CANopen

Programming

User Manual

© Technosoft 2010
 TECHNOSOFT

CANopen Programming
User Manual
P091.063.UM.0210

Technosoft S.A.

Avenue des Alpes 20

CH-2000 NEUCHATEL
Switzerland
Tel.: +41 (0) 32 732 5500
Fax: +41 (0) 32 732 5504
contact@technosoftmotion.com
www.technosoftmotion.com
Read This First
Whilst Technosoft believes that the information and guidance given in this manual is correct, all
parties must rely upon their own skill and judgment when making use of it. Technosoft does not
assume any liability to anyone for any loss or damage caused by any error or omission in the
work, whether such error or omission is the result of negligence or any other cause. Any and all
such liability is disclaimed.
All rights reserved. No part or parts of this document may be reproduced or transmitted in any
form or by any means, electrical or mechanical including photocopying, recording or by any
information-retrieval system without permission in writing from Technosoft S.A.

About This Manual

This book describes how to program the CANopen versions of Technosoft intelligent drives.
These drives support CANopen protocol in conformance with the DS-301 communication profile
and the DSP-402 device profile. The manual presents the object dictionary associated with these
two profiles. As an option, it is also available on request the DS-401 device profile. The manual
also explains how to combine the Technosoft Motion Language commands and the CANopen
protocol commands in order to distribute the application between the CANopen master and the
Technosoft drives. In order to operate the Technosoft IDM680 drives, you need to pass through 3
steps:
‰ Step 1 Hardware installation

‰ Step 2 Drive setup using Technosoft EasySetUp software for drive commissioning
‰ Step 3 Motion programming using one of the options:
A. A CANopen master
B. The drive built-in motion controller executing a Technosoft Motion Language (TML)
program developed using Technosoft EasyMotion Studio software
C. A TML_LIB motion library for PCs (Windows or Linux)
D. A TML_LIB motion library for PLCs
E. A distributed control approach which combines the above options, like for example
a host calling motion functions programmed on the drives in TML

Scope of This Manual

This manual applies to the following families of Technosoft intelligent drives and motors. Certain
features are different depending on the family (see a detailed comparison table in the appendix).
1. MotionChip II family: IPS110, PIM2401, PIM2403, ISCM4805, ISCM8005, IPS210,
ISCM4805 DIN, ISCM8005 DIN, IBL2401, IBL2403, IDM240, IDM640, IDM3000, IM233-
MA, IS23-MA
Each product from these families can be delivered in 2 versions:
• Standard – using highly optimized Technosoft TMLCAN protocol via CANbus
• CANopen – using CANopen DS301 and DSP402 communication and device profiles.
DS401 also available on request.

© Technosoft 2010 III CANopen programming

This manual refers to CANopen versions only. The CANopen versions provide slightly less
motion programming flexibility compared with the standard versions and fewer motion modes
options, but can be integrated in existent applications already using CANopen communication.

Important! CANopen versions of Technosoft intelligent drives and motors have other order
codes than the standard versions. They also use a different firmware.

2. MotionChip III family: IDM680

Notational Conventions
This document uses the following conventions:
‰ TML – Technosoft Motion Language
‰ IU – drive/motor internal units
‰ ControlWord.5 – bit 5 of ControlWord data
‰ MotionChip II – generic name for the second generation family of Technosoft intelligent
drives or motors
‰ MotionChip III – generic name for the third generation family of Technosoft intelligent
drives

Related Documentation
Help of the EasySetUp software – describes how to use EasySetUp to quickly setup
any Technosoft drive for your application using only 2 dialogues. The output of
EasySetUp is a set of setup data that can be downloaded into the drive EEPROM or
saved on a PC file. At power-on, the drive is initialized with the setup data read from
its EEPROM. With EasySetUp it is also possible to retrieve the complete setup
information from a previously programmed drive. EasySetUp includes a firmware
programmer, which allows you to update your drive firmware to the latest revision.
EasySetUp can be downloaded free of charge from Technosoft web page
User Manual of each intelligent drive or motor – describes the hardware including the
technical data, the connectors, the wiring diagrams needed for installation and
detailed setup information.
Help of the EasyMotion Studio software – describes how to use the EasyMotion Studio
to create motion programs using the Technosoft Motion Language (TML).
EasyMotion Studio platform includes EasySetUp for the drive/motor setup, and a
Motion Wizard for the motion programming. The Motion Wizard provides a simple,
graphical way of creating motion programs and automatically generates all the TML
instructions. With EasyMotion Studio you can fully benefit from a key advantage of
Technosoft drives – their capability to execute complex motions without requiring an
external motion controller, thanks to their built-in motion controller. A demo version
of EasyMotion Studio (with the corresponding EasySetUp part fully functional)
can be downloaded free of charge from Technosoft web page
TML_LIB v2.0 (part no. P091.040.v20.UM.xxxx) – explains how to program in C, C++,
Visual Basic or Delphi Pascal a motion application for the Technosoft intelligent

