h 14
h 15
1 2 3 4 5 6 7 8
s4
Figure DIP switch AC
Kon HT
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lad nsato G
Be ezeit renen
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Ca
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Example of use of the DIP switches: IN

itor
Pay tim disch
a e
G
arg
ope ttenti > 3 m e
rati on in.
on to th
ma e
nua
l!
Setting address “3“ using the Dip switch: x32

- ð Set switch 1 and switch 2 to ON
- ð 20 + 21 = 3
- ð Resultant device address = 3
- ð (If the software address = 0 is set)
Figure Device with CANopen option

The LEDs have the following function: 2.3 Installation
LED Function Meaning
The LED displays the current network state.

• NMT STOPPED Step Action Note
ð flashing with 800 ms cycle
1.
CANopen • NMT PRE-OPERATIONAL
H14 (yellow LED)
network state Make sure the hardware enable is wired on
ð flashing with 1600 ms cycle see Operation Manual
ServoOne (X4).
• NMT OPERATIONAL
ð permanently lit.
Wire the CAN connection using connector X32
2.
Voltage supply CAN Permanently lit, if the 24V supply of the option
H15 (green LED) • Connection of CAN signal cables see Specification of CAN bus
option from CAN bus applies.
• Connection of interface power supply connection table and Assign-
Table Meanings of LEDs • Activation of the internal bus terminating ment of connection X19 table
resistor on the final drive controller
3. Switch on the drive device.
Electrical installation is finished; for how to proceed further, refer to section 4

“Commissioning and configuration“.
The CANopen interface is integrated in ServoOne. The connection is made via connec-
tor X32. The interface is isolated from the drive controller electronics. The supply to the
isolated secondary side is provided by the customer via connector X32.
[Chapter 2]

Connection Spring-type terminal

SPS/PLC
120 W (internal)
1
1
2
2
3
Wave terminating resistance

4
4
5
5
6
6
7
7
8
8
9
Activation of the bus termination in the device

10
10
11
11
12
12
13
13
14
14
- Bus termination -
15
15
16
16
17
17
18
18
19
19
20
20
via switch 8 in the CAN option
CAN-Bus Max. Input frequency 1 MHz

+24 V +25 %, 50 mA
Ext. voltage supply
(isolated from drive controller)
Voltage ripple Max. 3 Vss
L3
L3
L2
L2
L1
L1
11 11
x
ϑ+
ϑ-
ϑ+
ϑ+
ϑ-
ϑ+
Current consumption Max. 50 mA per user

ϑ+
ϑ+
ϑ- ϑ-
ϑ-
ϑ-
ϑ+
ϑ+
ϑ-
ϑ-
10 8 10 8
x
x
x
9 9
x
7 7
x
6 6
x
Se rvo
one
56
Se rvo
one
56
Cable type 4-wire, surge impedance 120 W
x1 x1
x2 x2
Table Specification of CAN bus connection
24 VDC REL
REL 24
12
ISDSH 23 11
RSH
x3
REL
REL 24
12
ISDSH 23 11
RSH
x3
ISD06 22 10 RSH ISD06 22 10 RSH

ISD05 21
9
ENPO x4 ISD05 21
9
ENPO x4
OSD02 OSD02
ISD04 20 8 ISD04 20 8
OSD01 OSD01
ISD03 19 7 ISD03 19 7
ISD02 18 6 OSD00 ISD02 18 6 OSD00
ISD01 17 5 ISA1- ISD01 17 5 ISA1-
ISD00 16 4 ISA1+ ISD00 16 4 ISA1+
+24 15 3 ISA0- +24 15 3 ISA0-
V V
DGND 14 2 ISA0+ DGND 14 2 ISA0+
13 +24 13 +24
1 V 1 V
DGND DGND
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C In: C In:
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LISTEDUS Out: LISTEDUS Out:
Ind. 00.0 Ind. 00.0
Cont. Cont.
19BB
Eq.
19BB
Eq.
SN.: SN.:
Terminal X32 PIN PIN Function Description

L1 N L- L+
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
ACHT
Kondens
ACHT
Kondens
UNG UNG
ladezeitatorenen
Betriebs
> 3 t-
s4 ladezeitatorenen
Betriebs
> 3 t-
s4
min.
anleitun min.
anleitun
WAR
Capacito
beachte
NING
g
n! x19 WAR
Capacito
beachte
NING
n!
g
x19
r r
Pay timedischarg Pay timedischarg
attention attention
operatio > 3 min.e operatio > 3 min.e
to
n manual! to
n manual!
the the
10 5 CAN_+24V external 24V supply

9 4 CAN_H CAN High
Figure System connection
8 3 CAN_SHLD CAN Shield (optional)
7 2 CAN_L CAN Low
6 1 CAN_GND CAN Ground (0V)
Table Assignment of connection X19
Note: Both connectors of terminal X32 are connected to each other in the
device.
Note: The external 24 V supply for the option board is essential. It is not sup-
plied by the device.

2.3 Transmission speeds 2.4 Display of the operating states via 7-segment display
The CAN bus can be operated at the following Baud rates:
Transmission Maximum line length across D1 D2 Meaning Parameter

speed the complete network 1)
System states
1000 kBaud 25 m Factory setting
8. 8. Device in reset state
500 KBaud 100 m
250 kBaud 2) 250 m
0. Auto-initialisation on device startup (Start)
125 kBaud 2) 500 m S.* )

1. 1) Not ready to switch on (no DC-link voltage) (NotReadyToSwitchOn)
1) Switch-on inhibit (DC-link is OK, power stage

50 kBaud 3) 1000 m S.* )
2. not ready)
(SwitchOnDisabled)
25 kBaud 3) 2500 m
3. Ready to switch on (power stage is ready) (ReadyToSwitchOn)
1) Rounded bus length estimation (worst case) on basis 5 ns/m
propagation delay and a total effective device internal in-out
delay as follows:
4. On (power is connected to the device)2) (SwitchedOn)
1M-800 kbit/s: 210 ns Drive ready (current applied to drive and drive
500 - 250 kbit/s: 300 ns (includes 2 * 40 ns for optocouplers) 5. ready for reference input) 2)
(OperationEnable)
125 kbit/s: 450 ns (includes 2 * 100 ns for optocouplers)
50 -10 kbit/s: Effective delay = delay recessive to dominant plus
dominant to recessive divided by two.
6. Quick stop 2) (QuickStopActive)
2) For bus length greater than about 200 m the use of optocouplers is recommended. If optocouplers are 7. Fault response active 2) (FaultReactionActive)
placed between CAN Controller and transceiver this affects the maximum bus length depending upon
the propagation delay of the optocouplers i.e. -4m per 10 ns propagation delay of employed optocoup-
ler type.
E R Fault (see below) (Fault)
3) For bus length greater than about 1 km bridge or repeater devices may be needed. Displayed in the event of a fault
Table Transmission speeds E R. Display for errors or non-acknowledgeable errors
X X Error number (decimal)
When selecting the transmission rate it should, however, be ensured that the line length Y Y Error localization (decimal)
does not exceed the permissible line length for the transmission rate in question. 1) S. flashes, if the function STO (Safe Torque Off) is active, the display is not lit if the function is not
active.
*) It does not involve a “safe display“ under the terms of EN 61800-5-2.
2) The point flashes if the power stage is active.
[Chapter 2]

Example of the flash sequence:
� ER > 02 > 05 * ER > 02 > 05 ...
Error: ER = “Fault“
Error name: 02 = “Error in the parameter list“
Description of error: 05 = “Function for checking current parameter list“
2.5 Hardware enable

ServoOne has a control input for ENPO hardware enable on the control terminal.
This input must be configured to operate the power stage at 24 V.
The device also provides the function “STO (Safe Torque Off)“ (see Operation Manual or
Application Manual ServoOne), category 3, control terminal ISDSH. For these devices the
relevant function logic must be implemented by way of the higher-order controller as
per the Application Manual.
Note: Without configuration of the inputs ENPO and ISDSH the device stays
in state 1 = “Not Ready to Switch On“ or 2 = “Switch On Disabled“.
Only after correct configuration can the state be exited by a “Shutdown“
command via bus.

3 Mounting and Connection IN and OUT socket (RJ-45 input/output)
of EtherCAT
Each EtherCAT slave has two RJ-45 sockets. The upper port (X15) is the (IN) input and
the lower port (X16) is the (OUT) output of the slave. The incoming cable (from the
direction of the master) is connected using the IN port, the outgoing cable is connected
to the next slave using the OUT port. The OUT port remains blank for the last slave in
the series. In the case of a slave an open output leads internally to a logical short circuit
of the transmit (Tx) and receive (Rx) cables. For this reason every EtherCAT network can
3.1 Installation and cabling be regarded as a logical ring in terms of its topology.
Setup of the EtherCAT network
L
3
L
2
L
1
11
x
In an EtherCAT network there is always one EtherCAT master (e. g. an industrial PC) ϑ-
ϑ+
and a variable number of slaves (e. g. servo controller, bus terminals etc.). Each Ether-
ϑ+
ϑ+
ϑ-
ϑ-
ϑ+
ϑ-
10 8
x
x
9
x
CAT slave has two Ethernet ports. Slave to slave cabling is thus possible. All EtherCAT 7
x
users are generally put together in a line with the master at the beginning of the circuit.
6
x
56
On the last slave in the line the second Ethernet port remains open. S e rv
onoe
x1
x2
IPC x3
REL
REL
ISD
ISD
ISD
SH
06
24
23
22
21
12
11
10
RSH
RSH
ENP
O
x4
x15
05 9
20 OSD
ISD 8 02
04 OSD
ISD 19
03 7 01
ISD 18 OSD
02 6 00
ISD 17 ISA
01 5 1-
ISD 16 ISA
00 4 1+
+24 15 ISA
3 0-
V 14 ISA
DGN 2 0+
D 13 +24
1 V
DGN
D
AC
56 56 56 Ko HT
x5
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.:
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x2 x2 x2
x15
Ca
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Pay tim disch
NIN
G
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x16
x3 x3 x3
a e arg
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AC
Kon HT
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Bet zeit rene
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on to th
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Cap
acit RN
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x 16
REL 24 12 RSH REL 24 12 RSH REL 24 12 RSH or
Pay timedischarg
ING
nu
al!
REL 23 11 RSH REL 23 11 RSH REL 23 11 RSH
atte
ISDSH 22 10 ENPO ISDSH 22 10 ENPO ISDSH 22 10 ENPO ope ntio> 3 mine
ISD06 21 9 OSD02 ISD06 21 9 OSD02 ISD06 21 9 OSD02 rati n
on to the.
ISD05 20 8 OSD01 ISD05 20 8 OSD01 ISD05 20 8 OSD01 man
ISD04 19 7 OSD00 ISD04 19 7 OSD00 ISD04 19 7 OSD00 ual!
ISD03 18 6 ISA1- ISD03 18 6 ISA1- ISD03 18 6 ISA1-
ISD02 17 5 ISA1+ ISD02 17 5 ISA1+ ISD02 17 5 ISA1+
ISD01 16 4 ISA0- ISD01 16 4 ISA0- ISD01 16 4 ISA0-
ISD00 15 3 ISA0+ ISD00 15 3 ISA0+ ISD00 15 3 ISA0+
+24 V 14 2 +24 V +24 V 14 2 +24 V +24 V 14 2 +24 V
DGND 13 1 DGND DGND 13 1 DGND DGND 13 1 DGND
x5 x5 x5
x15 x15 x15

1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
Figure EtherCAT option

s4 s4 s4
ACHTUNG x19 ACHTUNG x19 ACHTUNG x19
Kondensatorenent-
ladezeit > 3 min.
x16 Kondensatorenent-
ladezeit > 3 min.
x16 Kondensatorenent-
ladezeit > 3 min.
x16
Betriebsanleitung Betriebsanleitung Betriebsanleitung
beachten! beachten! beachten!
WARNING WARNING WARNING

Capacitor discharge Capacitor discharge Capacitor discharge
time > 3 min. time > 3 min. time > 3 min.
Pay attention to the Pay attention to the Pay attention to the
operation manual! operation manual! operation manual!
Figure EtherCAT connection upper RJ-45 port = input

lower RJ-45 port = output
[Chapter 3]

IMPORTANT: Errors in cabling (incorrect connection of input and output) 3.2 Pin assignment of the RJ-45 socket
! can lead to faulty addressing by the master.
The RJ-45 socket is assigned as follows:
PIN Colour Cable wire pairs Function

Connecting cable 1 white/orange 2 TxData +
2 orange 2 TxData -
Ethernet patch cables or crossover cables are suitable connection cables as per
the CAT5e specification. Cables lengths of 0.3 to a max. 100 m are permissible. 3 white/green 3 RecvData +
4 blue 1 Unused
5 white/blue 1 Unused
6 green 3 RecvData -
7 white/brown 4 Unused
8 brown 4 Unused
Table Pin assignment
Pair # 3
2 1 4
12 34 56 78
Figure RJ-45 socket
NOTE: Ethernet cables are available in the IT specialist trade in various

lengths. Use CAT5e cable or better.