© Technosoft 2010 IV CANopen programming

 drives using TML_LIB v2.0 motion control library for PCs. The manual includes over
40 ready-to-run examples that can be executed on Windows or Linux
TML_LIB_LabVIEW v2.0 (part no. P091.040.LABVIEW.v20.UM.xxxx) – explains how to
program in LabVIEW a motion application for the Technosoft intelligent drives using
TML_LIB_LabVIEW v2.0 motion control library for PCs. The manual includes over
40 ready-to-run examples.
TML_LIB_S7 (part no. P091.040.S7.UM.xxxx) – explains how to program a PLC
Siemens series S7-300 or S7-400 with a motion application for the Technosoft
intelligent drives using TML_LIB_S7 motion control library. The manual includes
over 40 ready-to-run examples. The library is PLCOpen compatible.
TML_LIB_CJ1 (part no. P091.040.CJ1.UM.xxxx) – explains how to program a PLC
Omron series CJ1 with a motion application for the Technosoft intelligent drives
using TML_LIB_CJ1 motion control library for PCs. The manual includes over 40
ready-to-run examples. The library is PLCOpen compatible.
TechnoCAN (part no. P091.063.TechnoCAN.UM.xxxx) – presents TechnoCAN
protocol – an extension of the CANopen communication profile used for TML
commands

If you Need Assistance …

If you want to … Contact Technosoft at …

Visit Technosoft online World Wide Web: http://www.technosoftmotion.com/

Receive general information World Wide Web: http://www.technosoftmotion.com/

or assistance Email: contact@technosoftmotion.com

Ask questions about

product operation or report
suspected problems
Fax: (41) 32 732 55 04
Email: hotline@technosoftmotion.com
Make suggestions about or
report errors in
documentation

© Technosoft 2010 V CANopen programming

Contents

1. Introduction........................................................................................................................ 13
1.1. Installing EasySetUp........................................................................................................ 13
1.2. Getting Started with EasySetUp ...................................................................................... 13
1.2.1. Establish communication.......................................................................................... 14
1.2.2. Setup drive/motor ..................................................................................................... 15
1.2.3. Download setup data to drive/motor......................................................................... 16
1.2.4. Evaluate drive/motor behaviour (optional)................................................................ 17
1.3. Changing the drive Axis ID .............................................................................................. 17
1.4. Setting the CANbus rate .................................................................................................. 18
1.5. CANopen factor group setting ......................................................................................... 19
1.6. Creating an Image File with the Setup Data .................................................................... 20
1.7. Motion Programming using a CANopen Master .............................................................. 20
1.7.1. TechnoCAN Extension ............................................................................................. 21
1.7.2. Checking Setup Data Consistency........................................................................... 21
1.8. Using the built-in Motion Controller and TML .................................................................. 21
1.8.1. Technosoft Motion Language Overview................................................................... 21
2. CAN and the CANopen protocol ...................................................................................... 23
2.1. CAN Architecture ............................................................................................................. 23
2.2. Accessing CANopen devices........................................................................................... 24
2.2.1. Object dictionary ....................................................................................................... 24
2.2.2. Object access using index and sub-index ................................................................ 25
2.2.3. Service Data Objects (SDO)..................................................................................... 25
2.2.4. Process Data Objects (PDO).................................................................................... 26
2.3. Objects that define SDOs and PDOs............................................................................... 26
2.3.1. Object 1200h: Server SDO Parameter ..................................................................... 26
2.3.2. Object 1400h: Receive PDO1 Communication Parameters .................................... 27
2.3.3. Object 1401h: Receive PDO2 Communication parameters..................................... 28
2.3.4. Object 1402h: Receive PDO3 Communication parameters..................................... 29
2.3.5. Object 1403h: Receive PDO4 Communication parameters..................................... 30
2.3.6. Object 1600h: Receive PDO1 Mapping Parameters................................................ 32
2.3.7. Object 1601h: Receive PDO2 Mapping Parameters................................................ 33
2.3.8. Object 1602h: Receive PDO3 Mapping Parameters................................................ 34
2.3.9. Object 1603h: Receive PDO4 Mapping Parameters................................................ 34
2.3.10. Object 1800h: Transmit PDO1 Communication parameters.................................... 35
2.3.11. Object 1801h: Transmit PDO2 Communication parameters.................................... 37
2.3.12. Object 1802h: Transmit PDO3 Communication parameters.................................... 38
2.3.13. Object 1803h: Transmit PDO4 Communication parameters.................................... 39
2.3.14. Object 1A00h: Transmit PDO1 Mapping Parameters .............................................. 40
2.3.15. Object 1A01h: Transmit PDO2 Mapping Parameters .............................................. 41

© Technosoft 2010 VII CANopen programming

 2.3.16. Object 1A02h: Transmit PDO3 Mapping Parameters .............................................. 42
2.3.17. Object 1A03h: Transmit PDO4 Mapping Parameters .............................................. 42
2.4. Dynamic mapping of the PDOs ....................................................................................... 43
3. Network Management ....................................................................................................... 46
3.1. Overview .......................................................................................................................... 46
3.1.1. Device control ........................................................................................................... 46
3.1.2. Device monitoring ..................................................................................................... 46
3.1.3. Synchronisation between devices ............................................................................ 47
3.1.4. Emergency messages .............................................................................................. 47
3.2. Network management objects ......................................................................................... 49
3.2.1. Object 1001h: Error Register.................................................................................... 49
3.2.2. Object 1005h: COB-ID of the SYNC Message......................................................... 50
3.2.3. Object 1006h: Communication Cycle Period............................................................ 50
3.2.4. Object 100Ch: Guard Time....................................................................................... 51
3.2.5. Object 100Dh: Life Time Factor................................................................................ 51
3.2.6. Object 1013h: High Resolution Time Stamp ............................................................ 52
3.2.7. Object 2004h: COB-ID of the High-resolution time stamp ....................................... 52
3.2.8. Object 1014h: COB-ID Emergency Object............................................................... 53
3.2.9. Object 1017h: Producer Heartbeat Time.................................................................. 54
4. Drive control and status ................................................................................................... 55
4.1. Overview .......................................................................................................................... 55
4.2. Drive control and status objects....................................................................................... 58
4.2.1. Object 6040h: Control Word ..................................................................................... 58
4.2.2. Object 6041h: Status Word ...................................................................................... 59
4.2.3. Object 1002h: Manufacturer Status Register ........................................................... 61
4.2.4. Object 6060h: Modes of Operation........................................................................... 62
4.2.5. Object 6061h: Modes of Operation Display.............................................................. 63
4.2.6. Object 2002h: Drive Status Mask ............................................................................. 63
4.3. Error monitoring ............................................................................................................... 64
4.3.1. Object 2000h: Motion Error Register ........................................................................ 64
4.3.2. Object 2001h: Motion Error Register Mask .............................................................. 65
4.3.3. Object 605Eh: Fault reaction option code ................................................................ 66
4.3.4. Object 6007h: Abort connection option code ........................................................... 67
4.4. Digital I/O control and status objects ............................................................................... 67
4.4.1. Object 60FDh: Digital inputs..................................................................................... 67
4.4.2. Object 2042h: Digital inputs mask ............................................................................ 69
4.4.3. Object 2040h: Digital inputs status ........................................................................... 70
4.4.4. Object 60FEh: Digital outputs................................................................................... 70
4.4.5. Object 2045h: Digital outputs status......................................................................... 72
4.4.6. Object 2043h: Digital outputs command .................................................................. 73
4.4.7. Object 2046h: Analogue input: Reference ............................................................... 74
4.4.8. Object 2047h: Analogue input: Feedback ................................................................ 74
4.4.9. Object 2055h: DC-link voltage.................................................................................. 75
4.4.10. Object 2058h: Drive Temperature ............................................................................ 75
4.5. Protections Setting Objects ............................................................................................. 76
4.5.1. Object 2050h: Over-current protection level............................................................. 76