3.3 Meanings of LEDs They have the following meanings:
There are 2 LEDs on each RJ-45 socket. LED Function Meaning

off = no Link
 No connection with another user
on = Link
Upper
Link LED  Connection with another user exists. Currently no data ex-
LED
change.
toggle = activity
x15  Flashing of the LED signals that data is being exchanged.
off = 10 mbit/s
 There is a connection with a transmission rate of 10 mbit/s.
AC Lower LED Speed LED
Ko HT
nd
e
lad nsato
UN on = 100 mbit
Be ezeit rene
G
trie > nt-
bsa 3 m
 There is a connection with a transmission rate of 100 mbit/s.
nle in.
bea itun
WA chte g
Table LED meanings
Ca
pacRN
IN
itor
Pay tim disch G
n!
x16
a e ar
ope ttenti > 3 mge
rati on in.
on to th
ma e
nu
al!
Figure Device with EtherCAT option
[Chapter 3]

3.4 Display of operating states via 7-segment display Example of the flash sequence:
➢ ER > 02 > 05 * ER > 02 > 05 ...
Error: ER = “Fault“
D1 D2 Meaning Parameter
System states Error name: 02 = “Error in the parameter list“
8. 8. Device in reset state
0. Auto-initialization on device startup (Start) Description of error: 05 = “Function for checking current parameter list“
S.* )
1. 1) Not ready to switch on (no DC-link voltage) (NotReadyToSwitchOn)
1) Switch-on inhibit (DC-link is OK,

S.* )
2. power stage not ready)
(SwitchOnDisabled)
3. Ready to switch on (power stage is ready) (ReadyToSwitchOn) 3.5 Hardware enable

4. On (power is connected to the device)2) (SwitchedOn) ServoOne has a control input for ENPO hardware enable on the control terminal.
Drive ready (current applied to drive and ready This input must be configured to operate the power stage at 24 V.
5. for reference input) 2)
(OperationEnable)
6. Emergency stop 2) (QuickStopActive) The device also provides the function “STO (Safe Torque Off)“ (see Operation Manual or
Application Manual ServoOne), category 3, control terminal ISDSH. For these devices the
7. Fault response active 2) (FaultReactionActive) relevant function logic must be implemented by way of the higher-order controller as
per the Application Manual.
E R Fault (see below) (Fault)
Appears in the event of error Note: Without configuration of the inputs ENPO and ISDSH the device stays
in state 1 = “Not Ready to Switch On“ or 2 = “Switch On Disabled“.
E R. Display for errors or non-acknowledgeable errors
Only after correct configuration can the state be exited by a “Shutdown“
X X Error number (decimal) command via bus.
Y Y Error localization (decimal)

1) S. flashes, if the function STO (Safe Torque Off) is active, the display is not lit if the function is not active.
*) It does not involve a “safe display“ under the terms of EN 61800-5-2.
2) The point flashes if the power stage is active.

4 Commissioning and Configura- Step Action Note
tion of CANopen 1. Check the wiring. Please note that hardware

enable ENPO (X4) is not configured.
4.1 Commissioning 2. Switch on the mains power and the

24 V supply to the CAN interface.
The DriveManager user interface is used for general commissioning of the drive system.
3.
The DriveManager includes tools to identify motor data, provide access to a motor data-
base for servo motors, and for general device configuration. Configure the drive unit using (Inputs/outputs, software
the Application Manual. functions, etc.)
Initial commissioning is a separate subject with regard to operation via the user interface,
and is detailed in the device‘s Application Manual.
4. Test the control quality and optimise

the controller settings as necessary
using the Operation Manual.
4.2 Commissioning sequence
Set the parameters for the CAN communica-
Preconditions: tion. The Baud rate and the device address
• The drive device is wired as specified in the Operation Manual and first commis- 5. are required. The address can be selected by
software and hardware.
The mapping must also be completed and
Software and hardware address
are added...
sioning is complete. (To test CAN communication, it is sufficient to connect the the active operation mode selected as per
voltage supply of the CAN option and the control voltage). DS301/402.
• If current is to be applied to the motor, the hardware enable (ENPO) and the
“STO (Safe Torque Off)“ must also be correctly configured.
6. Test the drive on the higher-order controller
- see section 3.4.
Note: For more detailed information on optimisation of the software func-

tions and control circuits refer to the device application manual.
7. Finally, save the setting.
Save device setting 
Non volatile in device
Note: For more information on the subject of “Units and scalings“ refer to
section 5.4.
[Chapter 4]

4.2.1 Setting the software address and Baud rate 4.3 Commissioning instructions
The software address and Baud rate can be set using the following device parameters via For a variety of reasons, it may be that a drive device does not respond to a telegram:
DriveManager:
• There is no reply if the telegram frame (Baud rate, data length) on the master
Parameter Function Description computer is not correct.
• There is no reply if a drive device is addressed with the wrong bus address.
Address assignment via parameter
2005-COM_CAN_Adr CANopen address For more information on setting the
• There is no reply if the serial connection between the master computer and the
address, see section 2.1 drive device is not correctly set up.
2006-COM_CAN_Baudrate Baud rate Permissible Baud rates - see section 2.3 • There is no reply if the 24 V supply to the CAN connection is missing or the
cabling is faulty.
Table Parameters on the Bus Systems function screen
• There is no valid reply if several devices with the same device address are con-
nected to the bus.
• There is no reply if the device has certain network states.
Note: ServoOne has a default Baud rate of 1 mbit.
4.4 Testing the higher-order controller

To activate changed settings the device must be switched off and back on again. When
the power is connected, after an initialisation period of a few seconds the device must
transmit a one-off boot-up message (ID 700h + node ID = 701h for device address 1).
If this happens, the communication is OK.
Note: During transfer of data to the device via SDO telegrams the number
of data bytes transferred should be taken into account. For this the correct
length information must be transferred in the control byte.
Alternatively, however, an SDO transfer without specification of the data
length is also possible. The correct operation of the control byte in the
SDO telegram should also be observed.

4.5 Data handling Object 200BH-PARA_SetCmd Subindex 1 is automatically set to 0 by the device after the
save operation. This process can be used for timeout monitoring of the function.
4.5.1 Saving the settings
All configuration data can be backed up by the DriveManager.

4.6 Commissioning via DriveManager
NOTE: Please note, however, that some objects are RAM variables, which
Procedure for commissioning with the aid of the Application Manual
must be correctly operated and initialised by the controller. This includes,
for example, object 6060h Modes of Operation.
Initial commissioning based on Operation Manual
4.5.2 Restoring factory defaults
There are two possible ways of restoring the factory defaults of the devices:
1. A precondition for this is initial commissioning
with the aid of the Operation Manual.
The User Manual only covers adjustment of the
software functions.
• Via field bus Commissioning as per Application Manual
Write value 1 to the subindex 3 of object 200BH-PARA_SetCmd. The complete
device is then set to factory settings. 2. Setting the drive controller parameters using the
Application Manual. This includes, for example,
Note: Please note that this also effects the settings for the Baud rate/device the configuration of technology functions.
address. The changes take effect after a “Reset node“ command or device
Commissioning based on CANopen User Manual
3.
restart.
Configuration of field bus-specific settings
• Via DriveManager (e. g. Baud rate) using this document.
In the DriveManager tree structure, select the relevant ServoOne. A pop-up menu
can be opened using the right-hand mouse button and you can select the “Reset Checking the set application solution
Device Setting“ entry.
4.
To preserve the safety of personnel and ma-
Note: In both cases it takes around approx. 10 s for the device to signal that chinery, the application solution should only be
it is ready again. During this time the device performs a self-test and changes checked at low speed. Make sure the direction
all its settings to the factory setting. However, this setting is only retained if of rotation is correct. In case of emergency the
the data is backed up in the device. Data backup is initiated by way of the controller power stage can be disabled, and the
drive stopped, by removing the ENPO signal.
DriveManager user interface or by writing to object 200BH-PARA_SetCmd
Subindex 1 = 1 by way of the bus system. The save operation can also be exe-
cuted by way of object 1010 hex.
Attention: Data backup takes a few 100 ms. During that time the device must
! not be switched off, otherwise the settings will be lost.
[Chapter 4]

Completing commissioning 4.8 Operation mode selection (Modes of operation)

5. When you have successfully completed commis-
sioning, save your settings (using DriveManager) There are different control modes for operation of the devices via CANopen. The active
operation mode is always selected via DS402 object 6060h (Modes of Operation).
and store the data set in the device.
ServoOne supports the operation modes as per the DS402:
– Profile Position Mode

4.7 Control functions – Profile Velocity Mode
– Homing Mode
Control functions can be optimally adapted to the relevant application. Consequently,
several control formats are offered. The appropriate formats can be selected by the mas- – Interpolated Position Mode
ter during the setup phase over the bus, or by adjusting the relevant device parameters. – Cyclic Synchronous Position Mode (EtherCAT only)
– Cyclic Synchronous Velocity Mode (EtherCAT only)
The drive devices‘ state machine has a cycle time of 1 ms.
– Cyclic Synchronous Torque Mode (EtherCAT only)
All control commands and reference values are processed within that cycle time by the
drive device.
In the course of initial commissioning the user implements the settings of the drive using
Note: Control PDOs are processed in a minimum cycle time of 1 ms. If motor data, loop control settings, I/O configuration etc.
protocols arrive at the device faster, the telegram that arrived most recently
overwrites the previous one. A relevant control mode is also directly connected with the respective operation mode.
An error message is not generated if telegrams are overwritten as a result By switching modes of operation via CANopen, it is possible to switch directly between
of insufficient cycle time. position control, speed control and torque control.
The drive is thus in speed control for Profile Velocity Mode and in position control for
Profile Position Mode.