© Technosoft 2010 VIII CANopen programming

 4.5.2. Object 2051h: Over-current time out ........................................................................ 76
4.5.3. Object 2052h: Motor nominal current ....................................................................... 77
4.5.4. Object 2053h: I2t protection integrator limit.............................................................. 77
4.5.5. Object 2054h: I2t protection scaling factor ............................................................... 79
4.6. Drive info objects ............................................................................................................. 79
4.6.1. Object 1000h: Device Type ...................................................................................... 79
4.6.2. Object 6502h: Supported drive modes..................................................................... 80
4.6.3. Object 1008h: Manufacturer Device Name .............................................................. 81
4.6.4. Object 100Ah: Manufacturer Software Version ........................................................ 81
4.6.5. Object 2060h: Software version of a TML application.............................................. 81
4.6.6. Object 1018h: Identity Object ................................................................................... 82
4.7. Miscellaneous Objects ..................................................................................................... 83
4.7.1. Object 2025h: Stepper current in open-loop operation ............................................ 83
4.7.2. Object 2026h: Stand-by current for stepper in open-loop operation ........................ 83
4.7.3. Object 2027h: Timeout for stepper stand-by current................................................ 84
4.7.4. Object 2075h: Position triggers ................................................................................ 84
4.7.5. Object 2076h: Save current configuration ................................................................ 85
4.7.6. Object 2078h: Execute auto-tuning for Linear Halls configuration ........................... 86
5. Factor group ...................................................................................................................... 87
5.1. Factor group objects ........................................................................................................ 87
5.1.1. Object 6089h: Position notation index ...................................................................... 87
5.1.2. Object 608Ah: Position dimension index.................................................................. 88
5.1.3. Object 608Bh: Velocity notation index...................................................................... 88
5.1.4. Object 608Ch: Velocity dimension index.................................................................. 89
5.1.5. Object 608Dh: Acceleration notation index .............................................................. 89
5.1.6. Object 608Eh: Acceleration dimension index........................................................... 90
5.1.7. Object 206Fh: Time notation index........................................................................... 90
5.1.8. Object 2070h: Time dimension index ....................................................................... 91
5.1.9. Object 6093h: Position factor (DS402)..................................................................... 91
5.1.10. Object 6094h: Velocity encoder factor (DS402) ....................................................... 92
5.1.11. Object 6097h: Acceleration factor (DS402).............................................................. 93
5.1.12. Object 2071h: Time factor ........................................................................................ 94
6. Homing Mode ..................................................................................................................... 96
6.1. Overview .......................................................................................................................... 96
6.2. Homing Mode Objects ................................................................................................... 103
6.2.1. Object 607Ch: Home offset .................................................................................... 105
6.2.2. Object 6098h: Homing method............................................................................... 105
6.2.3. Object 6099h: Homing speeds ............................................................................... 106
6.2.4. Object 609Ah: Homing acceleration ....................................................................... 106
7. Position Profile Mode...................................................................................................... 110
7.1. Overview ........................................................................................................................ 110
7.1.1. Discrete motion profile (change set immediately = 0) ............................................ 110
7.1.2. Continuous motion profile (change set immediately = 1) ....................................... 111
7.1.3. Control word and status word in Position Profile Mode.......................................... 111
7.2. Position Profile Mode Objects........................................................................................ 113
7.2.1. Object 607Ah: Target position ................................................................................ 113