4.8.1 Functionality of operation modes
modes_of_operation
(6060h)
Profile Position Mode
Operation Profile Velocity Mode

Mode
Function
Homing Mode
modes_of_operation_display
(6061h)
Figure Functionality of operation modes Change modes in the diagram
Users can switch between the various operation modes, as long as these are supported
by the device.
The status word contains bits, the meaning of which depends on the operation mode.
For monitoring, it is necessary for the bits to change their meaning when modes are
switched, see also Chapter 6.
[Chapter 4]


5 Commissioning and Configura-
tion of EtherCAT
Commissioning via EtherCAT is possible using the XML file supplied on your controller.
All further commissioning and configuration steps are independent of the controller
used. For notes on this refer to the documentation provided by your control manufactu-
rers.
[Chapter 5]


6 Setting the Device Parameters 6.1.2 Object directory of DS301
for CANopen For a full overview of the supported CAN objects of ServoOne refer to the EDS file.
Here you can refer to both the CANopen objects of DS301, DS402 and also the manuf-
acturer-specific objects of the device.
The following list shows an extract of the object directories with important DS301
6.1 Implemented DS301 functionality objects. For these objects the transmission types or mapping, for example, are explained
below.
6.1.1 Communication objects
• Boot-up to DS301 V4.01 (Guarding boot-up via identifier 700h) Object Object
Object name Type Attr.
• Four variably mappable TxPDOs (transmission type 1 to 240, 254 and 255dec No. Code
possible). 0x1000 Device_Type VAR Unsigned32 ro
• Four variably mappable RxPDOs (transmission type 1 to 240, 254 and 255dec
0x1001 Error_Register VAR Unsigned8 ro
possible).
Pre-Defined_Error_Field One
• An SDO server - Pay attention to definition of time conditions (typical processing 0x1003
subentry
ARRAY Unsigned32 ro
time in device approx. 5 ms, depending on capacity utilisation)
0x1005 COB-ID_SYNC VAR Unsigned32 rw
• One emergency object error code to DS402 plus manufacturer-specific error loca-
tion and number, operating hours of the device 0x1006 Communication_Cycle_Period VAR Unsigned32 rw
• One Sync object 0x1007 Synchronous_Window_Length VAR Unsigned32 rw

• NMT state machine to DS301 0x1008 Manufacturer device name String
• Node guarding and heartbeat (see below) 0x1009 Manufacturer hardware version String
• Processing cycle: 0x100A Manufacturer software version String
PDO protocols can be processed in a minimum cycle time of 1ms. If protocols
0x100C Guard_Time VAR Unsigned16
arrive faster, previous protocols are overwritten.
• SDO protocols and NMT services are processed acyclically. Typical processing times 0x100D Life_Time_Factor VAR Unsigned8
lie between 1 and 5 ms. 0x1014 COD-ID_EMCY VAR Unsigned32
• Initialisation values of the COB IDs based on Predefined Connection Set 0x1017 Producer_Heartbeat_Time VAR Unsigned16 rw
• Access to device parameters 2000h - 5FFFh (expedited/non-expedited). Identity_Object support all 4
0x1018 RECORD Identity (23h) ro
entries (serial number, etc.)
Table Object directory
[Chapter 6]

Object
Object name
Object
Type Attr.
6.2 Parameter channel (Service Data Objects)
No. Code
0x1400 1st_Receive_PDO_Parameter RECORD PDO CommPar rw The Service Data Object (SDO) permits write and read access to the object directory. This
SDO is implemented according to the CAL specification by the Multiplexed Domain CMS
0x1401 2nd_Receive_PDO_Parameter RECORD PDO CommPar rw object. The protocol is designed for the transfer of data of any length. For SDO transfer,
0x1402 3rd_Receive_PDO_Parameter RECORD PDO CommPar rw an SDO server is integrated into the device. Communication is by way of two reserved
0x1403 4th_Receive_PDO_Parameter RECORD PDO CommPar rw
identifiers.
1st_Receive_PDO_Mapping Receive SDO: 600 h

0x1600 RECORD PDO Mapping (21h) rw
max 8 objects
2nd_Receive_PDO_Mapping Transmit SDO: 580 h
0x1601 RECORD PDO Mapping rw
max 8 objects
3rd_Receive_PDO_Mapping SDO-Client SDO-Server
0x1602 RECORD PDO Mapping rw Data
max 8 objects
4th_Receive_PDO_Mapping
0x1603 RECORD PDO Mapping rw 600H + Node-ID Byte 0 1 2 3 4 5 6 7
max 8 objects
Object
0x1800 1st_Transmit_PDO_Parameter RECORD PDO CommPar (20h) rw Subindex
directory
Index
0x1801 2nd_Transmit_PDO_Parameter RECORD PDO CommPar (20h) rw Control field Drive
0x1802 3rd_Transmit_PDO_Parameter RECORD PDO CommPar rw controller
0x1803 4th_Transmit_PDO_Parameter RECORD PDO CommPar rw 580H + Node-ID Byte 0 1 2 3 4 5 6 7
1st_Transmit_PDO_Mapping Subindex
0x1A00 RECORD PDO Mapping rw
max 8 objects Index
2nd_Transmit_PDO_Mapping Control field
max 8 objects
Figure Example of SDO data transfer in Expedited Mode
3rd_Transmit_PDO_Mapping
max 8 objects
4th_Transmit_PDO_Mapping
max 8 objects
Table Object directory

The CAL specification makes a basic distinction between three protocol services: The drive units support the following parameter data formats:
• Download protocol (Write)

Data type Value range Function
• Upload protocol (Read)
• Abort protocol (Error) USIGN8 0...255
USIGN16 0...65535 Unsigned
USIGN32 0...4294967295
The upload and download protocols also differentiate between:
INT8 -128...127
• Expedited Multiplexed Domain Protocol for access to objects with a data length INT16 -32768...32767 Integer, signed
of up to 4 bytes (shown above) and INT32 -2147483648...2147483647
• Multiplexed Domain Protocol, for access to objects of any length 32-bit floating point number in IEEE
FLOAT32 see IEEE
format
ASCII characters, max. 100 bytes
The entries in the “Control field“ area are generated by the CANopen driver. They are STRING
in bus mode incl. zero terminator
only included to fully document the examples cited. The entries are dependent on the
Table Data types
transferred data.
The control field is described in the DS301 profile.

6.2.2 Representation of data types in the control protocol
6.2.1 Data types
All data types are represented appropriate to their preceding sign as 32-bit variables
Note: Via the DriveManager user interface many parameter settings are in Intel format.
displayed in the form of value substitution texts.
Example: Parameter 450-MOT_Type = PSM Data bytes of the
3 4 5 6
control protocol
When writing and reading over the field bus the corresponding numerical values for the- USIGN8/INT8*
Low Word Low Word High Word High Word
se value substitution texts must be used. These values are displayed in brackets ( ) when USIGN16/INT16*
Low Byte High Byte Low Byte High Byte
the parameter is opened in DriveManager. USIGN32/INT32
FLOAT32 IEEE format
Example:
STRING See examples,
Parameter 450-MOT_Type = PSM (1)
* Filled out appropriate to preceding sign (00H or FFH)
Table Assignment of data types in the data field
[Chapter 6]

6.2.3 Access to device parameters 6.3 Examples of SDO handling

By way of the Receive SDO (COB IDs: 600 h + Node-ID) the CANopen objects and the
Where can I find the device parameters? parameters of the drive controller can be accessed.
All device parameters are addressed by way of a parameter number. In a data transfer protocol a maximum of 4 data bytes can be transferred in Expedited
mode. This means all device parameters, apart from string parameters, can be written
In addition to the standard objects, the CANopen profile provides an area for manufac- to with a single transfer protocol.
turer-specific entries. This area lies between 2000 h and 5FFF h. If you then want to read
or write parameter 455-MOT_FNOM (rated frequency of the motor) of the device, the String parameters can be written to using the Multiplexed Domain protocol.
object index is formed from 2000 h + parameter number (Hex).
In our example: Index = 2000 h + 1C7 H
Note: Profile-specific parameters are visible in DriveManager, but only in area

1000H... (DS301 objects)/6000H... (DS402 objects) writeable/readable. This
means parameters stored both as device parameters (area 2xxxH) and also as
profile parameters (DS301/DS402), can only be read and written to via their
object number (DS301/DS402 profile).
Example:
The object 1000h Device Type exists both in the DS301 profile and also as a device
parameter with parameter number 2011. Simultaneous two-way access would there-
fore be possible via CANopen or EtherCAT. In order to clearly configure the access, the
read/write access for this object is only possible via profile-specific object number 1000h
(as per DS301).

Example of read access to string parameters (parameter 3 DV_DeviceAliasName)
Note:
- All numeric values are hexadecimal
- The string “X-axis“ is to be transferred
- This text is entered in ServoOne parameter 3 DV_DeviceAliasName
TIME ID Direction DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comments
18.992445 Tx 601 8 40 03 20 00 00 00 00 00 Read object 2003h (= parameter 3)
18.992972 Rx 581 8 41 03 20 00 64 00 00 00 Reply: 64h --> 100bytes to be transferred
35.514341 Tx 601 8 60 00 00 00 00 00 00 00 Requirement Segment 1
35.514594 Rx 581 8 00 58 2d 41 78 69 73 00 Reply Segment 1 - contains “X-axis“
36.270175 Rx 581 8 10 00 00 00 00 00 00 00 Reply Segment 2
36.982664 Rx 581 8 00 00 00 00 00 00 00 00 Reply Segment 3
37.686706 Rx 581 8 10 00 00 00 00 00 00 00 Reply Segment 4
38.421604 Rx 581 8 00 00 00 00 00 00 00 00 Reply Segment 5
39.053787 Rx 581 8 10 00 00 00 00 00 00 00 Reply Segment 6
39.749347 Rx 581 8 00 00 00 00 00 00 00 00 Reply Segment 7
40.429249 Rx 581 8 10 00 00 00 00 00 00 00 Reply Segment 8
41.086198 Rx 581 8 00 00 00 00 00 00 00 00 Reply Segment 9
[Chapter 6]

TIME ID Direction DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comments
41.741148 Rx 581 8 10 00 00 00 00 00 00 00 Reply Segment 10
42.514294 Rx 581 8 00 00 00 00 00 00 00 00 Reply Segment 11
43.172787 Rx 581 8 10 00 00 00 00 00 00 00 Reply Segment 12
43.908831 Rx 581 8 00 00 00 00 00 00 00 00 Reply Segment 13
44.668740 Rx 581 8 10 00 00 00 00 00 00 00 Reply Segment 14
53.884414 Rx 581 8 0b 00 00 00 00 00 00 00 Reply Segment 15 - No further segments
Translation of transferred values (ASCII):
The string “X-Axis“ at 6 bytes is so short that it can be completely transferred with the
first segment.
The following segments (of 100 bytes of parameter) therefore only include zeroes.
Transmitted bytes (HEX) 58 2d 41 78 69 73

Interpretation (ASCII) X - A x i s

6.3.1 Parameter set download 1. Reporting a download without logic check
To deactivate the logic check and to report the download of a data set, parameter
The following data can be transferred to ServoOne via the CANopen interface: 11 subindex 4 value 1 is written.
2. Downloading the parameter data to the drive controller
• Parameter set In this step the individual parameters of the data set are sequentially transferred
• A parameter data set can be downloaded by an SDO transfer or by way of the to the drive. Despite the deactivated logic check basic checking mechanisms are
DriveManager user interface version 5 or higher. All manufacturer-specific device still active. These monitor, for example, the maintenance of parameter limits and
parameters are additionally accessible via objects 2000h- 5FFFh. become active if these are infringed. Thus if a value range limit is infringed by
the download of a parameter, then this SDO protocol is directly rejected (Abort
message).
If a unified valid data set - that is, not just individual parameters - needs to be transferred . Completing download and activating plausibility check
from the CAN master to the device, the following points must be considered: Once all parameter data has been transferred to the drive controller, parameter
11 subindex 4 is reset to value 0. Then a logic check of the device parameters is
On every transfer of an individual parameter the drive controller checks whether the carried out. In cases of error the user receives an Emergency message.
parameter matches its existing data set. The check of the new parameter value includes
existing parameter values in some cases. This means it is possible that the drive control-
ler may reject a parameter, even though it originates from a valid parameter data set, Note: The download of a complete parameter data set is only possible when
because the parameter is not yet complete in the device. the system is at a standstill. Make sure the drive controller is not switched on
for the duration of the download.
Since a simple error reset may not eliminate the cause of the error, it may be necessary
to reset to the factory defaults.
Remedy:
The parameter data set is transferred to the drive controller without a logic check. At the
end of the download, the logic check is reactivated and the drive controller checks the
transferred parameters for plausibility. During this check parameter settings that do not
functionally match are reported as errors.
Download procedure of a completed parameter data set:
[Chapter 6]

6.4 PDO transmission types 6.5 Event-controlled TxPDO transmission

In connection with the PDO transfer, various transmission types are defined in CANopen Note: Event control is only active when the relevant “transmission type“
profile DS301. The transmission type and event control can be set separately for all sup- is set to asynchronous (FEh or FFh).
ported RXPDOs and TXPDOs. The drive controller supports the following transmission
types:
Cyclic Synchronous Types No. 1-F0 h Functions of event control:
Meaning: The difference between this and the acyclic synchronous transmission type is Any bit changes within the TxPDO can serve as an event for the sending of a TxPDO.
that RXPDOs are only evaluated after receipt of 1-F0 h Sync objects and TxPDOs are only Thus only the mapped contents of this TXPDO are relevant as an event for the sending
transmitted every 1-F0 h Sync objects. of a TxPDO. Accordingly it is not possible to send a TxPDO dependent on the changes to
the content of another TxPDO.
Asynchronous Types No. FE h and FF h Example:

The status word 6041h is mapped in TxPDO1. TxPDO2 contains the current actual posi-
Meaning: RxPDOs are evaluated immediately on receipt; TxPDOs are transmitted by a de- tion. A change to the status word in TxPDO1 can therefore not be used as an event for
vice-specific event. The Sync object is irrelevant to this mode of transfer. Special feature the sending of the TxPDO2. If this is required, however, the status word 6041h can also
type FF h: be mapped in TxPDO2.
In this case the event is defined in the associated device profile.
Selecting the events:
Note: The desired transmission types are set by way of the corresponding In ServoOne every bit (or a change to it) in a TxPDO can be defined as an event. By de-
CANopen objects 1400h for RxPDOs and 1800h for TxPDOs. fault all bits (max. 64bit = 8byte) are monitored for changes and are evaluated as events.
Individual bits can be displayed via screens, however, and therefore are no longer used
for event generation.
There are screens defined in field parameter 2007 enabling the display of individual bits
of TxPDOs. Subindexes are respectively relevant for a TxPDO. Each subindex is responsib-
le for 32 bits of the TxPDO. The structure is thus as follows:

Parameter 2007 - COM_301_EvMask 6.6 PDO mapping
“Event mask for asynchronous transmit pdos“
Sub 6.6.1 Mapping - general

Name Value Description Type
Id
0 EvMsk_TxPdo1L FFFFFFFFh Event mask for txpdo 1 byte 0-3 uint32 Variable mapping of parameters is possible on ServoOne for all 4 Rx and TxPDOs.
Mapping works as defined in the CANopen communication profile DS301.
1 EvMsk_TxPdo1H FFFFFFFFh Event mask for txpdo 1 byte 4-8 uint32
2 EvMsk_TxPdo2L FFFFFFFFh Event mask for txpdo 2 byte 0-3 uint32 Most device-specific parameters form part of the manufacturer-specific area (2001h-
3 EvMsk_TxPdo2H FFFFFFFFh Event mask for txpdo 2 byte 4-8 uint32 5FFFh) and can also be mapped in the PDOs. For these parameters (objects), refer to the
EDS file of the drive controller.
4 EvMsk_TxPdo3L FFFFFFFFh Event mask for txpdo 3 byte 0-3 uint32
5 EvMsk_TxPdo3H FFFFFFFFh Event mask for txpdo 3 byte 4-8 uint32
6.6.2 Mapping notes
6 EvMsk_TxPdo4L FFFFFFFFh Event mask for txpdo 4 byte 0-3 uint32
7 EvMsk_TxPdo4H FFFFFFFFh Event mask for txpdo 4 byte 4-8 uint32 In contrast to earlier devices ServoOne no longer has predefined mapping or mapping
selectors. This means that prior to communication via PDO the mapping must be written
Table Field parameter 2007
to the drive controller by the controller. Transfer of the data set is also possible.
By default all mapping settings are set to 0, i. e. the PDOs do not contain any mapping.
Example of application of screens:
To only allow the lower 16 bits of the TxPDO1 as an event, the subindexes of parameter The communication settings (mapping/transmission types etc.) can be saved in the
2007 are described as follows: device however, and are subject to data set handling. This means they must be rewritten
each time and can be transferred with the data set.
– Subindex 0 (Event screen TxPDO1 bytes 0 – 3) = 0000FFFFh
– Subindex 1 (Event screen TxPDO1 bytes 4 – 7) = 00000000h The following objects are relevant for mapping:
RxPDOs:
1600h RxPDO1 mapping
Note: The cyclic sending of the Tx PDOs is activated by setting a cycle time
in ms in the objects 0x1800 (TxPDO1) 0x1801(TxPDO2), 0x1802 (TxPDO3)
and 0x1803 (TxPDO4) subindex 5 (event timer).
TxPDOs:
1A00h TxPDO1 mapping
[Chapter 6]

Notes: A maximum of 8 objects can be mapped per PDO.

Write Heartbeat
In a PDO a maximum of 8 bytes can be mapped.
COB-ID = 700 + Node-ID Heartbeat

Heartbeat Consumer
6.7 Heartbeat function Producer 0
7 6 .. 9
1
request r s indication
The Heartbeat function to DS301 (V4.01) is supported. ServoOne can only be used as indication
indication
heartbeat producer, i.e. it sends heartbeat telegrams to the controller. To this end object Heartbeat
1017H Producer Heartbeat Time is implemented. Producer
Heartbeat
Time
Consumer
Time
A time value (in ms) is entered as a value for this object. The time value represents the 0 1
cyclic interval during which the drive controller sends its heartbeat telegrams. 7 6 .. 9
request r s indication
indication
indication
Heartbeat protocol
The Heartbeat protocol defines an ERROR CONTROL SERVICE without using REMOTE Heartbeat
Consumer
FRAMES. Time
A HEARTBEAT PRODUCER sends a cyclic HEARTBEAT MESSAGE. One or more HEART-
BEAT CONSUMERS receive this message. The relationship between the PRODUCER and
the CONSUMER can be configured by way of the objects described below. The HEART-
Heartbeat Event
BEAT CONSUMER monitors receipt of the HEARTBEAT PROTOCOL taking account of the
preset HEARTBEAT CONSUMER TIME. Figure Heartbeat protocol
If the HEARTBEAT PROTOCOL is not received within the HEARTBEAT CONSUMER TIME, r: reserved (always 0)
a HEARTBEAT event is generated. s: the state of the Heartbeat producer
0: BOOTUP
The HEARTBEAT PROTOCOL starts directly after entry of the HEARTBEAT PRODUCER 4: STOPPED
TIME. 5: OPERATIONAL
If the device is powered up with a HEARTBEAT PRODUCER TIME setting not equal to 0, 127: PRE-OPERATIONAL
the HEARTBEAT PROTOCOL starts with the state transition INITIALISING -> PREOPERATI-
ONAL. The NODE GUARDING and HEARTBEAT functions cannot be used in a device
simultaneously. If the HEARTBEAT PRODUCER TIME is not equal to 0, the
In this case the BOOTUP MESSAGE is classed as the first HEARTBEAT MESSAGE. HEARTBEAT PROTOCOL is used.

7 Setting the Device Parameters All services that are not time-critical, i. e. their execution/contents do not critically inter-
vene in process data in terms of time, are grouped together in the mailbox. The mailbox
for EtherCAT
is used as a service data channel and thus also enables access to drive parameters. This is
done via the SDO (Service Data Objects) channel. The mailbox service also provides the
basis for the services of EoE (Ethernet over EtherCAT) and the error handling (emergency
telegrams).
The process data is designed on the basis of CANopen (CiA DS301). This means there is
7.1 Supported EtherCAT functionality mapping of objects in PDOs (Process Data Objects) that are cyclically transferred. This
process data includes, for example, cyclic position, speed or torque reference values and
Below you will find an overview of the EtherCAT functionality implemented in ServoOne. actual values.
The next diagram shows the basis for the following description. It shows the structure of
EtherCAT based on the OSI 7 layer model. The basis for both SDO and PDO accesses to the drive is always the object directory,
which is realised based on CANopen. For the user this means that these objects can be
HTTP, FTP ... Application accessed both via CANopen and via EtherCAT.
(DSP402 profile)
In the case of ServoOne the DS402 profile is again set up on the application layer.
For information on this layer refer to the sections “Implemented DS402 functionality“
TCP UDP Object Dictionary and “DS402 operation modes“.
AL
IP
SDO PDO Mapping An overview of the EtherCAT functionality of ServoOne is provided below:
Ethernet
Process Data
Emergency / SDO /
Mailbox EoE Process Data
SDO Information Service
• 4 RxPDOs
DL
• 4 TxPDOs
EtherCAT Data Link Layer
• Transfer length = max. 8 bytes per PDO
• Variable mapping as per DS301 (cf. CANopen)
Physical Layer (Ethernet) Attention: The PDO must have an even number of bytes assigned. If an
Figure Structure EtherCAT

! uneven number is required, this must be filled up with a “Dummy Byte“ for
example...
• Cycle times
The physical layer of EtherCAT based on IEEE802.3/100 BaseTX Ethernet physics. Based
Transfer cyclic position references with max. 8 kHz (125µs)
on this the EtherCAT Data Link Layer (DL) follows, which is split into mailbox and process
Transfer cyclic speed reference with max. 8 kHz (125µs)
data. The following layer is termed as AL (Application Layer) and includes the services of
Transfer cyclic torque references with max. 8 kHz (125µs)
CoE (CAN over EtherCAT) and EoE (Ethernet over EtherCAT).
[Chapter 7]

Mailbox Emergency
ServoOne supports the CAN over EtherCAT (CoE) and Ethernet over EtherCAT (EoE) The Emergency service is designed for the transfer of error messages. In contrast to
protocol. The following functions/services are implemented: CANopen, emergency messages in EtherCAT are not autonomously sent from the slave
but are retrieved by the master.
CoE
Functionality in ServoOne:
• Sdo/Abort
– Initiate SDO Download • ErrorCodes as per the DS402 device profile are supported.
– Download SDO Segment • For the structure/content of the emergency message refer to the section “Emer-
gency Objects“
– Initiate SDO Upload
– Upload SDO Segment
SDO Information Service
– Abort SDO Transfer
– All device parameters are accessible via object ID 2000H + x The SDO Information Service allows the master to read the object directory of the
slave. In this way, the master can determine the supported objects of the slave with the
Note: Profile-specific parameters are visible in DriveManager, but only in required additional information (e. g. data type/access rights etc.). The SDO Information
range 1000H... (DS301 objects)/6000H... (DS402 objects) writeable/readable. Service therefore represents an alternative in the use of EDS files known to CANopen.
This means parameters stored both as device parameters (range 2xxxH) and
also as profile parameters (DS301/DS402) can only be read and written to via Functionality in ServoOne:
their object number (DS301/DS402 profile).
• Access to the object list and description
• Alternatives for integrating the EDS file
Example:
EoE
The object 1000h Device Type exists both in the DS301 profile and also as device pa-
rameters with parameter number 2011. Simultaneous two-way access would therefore Functions such as the tunnelling of standard Ethernet frames in EtherCAT generally fall
be possible via CANopen or EtherCAT. In order to uniquely configure the access, the under Ethernet over EtherCAT. This enables protocols, for example TCP/IP to be trans-
read/write-access for this object is only possible via profile-specific object number 1000h ferred via EtherCAT.
(as per DS301).
Implemented functionality in ServoOne:
• Initiate EoE request
• Initiate EoE response
• EoE fragment request
• EoE fragment response

Distributed clocks
Init
Synchronization in the case of EtherCAT is implemented on the basis of distributed clo-
(IP) (PI) (IB) (BI)
cks. Each slave has its own clock, which is synchronized with the others using a synchro-
nisation pulse. The reference clock with which users are synchronized is accommodated (SI) Bootstrap
Pre-Operational
in a slave. (optional)
(OI)
(PS) (SP)
Notes on ServoOne:
 The complete configuration of distributed clocks takes place in the controller. (OP) Safe-Operational
 Multiples of 125µs (time basis of the control) must always be used as cycle
(SO) (OS)
times.
Operational
XML file
Figure EtherCAT state machine
The XML file helps to integrate an EtherCAT slave into an EtherCAT master (control).
It includes the configuration (mapping etc.) for the respective operation modes.
State Description
Notes on ServoOne: Init Initialisation, the device starts up.
 The XML file is provided with the firmware.
The device is ready to be configured.
 The integration of this file is control-specific.... Pre-Operational
Mailbox communication is possible.
PDO input data (TxPDO device) can be read.
Safe-Operational
PDO output data (RxPDO device is ignored.
NMT (Network Management)
Cyclic I/O communication
Operational
The Network Management is essentially based on the network management of CANo- PDO output data (RxPDO device) is processed.
pen. The Stopped (CANopen) state was replaced by the Safe Operational (EtherCAT)
state however.
Transitions Actions
Depending on the scope of functions of the control software, individual state transitions
IP Start Mailbox Communication
can be executed automatically or via the PLC.
PI Stop Mailbox Communication
PS Start Input Update
SP Stop Input Update
Table State transitions
[Chapter 7]

Transitions Actions
SO Start Output Update

OS Stop Output Update
OP Stop Output Update/Stop Input Update
SI Stop Input Update/Stop Mailbox Communication
OI Stop Output Update/Stop Input Update/Stop Mailbox Communication
Table State transitions
7.2 Configuration for the operation in a controller

The services described in the previous section (e. g. PDO mapping etc.) are all operated
by the controller (EtherCAT master). The communication-specific parameter setting of
ServoOne is performed on the basis of the supplied XML files by the Master.
The parameter setting of control settings, scaling etc. can also be performed via the
DriveManager. Alternatively all parameters can also be configured via the object directo-
ry.

8 Implemented controlword
(6040h)
DS402 Functionality Device Controlling

Remote
Terminals
The functions in this section relate to activation in the modes of operation of DS402 Fault
Operation Mode State Machine
profile modes of operation
(6060h)
1 - Profile Position Mode

3 - Profile Velocity Mode
statusword
6 - Homing Mode (6041h)
7 - Interpolated Position Mode
8 - Cyclic Synchronous Position Mode (only EtherCAT)
Figure Device controlling
9 - Cyclic Synchronous Velocity Mode (only EtherCAT)
10 - Cyclic Synchronous Torque Mode (only EtherCAT)
The status of the controller is controlled by way of the control word. The status of the
controller is displayed in the STATUS WORD. In REMOTE MODE the controller is control-
led directly from the CANopen network by PDO and SDO.
8.1 Device control and state machine
The state machine is controlled by the control word. The state machine is also influenced
The drive is controlled by way of the DRIVECOM state machine defined in DS402 by internal events, such as errors.
(see DS402 10.1.1 state machine). No remote signal is planned.
8.1.2 State machine

8.1.1 General information
The state machine describes the CONTROLLER STATUS and the possible options for cont-
The DEVICE CONTROL FUNCTION monitors all the functions of the controller. This func- rol by the master. A single status indicates a specific internal or external response. At the
tion is subdivided into same time, the status of a controller restricts the possible control commands. For exa-
mple, initiating a point-to-point positioning operation is only possible in the OPERATION
– device control of the state machine ENABLE state.
– operation mode function
States may change because of the control word or other internal events. The current
status is displayed in the STATUS WORD. The state machine describes the state of the
controller with regard to user commands and internal error messages.
[Chapter 8]

The following device states are possible:

controlword
(6040h)
NOT READY TO SWITCH ON:
Only control voltage is connected to the drive.
State Machine Internal The drive is initialised or is performing a self-test.
Events
If installed, the brake engages in this state.
The drive function is deactivated.
statusword
(6041h)
Actions SWITCH ON DISABLED: (Switch-on inhibit)
Drive initialisation is complete.
Figure State machine Drive parameters have been set.
Drive parameters have been changed.
No power to device (for safety reasons).
8.1.3 Device states The drive function is deactivated.
“STO (Safe Torque Off)“ Standstill and/or ENPO not active.
Power Fault 13
Disabled
Fault READY TO SWITCH ON:
Start Reaction Active
Power is connected to the device.
0 14
Not Ready to Fault Drive function is deactivated.
Switch On
1 15
SWITCHED ON:
Switch On
Disabled Power is connected to the device.
2 POWER AMPLIFIER is ready.
7
Ready to
Switch On The drive function is deactivated.
Power 10 12
OPERATION ENABLE:
3 6
Ensabled No errors were detected.
Switched On Drive function is enabled and power is connected to motor.
9 8
4 Drive parameters have been changed.
5
Operation 11 Quick Stop
(Relates to standard application of the drive.)
Enable 16 Activ
QUICK STOP ACTIVE:
Figure State machine Drive parameters have been changed.
QUICK STOP function being executed.
Drive function is enabled and power is connected to motor.
If the QUICK STOP OPTION CODE is set to 5 (remain at

QUICK STOP ACTIVE status), you cannot quit the QUICK STOP Bit combinations of the DRIVECOM state machine
ACTIVE status, but you can switch to OPERATION ENABLE status
with the ENABLE OPERATION command. Device control commands
The following bit combinations of control bits 0-3 and 7 form the device control com-
FAULT REACTION ACTIVE:
mands for the state transitions of the state machine:
An error has occurred.
The QUICK STOP function has been executed. Control word
Drive function is enabled and power is connected to motor.
Command 7 3 2 1 0 Transitions
FAULT: SHUTDOWN 0 X 1 1 0 2, 6, 8
An error has occurred, the error response has been executed. POWER-UP 0 X 1 1 1 3
Power disconnection and connection depends on the application. DISABLE POWER 0 X X 0 X 7, 9, 10, 12
The drive function is deactivated.
QUICK STOP 0 X 0 1 X 11
DISABLE OPERATION 0 0 1 1 1 5
ENABLE OPERATION 0 1 1 1 1 4
RESET FAULT 0>1 X X X X 15
[Chapter 8]

Device status table 8.2 Option codes

The bits of the DRIVECOM status word presented below indicate the current system
state: The devices support option codes for four different options for shutting down the drive.
The four options are :
Status bit
• HALT function - interrupt an ongoing movement
State 6 5 3 2 1 0
• Controller disable function - stop movement by cancelling the controller enable
NOT READY 0 X 0 0 0 0 (software)
SWITCH-ON INHIBIT 1 X 0 0 0 0 • Quick-stop function - stop movement by initiating a quick stop
READY 0 1 0 0 0 1 • Error reaction function - stop movement in case of an error
ON 0 1 0 0 1 1 For all variants, the option code sets the parameters for the desired device response.
OPERATION ENABLED 0 1 0 1 1 1
Supported
CANopen Function
FAULT 0 X 1 0 0 0 settings
FAULT REACTION ACTIVE 0 X 1 1 1 1 Object 605Ah Quick stop option code 0 to 8
QUICK STOP ACTIVE 0 0 0 1 1 1 Object 605Bh Shutdown option code -1 to 1
Table Bit combinations of the DRIVECOM state machine Object 605Ch Disable operation option code 0 and 1
Object 605Dh Halt Option Code 0 to 4
Object 605Eh Fault Reaction Option Code 0 to 4
Table Option codes
The objects form part of the data set as standard parameters of the devices.
Note: The quick-stop ramp is always executed with the smoothing preset
for the driving profile ramps. The error stop ramp is always executed without
smoothing, even when smoothing is programmed.

8.3 Device control objects Object Object Object
Type Attr
No. Name Code
The following table lists the implemented objects to control the drive: Fault_Reaction_Option_Code
0: disable drive, motor is free to rotate
Object Object Object 1: slow down on slow down ramp
Type Attr 0x605E
2: slow down on quick stop ramp
VAR Integer16 rw
No. Name Code
3: slow down on the current limit
0x6040 Control word VAR Unsigned16 rw 4: slow down on the voltage limit
0x6041 Statusword VAR Unsigned16 ro Modes_Of_Operation
Quick_Stop_Option_Code 1: profile position mode
0: disable drive function 3: profile velocity mode
1: slow down on slow down ramp 6: homing mode
0x6060 VAR Integer8 wo
2: slow down on quick stop ramp 7: Interpolated position mode
3: slow down on the current limit 8: Cyclic sync position mode (ONLY EtherCAT)
4: slow down on the voltage limit 9: Cyclic sync velocity mode (ONLY EtherCAT)
5: slow down on slow down ramp 10: Cyclic sync torque mode (ONLY EtherCAT)
0x605A VAR Integer16 rw
and stay in QUICK STOP Modes_Of_Operation_Display
6: slow down on quick stop ramp 0x6061 VAR Integer8 ro
see 0x6060
and stay in QUICK STOP
7: slow down on the current limit Table Device control objects
8: s low down on the voltage limit
Shutdown_Option_Code
-1: Response as per Quick_Stop_Option_Code 8.4 Units and scalings, factor group
0x605B 0: Disable Drive Function VAR Integer16 rw
1: slow down with slow down ramp; disable The DriveManager user interface offers a Scaling Wizard as a user-friendly means of con-
of the drive
figuring the scaling of mechanical and electrical units of variables necessary for control.
Disable_Operation_Option_Code The Wizard translates the application variables into representation of the parameters
0: Disable Drive Function from the DS402 factor group. The parameters from the factor group are listed below,
0x605C VAR Integer16 rw
1: Slow down with slow down ramp and then
disabling of the Drive Function
and can also be set directly by the user.
Halt_Option_Code Correlations must be calculated externally and the final results entered in the relevant
0: disable drive, motor is free to rotate
1: slow down on slow down ramp
factor group parameter.
0x605D VAR Integer16 rw
2: slow down on quick stop ramp
3: slow down on the current limit It is generally easier to have the Scaling Wizard calculate the parameter settings.
4: slow down on the voltage limit
[Chapter 8]

Note: The following objects are directly calculated in ServoOne: Object Object Object
- Position Factor Type Attr.
No. Name Code
- Velocity Encoder Factor
0x6092 Feed_Constant ARRAY Unsigned32 rw
- Acceleration Factor
0x6093 Position_Factor ARRAY Unsigned32 rw
The calculation is based on the objects stored in the formulae 0x6094 Velocity_Encoder_Factor ARRAY Unsigned32 rw
(e. g. feed constant, gear ratio etc.).
0x6097 Acceleration_Factor ARRAY Unsigned32 rw
It is in fact possible to change these variables in DriveManager or via the bus,
but they will be overwritten by the internal calculation as part of the control Table Factor group
initialisation.
Note: In this section you will find an overview of the objects from the factor
The objects of the factor group can be calculated and entered directly by the user,
group and the underlying formulae for the calculation.
independently of the DriveManager Scaling Wizard. The corresponding encoder settings
You will find practical examples for the implementation of scaling in the
must be made however.
Application Manual.
Calculation correlations factor group parameters

Factor group as per DS402:
Object 608Fh: Position Encoder Resolution
Object Object Object
Type Attr. The position encoder resolution defines the relationship between the encoder and motor
No. Name Code
revolutions
0x607E Polarity VAR Unsigned8 rw
0x6089 Position_Notation_Index VAR Integer8 rw Encoder increments
Position Encoder Resolution =
Motor revolutions
Position_Dimension_Index
0x608A VAR Unsigned8 rw
Only display for scaling block Object 6090h: Velocity Encoder Resolution
0x608B Velocity_Notation_Index VAR Integer8 rw The velocity encoder resolution defines the relationship between the encoder increments
per second and motor revolutions per second
Velocity_Dimension_Index
0x608C VAR Unsigned8 rw
Only display for scaling block
Encoder Increments
0x608D Acceleration_Notation_Index VAR Integer8 rw Velocity Encoder Resolution = Seconds
Motor Revolutions
Acceleration_Dimension_Index
0x608E VAR Unsigned8 rw Seconds
Only display for scaling block
0x608F Position_Encoder_Resolution VAR Unsigned8 rw Object 6091h: Gear Ratio
Gear ratio defines the transmission ratio of a gear in relation to the motor. It is defined
0x6090 Velocity_Encoder_Resolution ARRAY Unsigned32 rw
as follows:
0x6091 Gear_Ratio ARRAY Unsigned32 rw

Motor shaft revolutions Velocity unit • Velocity Encoder Factor
Gear Ratio = Acceleration Factor =
Drive shaft revolutions Acceleration unit • Seconds
Object 6092h: Feed Constant Object 607Eh: Polarity
The feed constant defines the ratio of feed in position units per driving shaft revolutions. The position reference value and position actual value are multiplied by 1 or -1 depen-
This includes the gear if present. ding on the value of the polarity flag.
Feed The same applies to the speed reference and actual speed value.
Feed Constant =
Drive shaft revolutions
Object 6093h: Position Factor Please observe the operation of the object polarity as per DS402 V2.0.
The position factor converts the desired position (in position units) into the internal
format (in increments). Bits 0 to 5 = reserved (don‘t use)
Bit 6 = velocity polarity
Position Encoder Resolution • Getriebeübersetzung Bit 7 = position polarity
Position Factor =
Feed constant
Note: As in the case of the other objects in the factor group,
Object 6094h: Velocity Encoder Factor
changes in polarity only take effect if the control is switched off.
The velocity encoder factor converts the desired velocity (in velocity units) into the inter-
nal format (in increments).
Velocity Encoder Factor =
Velocity Encoder Resolution • Position encoder resolution • Position unit • F velocity (Notationsindex) 8.5 I/O map, object 60FDH
Feed constant • Velocity unit • Seconds • F positon (Notationsindex)
The status of inputs and outputs of the drive controller can be determined using various
objects. Object 60FDh from device profile DS402 is implemented, as well as two manuf-
An example of F velocity (Notationsindex) or F positon (Notationsindex)
acturer-specific objects.
would be 102 or 10-6
8.5.1 Object 60FDh – Digital inputs

Object 6097h: Acceleration Factor
The acceleration factor converts the acceleration (in acceleration unit/s) into the internal This object is implemented in compliance with device profile DS402. It allows digital
format (in increments). input functions defined in the profile to be evaluated. That is, it offers no input map of
existing physical inputs, but rather a function-related input map.
So it is irrelevant to which input, for example a limit switch is connected. Within the
object the bit that defines the state of the limit switch is permanently defined.
[Chapter 8]

Bit Assignment Bit Assignment

0 Negative limit switch 18 State input ISA00
1 Positive limit switch 19 State input ISA01
2 Home switch 30 to 31 Don’t use
3 to 15 Reserved Table Object 2079h – MPRO_INPUT_STATE
16 to 31 Manufacturer-specific (curr. not implemented)
18 “STO (Safe Torque Off)“ input
19 ENPO
Table Object 60FDh – Digital inputs
8.5.2 Object 2079h – MPRO_INPUT_STATE
This manufacturer-specific object delivers an input map of all the digital inputs of Ser-
voOne. The object is mappable and transferable by PDO. The assignment is as follows:
Bit Assignment
0 State input ENPO
1 State input ISD00
2 State input ISD01
3 State input ISD02
4 State input ISD03
5 State input ISD04
6 State input ISD05
7 State input ISDSH
8 to 15 Don’t use
16 State input ISD06
17 Don’t use

9 Operation modes DS402 9.1.1 Parameter setting of ServoOne for activation via DS402:
For activation via CANopen (or CoE - EtherCAT) as per DS402 profile the following para-
meters must be set in the device:
9.1 DS402 compatible operation modes No. Name Function Setting

159 MPRO_CTRL_SEL Control location selector DS402
Devices of the ServoOne families support DS402 operation modes
165 PRO_REF_SEL Reference selector DS402
– Profile position mode Table Parameter setting of ServoOne
– Profile velocity mode

– Homing mode These parameters can be found under “Motion Profile“ --> “Basic Settings“
– Interpolated Position Mode
If the drive is operated in a mode in which the internal profile generator is inactive and
– Cyclic Synchronous Position Mode (EtherCAT only) cyclic reference value are transferred (e. g. Cyclic Synchronous Position Mode), the inter-
– Cyclic Synchronous Velocity Mode (EtherCAT only) polation time must be configured.
– Cyclic Synchronous Torque Mode (EtherCAT only)
No. Name Function
306 CON_IpRefTs Cycle time of the references in IP mode
The mode is switched by way of the CANopen object 6060h modes of operation.
Table Parameter setting of ServoOne
This switch is possible in the “Operation enable“ (power to motor) state. The current
operation mode is indicated in the CANopen object 6061h modes of operation display.
The interpolation time CON_IpRefTs represents the cycle time in which reference values
from a higher-level controller are expected.
[Chapter 9]

9.1.2 Control word DS402 Bits 0 - 3 and 7:

DEVICE CONTROL COMMANDS are triggered by the following schema in the control
Object 6040h-control word word:
The object is also mapped in the parameter 2208-MP_Controlword. The control word Bit of the control word
contains bits for: Transi-
Command
Fault Enable Quick- Enable- Switch tions
reset operation Stop voltage on
– the controlling of the state,
Shutdown 0 X 1 1 0 2, 6, 8
– the controlling of operating modes and
Switch on 0 0 1 1 1 3*
– manufacturer-specific options.
Switch on 0 1 1 1 1 3**
Disable voltage 0 X X 0 X 7, 9, 10, 12
The bits of the control word are defined as follows: Quick Stop 0 X 0 1 X 7, 10, 11
15 11 10 9 8 7 6 4 3 2 1 0 Disable operation 0 0 1 1 1 5
Operation Enable operation 0 1 1 1 1 4, 16

Manufacturer- Fault Enable Quick Enable Switch
reserved Stop mode
specific reset operation stop voltage on
specific Fault reset X X X X 15
O O O M O M M M M
MSB LSB bits marked X are irrelevant,
O - Optional M - Mandatory * ... In the state SWITCHED ON the drive executes the functionality of this state.
** .. There is no functionality in the state SWITCHED ON. The drive does not do anything in
this state.
Table Control word DS402
Table Device control commands

Bits 4 - 6 and 8
Bit Name Value Description
The bits 4 - 6 and 8 are interpreted differently depending on the active operation mode
(object “modes of operation display“). .
. No function
.
Operation mode
15 No function
Cyclic Cyclic Cyclic
synchro- synchro- synchro-
Inter-
Bit Profile- Profile nous nous nous
Homing- polated
position velocity- position velocity torque 9.1.3 Status word DS402
mode position
mode mode mode mode mode
mode
(Ether- (Ether- (Ether- Object 6041h-status word
CAT) CAT) CAT)
Homing The content of the object is also mapped in parameter 2209 - MP_Statusword. The sta-
New Enable IP tus word indicates the current status of the drive. It contains the following bits for:
4 reserved operation reserved reserved reserved
setpoint mode
start
Change set – current state of the device,
5 immedia- reserved reserved reserved reserved reserved reserved – operating state of the mode and
tely
– manufacturer-specific options.
6 abs/rel reserved reserved reserved reserved reserved reserved
8 Stop Stop Stop Stop reserved reserved reserved
Table Mode-specific bits in the control word
Use of the specific bits is explained in more detail in the sections on the operation
modes.
Bits 7 and 11- 15

7 Fault reset 0ð1 Fault reset
11 No function
[Chapter 9]

Status word bits

Value (binary) State
Bit Description M/O Xxxx xxxx x00x 0111 Quick stop active
0 Ready to switch on M Xxxx xxxx x0xx 1111 Fault reaction active
1 Switched on M Xxxx xxxx x0xx 1000 Fault
2 Operation enabled M Table Device state bits in the status word
3 Fault M
Bit 4: Voltage enabled
4 Voltage enabled M
Power supply connected.
5 Quick stop M
6 Switch on disabled M Bit 5 Quickstop
In the LOW state this bit indicates that the controller is executing a “quick stop“. Bits 0,
7 Warning O
1 and 2 of the status word are set to 1 when the drive is ready for operation. The other
8 Manufacturer-specific O bits indicate additional states of the drive, such as execution of a “quick stop“. In the
9 Remote M event of an error the FAULT bit is set.
10 Target reached M
Bit 7: Warning
11 Internal Limit active M Warnings such as temperature limits, are indicated in bit 7. In response to warnings the
12 - 13 Operation mode specific O device state does not change. For more information on the warning given, refer to the
FAULT CODE.
14 - 15 Manufacturer-specific O
Table Bits in the status word Bit 8: Manufacturer-specific
Currently not used.
Bit 9: Remote
Bits 0 - 3, 5 and 6:
Currently not used.
These BITS indicate the STATUS of the controller.
Bit 10: Target Reached

Value (binary) State
The bit is automatically set when a SETPOINT is reached. The setpoint depends on
xxxx xxxx x0xx 0000 Not ready to switch on the OPERATING MODE. A change to the setpoint by the master changes this bit.
Xxxx xxxx x1xx 0000 Switch on disabled
With “quick stop“ OPTION CODE 5, 6, 7 or 8, this bit is set when the “quick stop“
ends. In response to a STOP request this bit is also set at a standstill.
Xxxx xxxx x01x 0001 Ready to switch on
Xxxx xxxx x01x 0011 Switched on Bit 11: Internal Limit active
This bit is set when internal limits are reached. This bit is dependent on OPERATION
Xxxx xxxx x01x 0111 Operation enabled
MODE.

Bits 12 and 13: 9.2 Profile Velocity Mode
These bits are dependent on OPERATION MODE - see section 6.
This operation mode (mode of operation = 3) is used to activate the device at a velocity
The following table provides an overview: setpoint as per the DS402 profile. The drive is in speed control in this mode of operation.
Operation mode The units, the reference and ramp variable are produced from the settings of the factor
Cyclic Cyclic Cyclic group. Also refer to the section 5.4 “Units and scalings“ in this regard.
synchro- synchro- synchro-
Inter- The device supports the following objects for this mode:
Bit Profile- Profile nous nous nous
Homing- polated
position velocity- position velocity torque
mode position Object Object Object
mode mode mode mode mode Type
mode No. Name Code
(Ether- (Ether- (Ether-
CAT) CAT) CAT) 0x606C Velocity actual value VAR Int32
Setpoint Target Target Target 0x60FF Target velocity VAR Int32
Homing IP mode
12 acknow- Speed position velocity torque
attained active 0x6094 Velocity encoder factor ARRAY Int32
ledge ignored ignored ignored
Following Max slippa- Homing Following 0x6083 Profile acceleration VAR Int32
13 reserved reserved reserved
error ge error error error 0x6084 Profile deceleration VAR Int32
Table Mode-specific bits in the control word 0x6085 Quick Stop deceleration VAR UInt32
0x607E Polarity VAR UInt8
Table Profile Velocity Mode
Bits 14 and 15:
These bits are implemented specific to manufacturer; explanatory notes to them are
given in the sections on the various operation modes.
[Chapter 9]

Structure of operation mode 9.2.1 Mode-dependent bits in the control word
The structure presented below is based on this operation mode:

Type
No. Name Code
0 Execute the motion
8 Stop
1 Stop axle
Table Profile velocity mode bits of the status word
9.2.2 Mode-dependent bits in the status word

Type
No. Name Code
Stop = 0: Target velocity not (yet) reached
0
Stop = 1: Axle decelerates
10 Target reached
Stop = 0: Target velocity reached
1
Stop = 1: Axle has velocity 0
0 Speed is not equal to 0
12 Speed
1 Speed is equal to 0
0 Maximum slippage not reached
13 Max. Slippage error
1 Maximum slippage reached
Figure Structure Profile Velocity Mode
Axle at standstill
14 Rot 0 1 Speed is much lower than parameter
745 MON_REFWINDOW
Table Profile velocity mode bits of the status word

9.3 Homing mode control_word
status_word
This mode (Mode of operation = 6) is used to perform a homing of a position-control-
led axle. The drive executes a movement according to the programmed reference run homing_speeds
Homing
type (homing method).
homing_acceleration
position_demand_value*
The various homing methods differ in the integration of hardware limit switch, reference home_offset
cam and zero pulse into the encoder system. It should be noted in this that, for limit
switch and reference cam functionality, appropriate digital inputs should be configured:
Figure Homing function
Limit switch function

ServoOne supports all 35 homing methods defined in DS402.
LCW - right side HW limit switch
LCCW - left side HW switch
The individual homing methods are described in the device application manuals with
HOMSW - reference cam
regard to their function and movement sequencing.
The following objects are supported by the device for this operation mode:
Home Offset:
Type Attr. The HOME OFFSET object is the difference between position 0 of the application and the
No. Name Code
HOME POSITION found during homing. It is represented in position units. At the end of
0x607C Home_Offset VAR Integer32 rw
a homing run the HOME OFFSET is added to the HOME POSITION found. All subsequent
0x6098 Homing_Method VAR Integer8 rw absolute positioning operations relate to this new home position.
0x6099 Homing_Speeds * ARRAY Unsigned32 rw
A change in the referencing run type and the associated properties is possible in two
0x609A Homing_Acceleration VAR Unsigned32 rw
ways. The reference run can be changed either via DriveManager or CAN.
* 0x6099.01 - Quick jog speed
0x6099.02 - Slow jog speed For configuration via CANopen the objects of the homing mode can be directly
Table Homing mode addressed. For example, for a change to the reference run type, object 0x6098 can be
changed.
[Chapter 9]

9.3.1 Mode-specific bits in the control word 9.3.2 Mode-specific bits in the status word
Bit 4 - HOMING OPERATION START Bit 10 - TARGET REACHED

Bit 8 - STOP Bit 12 - HOMING ATTAINED
Bit 13 - HOMING ERROR
Bit Name Value Description Bit 14 - ROT_0
0 Homing mode inactive

Homing 0ð1 Start homing mode
4 Stop = 0: Home position not reached
operation start 0 Homing mode active 0
Stop = 1: Axle decelerates
10 Target reached
1ð0 Interrupt homing mode Stop = 0: Home position reached
1
Stop = 1: Axle has velocity 0
0 Execute the instructions of bit 4
8 Stop 0 Homing mode not yet completed
1 Stop axle with profile deceleration Homing
12
attained 1 Homing mode carried out successfully
Table Homing Mode Bits of the control word
0 No homing error
Homing Homing error occurred;
13
error 1 Homing mode not carried out successfully
The error cause is found by reading the error code
Axle at standstill
14 ROT_0 1 Speed is much lower than parameter
745 MON_REFWINDOW
Table Homing Mode bits of the status word

9.4 Profile position mode Structure of operation mode
In this operation mode (mode of operation =1) the axle executes relative or absolute target_position [position Limit
Multiplier position
(607Ah) units] Function
single positioning movements. positio_range_limit (607Bh)
software_position_limit position_factor
(607Dh) (6093h)
Object Object Object home_offset (607Ch) polarity (607Eh)
Type Attr.
No. Name Code
0x607A Target_Position VAR Integer32 rw
profile_velocity
(6081h) [speed units]
0x607d Software Position Limit ARRAY Integer32 rw Limit Function velocity
end_velocity
[speed units]
0x6081 Profile_Velocity VAR Unsigned32 rw (6082h)
0x6083 Profile_Acceleration VAR Unsigned32 rw max_profile_velocity

[speed units]
(607Fh) Minimum velocity
0x6084 Profile_Deceleration VAR Unsigned32 rw max_motor_speed Comparator limit
(6080h) Multiplier
0x6085 Quick Stop deceleration VAR Unsigned32 rw
velocity_factor_1
0x6064 Position actual value VAR Integer32 r (6095h)
0x607E Polarity VAR UInt8 rw

profile_acceleration
[acceleration units]
(6083h)
Table Profile Position Mode
profile_deceleration [acceleration units]
(6084h)
Limit Function acceleration
quick_stop_deceleration [acceleration units]

(6084h)
max_acceleration
Units of the parameters are set by way of the Scaling Wizard or the objects from the (60C5h)
max_deceleration
factor group. (60C8h)
Figure Structure Profile Position Mode
[Chapter 9]

9.4.1 Mode-specific bits in the control word 9.4.2 Mode-specific bits in the status word
Bit 4 - New setpoint Bit 10 - Target reached

Bit 5 - Change set immediately Bit 12 - Set-point acknowledge
Bit 6 - abs/rel Bit 13 - Following error
Bit 8 - Stop Bit 14 - ROT_0
Bit Name Value Description Bit Name Value Description

0 Does not assume target position Stop = 0: Target position not reached
4 New setpoint 0
Target Stop = 1: Axle decelerates
1 Assume target position 10
reached Stop = 0: Target position reached
Finish the current positioning and then start the next 1
0 Stop = 1: Velocity of axle is 0
Change set positioning
5 Trajectory generator has not assumed
immediately Interrupt the actual positioning and start the next 0
1 Setpoint the positioning values (yet)
positioning 12
acknowledge Trajectory generator has assumed the positioning
0 Target position is an absolute value 1
values
6 abs/rel
1 Target position is a relative value 0 No following error
13 Following error
0 Execute positioning 1 Following error
8 Stop Stop axle with profile deceleration (if not supported
1 Axle at standstill speed is much lower
with profile acceleration) 14 ROT_0 1
than parameter 745 MON_REFWINDOW
Table Profile position mode bits of the control word Table Profile Position Mode bits of the status word
9.4.3 Functional description
In this OPERATION MODE two different options for target position input are supported.
SET OF SETPOINTS:
When the target position is reached, the drive directly approaches the next target
position; the axle is not stopped when the first target position is reached.

SINGLE SETPOINT:
velocity
When the target position is reached the drive indicates the fact to the master. Then the v2
drive receives a new setpoint. At each target position the drive is stopped before being v1
moved on to the next target position.
The two options are controlled by way of the timing of the NEW SETPOINT and CHAN- t0 t1 t2 t3 time
GE SET IMMEDIATELY bits in the control word and the SETPOINT ACKNOWLEDGE bit in
the status word. These bits allow a new positioning operation to be initiated even while Figure Single setpoint
the current one is ongoing.
If the “CHANGE SET IMMEDIATELY“ bit is set to “1“ (broken line in Figure “Setpoint
data
transmission“), the new target position is adopted immediately. In the Figure “Change
Set Immediately“ the drive receives the first target position at the time t0. At the time
t1 the drive receives the second target position. The drive immediately implements the
new_setpoint movement to the second target position.
(2) (4)
velocity
(6)
change_set_immediately v2
(1) v1
setpoint_acknowledge
(3) (5) t0 t1 t2 time
Figure Setpoint transmission from a host computer Figure Change set immediately
If the “CHANGE SET IMMEDIATELY“ bit is set to “0“ (solid line in above diagram) a
SINGLE SETPOINT is expected by the drive (1).
When the setpoint has been transmitted to the drive, the master activates the positio-
ning by setting the ‚New setpoint‘ bit in the control word (2). The drive responds by set-
ting the “Setpoint acknowledge“ bit in the status word (3) once the new data has been
detected and saved. Now the master can delete the “New setpoint“ bit (4). Then the
drive signals by deleting the “set-point acknowledge“ bit that a new setpoint is accepted
(5). In the diagram the mechanism initiates a speed 0 on reaching the target position
at time t1. After the message indicating the target position has been reached, the next
target position can be initiated at time t2.
[Chapter 9]


10 Emergency Objects 10.1 Error acknowledgement, general
Device errors can be acknowledged by the following mechanisms:
byte 0 1 2 3 4 5 6 7 • Control word bit 7, edge-controlled

• Control input with programmed reset functionality
Bit: 0 ... 15 16 ... 23 24 ... 39 40 ... 47 40 ... 47 48 ... 63
• Hardware enable ENPO to control terminal
Profile Device Profile DS402 Drive controller
• Operation via two buttons
Error
Emergency error
register Error Error Operating hours meter
• Drive Manager user interface
Error code as per
(Object number location (in full hours) • Writing the value 1 to parameter 153 MPRO_DRVCOM_FaultReset by way of the
DS402
1001 h) control unit or bus system
Table Emergency telegram
Note: For a detailed list of all error messages together with remedial messa-
ges refer to the Application Manual ServoOne on our product CD.
The decisive factors for rapid localization are the error code and error location. In byte
3 of the emergency telegram you will find the error code, which provides an initial
categorisation of the cause of the error. The precise cause of the error is specified by the 10.2 Error acknowledgment via bus system
error location in byte 4. Bytes 5, 6 and 7 contain the internal operating hours meter of
the device. Another possibility is offered by the object 6040 h Control Word:
CANopen errors - i.e. incorrect configurations, bus disturbances etc. - are indicated by Draft 402 6040h VAR Control word Integer16 rw M
error code 0xFF00.
Note: When an error occurs the controller executes a response as per the pa- An error acknowledgement is executed by a rising edge at bit 7 in the control word.
rameterised error response. These can be set separately for individual errors. Resetting of the error is signalled by transmission of the following emergency message:
ID Data bytes Description
Note: The state displays of the 7-segment display are explained in the Appli- Emergency message acknowledgment
Emergency 00 00 00 00 00 00 00 00
cation Manual. error
Table Error acknowledgement
If the cause of the error is not eliminated, the drive controller returns to the error state
after transmission of another emergency message.
[Chapter 10]


11 EDS File, Object Directory
Parameter List
11.1 EDS file, object directory

An EDS file is available for the devices to integrate them into the CAN master. The file
is shipped with the firmware. It contains all the CAN objects of the drive controllers.
Note: ServoOne has parameters with default values in the device that may
deviate from the default values in the EDS file. These are power-stage specific
parameters with contents that are dependent on the size. Examples of such
parameters are:
Para 302 – CON_SwitchFreq
Para 307 – CON_VoltageSupply
Para 651 – DV_CAL_VDC
[Chapter 11]


12 Bibliography
Operation Manual ServoOne LUST Antriebstechnik GmbH
Gewerbestrasse 5 - 9
35633 Lahnau
http://www.lust-antriebstechnik.de
User Manual ServoOne LUST Antriebstechnik GmbH
Gewerbestrasse 5 - 9
35633 Lahnau
http://www.lust-antriebstechnik.de
CiA DS-301 (Rev. 4.0): Applica- http://www.can-cia.org/
tion Layer and Communication
Profile
CiA DSP-402 (Rev. 2.0): Device http://www.can-cia.org/
Profile Drives and Motion
Control
EtherCAT Communication Speci- http://www.ethercat.org/
fication Version 1.0 2004
EtherCAT Indicator Specification http://www.ethercat.org/
Proposal V0.91 2005
IEC61158-2-12 to IEC61158-6-12
[Chapter 12]


13 Appendix Glossary
CiA: (“CAN in Automation“). CAN bus user group, generally defines
a protocol for automation.
CAL: (CAN Application Layer) CiA protocol, primarily describes the way in
which variables are transmitted without defining their function or
content.
Subsets:
CMC: (CAN based Message Specification). Sets out the definition
described above. Is accepted by most CAN suppliers. LUST conforms
to this definition.
NMT: (Network Management). Required for masters in the CAN
system. Not implemented by LUST because drive controllers are always
slaves and have no “control function“.
LMT: (Layer Management). See NMT
DBT: (Identifier Distributor). See NMT
CANopen: Based on CAL definition
Corresponds to CiA Draft Standard 301
Extends the CAL definition to include function and unit assignment
of the predefined variables
This definition is being drafted by CiA and various
user groups (MOTION for drive technology and I/O
for inputs/outputs) (e. g. variable for torque in Nm).
General points on the various protocol definitions
CAL: Mainly in use in Europe, LUST has currently implemented a protocol
which can be activated by a CAL master.
The initialisation is simpler than CAL (CCDA), for example addressing
by way of jumper, which has no influence on operation.
DeviceNet: Mainly in the USA (corresponds to CAL definition).
[Chapter 13]


Index Change Set Immediately 59
CiA DS-301 7, 8
CiA DSP-402 8
CoE 38
Commissioning 19
Symbols Commissioning and configuration CANopen 19
Commissioning instructions 20
32-bit variables 29 Commissioning sequence 19
A Commissioning via DriveManager 21
Communication objects 27
Abort protocol 29 Configuration 19, 25
Access to device parameters 30 Configuration for operation in a controller 40
Activation 41 Connecting cable 16
Acyclic synchronous type 34 Connection 9
Address assignment 9 Connectors 11
Address setting via DIP switch 10 Control field 29
Appendix 67 Control functions 22
Application of screens 35 Control word 43, 51
Assignment of connection X19 12 Control word bits 50
Asynchronous types no. FE h and FF h 34 Control word DS402 50
Cross-manufacturer communication 7
B
Cyclic synchronous types 34
Bibliography 65
D
Bit combinations 43
Bit of the controlword 50 Data handling 21
Bootup 27 Data types 29
Bus address parameters 9 Description 52
Bus module 2 DEVICE CONTROL 50
Device control and state machine 41
C
DEVICE CONTROL COMMANDS 50
Calculation correlations 46 Device control commands 43, 50
CAL specification 8 DEVICE CONTROL FUNCTION 41
CANopen 44 Device controlling 41
CANopen functionality of ServoOne 7 Device control objects 45
CANopen interface 11 Device profile DS402 47
CANopen option 10 Device states 42
Change modes in diagram 23 Device status table 44
[Chapter 14]

Device with EtherCAT Option 17 Functional description 58

Digital inputs 47 Functionality of operation modes 23
DIP switches 10 Function of event control 34
Display of operating states 13, 18
Distributed clocks 39 G
Documentation, further 8 General information 41
Download protocol 29 General introduction 7
DRIVECOM state machine 43 Glossary 67
DriveManager 21, 29
DS402 compatible operation modes 49 H
E Hardware enable 14, 18

Heartbeat function 36
EDS file 63 Heartbeat protocol 36
Emergency 38 Home offset 55
Emergency objects 61 Homing function 55
Emergency telegram 61 Homing mode 41, 55
EoE 38 How to use the document 3
Error acknowledgement 61 How to use this manual 3
Error acknowledgement, general 61
Error acknowledgement via bus system 61 I
EtherCAT connection 15
I/O map, object 60FDH 47
EtherCAT option 15
ID No.: 2
EtherCAT state machine 39
Implemented DS301 functionality 27
EtherCAT structure 37
Implemented DS402 functionality 41
Event control 34
Initial commissioning 21
Example of read access 31
Input map 48
Example of use of DIP switches 10
Installation 11
Examples of SDO handling 30
Introduction 7, 8
Expedited Multiplexed Domain Protocol 29
M
F
Mailbox 38
Factor group 45
Mapping - general 35
Factor group as per DS402 46
Mapping notes 35
Factor group parameters 46
Mapping settings 35
FAULT REACTION ACTIVE 43
Meanings of LEDs 10, 17
Flash sequence 18
Measures for your safety 7
Function / assignment 10

Mode-dependent bits in the control word 54 Procedure for commissioning 21
Mode-dependent bits in the status word 54 Process data 37
Mode-specific bits in the control word 51, 56, 58 Profile Position Mode 57
Mode-specific bits in the status word 56, 58 Profile position mode 41
Modes of operation 22 Profile Velocity Mode 53
Mounting 9 Profile velocity mode 41
Mounting and connection of EtherCAT 15
Multiplexed Domain Protocol 29 Q
N QUICK STOP ACTIVE 42
NMT 39 R
NOT READY TO SWITCH ON 42 READY TO SWITCH ON 42
O Reference run types 55
Remedy 33
Object 2079h – MPRO_INPUT_STATE 48 Representation of data types 29
Object 208Fh – MRPO_OUTPUT_STATE 48 Restoring factory defaults 21
Object 60FDh – Digit inputs 47 RJ-45 socket 16
Object directory 63
Object directory of DS301 27 S
Object index 30 Save the settings 21
OPERATION ENABLE 42 SDO data transfer 28
Operation mode 51, 53 SDO Information Service 38
Operation modes DS402 49 Service data object 28
Operation mode selection 22 ServoOne 3
Option codes 44 Setting the address 9
Overview of supported CAN objects 27 Setting the device parameters 27, 37
P Setting the software address and Baud rate 20
SINGE SETPOINT 59
Parameter channel 28 Software address 20
Parameter data formats 29 Spring-type terminal 12
Parameter set download 33 State control 50
Parameter setting of ServoOne 49 State machine 41, 42
PDO mapping 35 State transitions 39
PDO transfer 34 Status 2
PDO transmission types 34 Status bit 44
Pictograms 4 Status word 51
Pin assignment 16 Status word bits 52
[Chapter 14]

Status word DS402 51

STOP function 44
Structure of operation mode 54, 57
Structure Profile Position Mode 57
Supported EtherCAT functionality 37
SWITCHED ON 42
SWITCH ON DISABLED 42
System connection 12
System requirements 8
T
Terminals 9
Test higher-order controller 20
Translation of transmitted values (ASCII) 32
Transmission of TxPDO 34
Transmission speeds 13
U
Units and scalings 45

Upload protocol 29
Users 3
X
XML file 39

Lust Antriebstechnik GmbH
Gewerbestraße 5-9 • 35633 Lahnau
Germany
Tel. +49 (0) 64 41/9 66-0
Fax +49 (0) 64 41/9 66-137
Internet: www.lust-tec.de
e-mail: info@lust-tec.de
Lust Antriebstechnik GmbH

Heinrich-Hertz-Str. 18 • 59423 Unna
Germany
Tel. +49 (0) 23 03/77 9-0
Fax +49 (0) 23 03/77 9-3 97
Internet: www.lust-tec.de
e-mail: info@lust-tec.de
ID No.: 1100.28B.0-00 • 11/2007

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This guide is currently subject to approval testing and is therefore

! not yet final and complete.

User Manual ServoOne

We reserve the right to make technical changes.

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2 Mounting and connection of CANopen 2

3 Mounting and connection of EtherCAT 3

11 EDS file, object directory parameter list 11

User Manual CANopen/EtherCAT 

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! Important! Misoperation may result in damage to the drive or malfunc-

Danger from electrical voltage! Improper behaviour may endanger human

Danger from rotating parts! Drive may start up automatically.

Note: Useful information

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2 Mounting and Connection of CANopen............................................................................. 9 5 Commissioning and Configuration of EtherCAT.............................................................. 25

2.1 Setting the address......................................................................................................... 9

User Manual CANopen/EtherCAT 

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6.6 PDO mapping.................................................................................................................35 9.2 Profile Velocity Mode.....................................................................................................53

7.1 Supported EtherCAT functionality..................................................................................37 9.4 Profile position mode.....................................................................................................57

8.1 Device control and state machine...................................................................................41

8.1.3 Device states........................................................................................................42 10.2 Error acknowledgment via bus system...........................................................................61

8.2 Option codes................................................................................................................. 44

8.5.2 Object 2079h – MPRO_INPUT_STATE................................................................. 48

9 Operation modes DS402..................................................................................................... 49 Index........................................................................................................................................... 69

9.1 DS402 compatible operation modes............................................................................. 49

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User Manual CANopen/EtherCAT 

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1.3 Introduction to EtherCAT 1.5 Further documentation

1.4 System requirements

For the precise protocol definitions refer to the CAL specification.

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! tion. CAN address = hardware address (S4) + Parameter 2005-COM_CAN_Adr

Step Action Note

• by bus address parameter REL

• by bus address parameter and DIP switch (S4)

Bet zeit enen

Figure Position of CAN connection on ServoOne

User Manual CANopen/EtherCAT 

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Address setting using DIP switch IMPORTANT: Switch 8 = Bus termination!!!

Example of use of the DIP switches: IN

Setting address “3“ using the Dip switch: x32

Figure Device with CANopen option

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The LED displays the current network state.

3. Switch on the drive device.

Electrical installation is finished; for how to proceed further, refer to section 4

User Manual CANopen/EtherCAT 11

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Connection Spring-type terminal

Wave terminating resistance

Activation of the bus termination in the device

via switch 8 in the CAN option

CAN-Bus Max. Input frequency 1 MHz

User Manual CANopen/EtherCAT

User Manual CANopen/EtherCAT

User Manual CANopen/EtherCAT

User Manual CANopen/EtherCAT

1) Switch-on inhibit (DC-link is OK, power stage

1) Switch-on inhibit (DC-link is OK,