© Technosoft 2010 IX CANopen programming

 7.2.2. Object 6081h: Profile velocity ................................................................................. 113
7.2.3. Object 6083h: Profile acceleration.......................................................................... 114
7.2.4. Object 6085h: Quick stop deceleration .................................................................. 114
7.2.5. Object 2023h: Jerk time.......................................................................................... 115
7.2.6. Object 6086h: Motion profile type........................................................................... 115
7.2.7. Object 6062h: Position demand value.................................................................... 116
7.2.8. Object 6063h: Position actual value* ..................................................................... 116
7.2.9. Object 6064h: Position actual value ....................................................................... 116
7.2.10. Object 6065h: Following error window ................................................................... 117
7.2.11. Object 6066h: Following error time out .................................................................. 117
7.2.12. Object 6067h: Position window .............................................................................. 118
7.2.13. Object 6068h: Position window time....................................................................... 118
7.2.14. Object 60F4h: Following error actual value............................................................ 119
7.2.15. Object 60FCh: Position demand value* ................................................................ 119
7.2.16. Object 2022h: Control effort ................................................................................... 120
8. Interpolated Position Mode ............................................................................................ 125
8.1. Overview ........................................................................................................................ 125
8.1.1. Internal States......................................................................................................... 125
8.2. Interpolated Position Objects......................................................................................... 127
8.2.1. Object 60C0h: Interpolation sub mode select ........................................................ 127
8.2.2. Object 60C1h: Interpolation data record ................................................................ 128
8.2.3. Object 2072h: Interpolated position mode status ................................................... 130
8.2.4. Object 2073h: Interpolated position buffer length................................................... 131
8.2.5. Object 2074h: Interpolated position buffer configuration........................................ 131
8.2.6. Object 2079h: Interpolated position initial position ................................................. 132
9. Velocity Profile Mode ...................................................................................................... 136
9.1. Overview ........................................................................................................................ 136
9.2. Velocity Mode Objects ................................................................................................... 137
9.2.1. Object 6069h: Velocity sensor actual value ........................................................... 137
9.2.2. Object 606Bh: Velocity demand value.................................................................... 137
9.2.3. Object 606Ch: Velocity actual value....................................................................... 138
9.2.4. Object 606Fh: Velocity threshold............................................................................ 138
9.2.5. Object 60FFh: Target velocity ................................................................................ 139
9.2.6. Object 60F8h: Max slippage................................................................................... 139
9.2.7. Object 2005h: Max slippage time out ..................................................................... 139
10. Electronic Gearing Position (EGEAR) Mode ................................................................ 142
10.1. Overview..................................................................................................................... 142
10.2. Gearing Position Mode Objects ................................................................................. 143
10.2.1. Object 2010h: Master settings................................................................................ 143
10.2.2. Object 2012h: Master resolution............................................................................. 144
10.2.3. Object 2013h: EGEAR multiplication factor............................................................ 145
10.2.4. Object 2017h: Master actual position ..................................................................... 146
10.2.5. Object 2018h: Master actual speed........................................................................ 146
10.2.6. Object 201Dh: External Reference Type................................................................ 146
11. Electronic Camming Position (ECAM) Mode ................................................................ 148
11.1. Overview..................................................................................................................... 148

© Technosoft 2010 X CANopen programming

 11.2. Electronic Camming Position Mode Objects.............................................................. 150
11.2.1. Object 2019h: CAM table load address.................................................................. 150
11.2.2. Object 201Ah: CAM table run address................................................................... 150
11.2.3. Object 201Bh: CAM offset ...................................................................................... 151
11.2.4. Object 206Bh: CAM: input scaling factor................................................................ 151
11.2.5. Object 206Ch: CAM: output scaling factor ............................................................. 152
12. External Reference Position Mode ................................................................................ 153
12.1. Overview .................................................................................................................... 153
12.2. External Reference Position Mode Objects ............................................................... 154
12.2.1. Object 201Ch: External On-line Reference ............................................................ 154
13. External Reference Speed Mode.................................................................................... 155
13.1. Overview .................................................................................................................... 155
14. External Reference Torque Mode .................................................................................. 157
14.1. Overview .................................................................................................................... 157
15. Data Exchange between CANopen master and drives................................................ 158
15.1. Checking Setup Data Consistency ............................................................................ 158
15.2. Image Files Format and Creation............................................................................... 158
15.3. Data Exchange Objects ............................................................................................. 159
15.3.1. Object 2064h: Read/Write Configuration Register ................................................. 159
15.3.2. Object 2065h: Write 16/32 bits data at address set in Read/Write Configuration
Register 160
15.3.3. Object 2066h: Read 16/32 bits data from address set in Read/Write Configuration
Register 160
15.3.4. Object 2067h: Write data at specified address....................................................... 161
15.3.5. Object 2069h: Checksum configuration register .................................................... 162
15.3.6. Object 206Ah: Checksum read register ................................................................. 162
15.4. Usage example for the data exchange objects.......................................................... 163
16. Advanced features .......................................................................................................... 165
16.1. Overview .................................................................................................................... 165
16.2. Using TML Functions to Split Motion between Master and Drives ............................ 165
16.2.1. Build TML functions within EasyMotion Studio....................................................... 165
16.2.2. TML Function Objects ............................................................................................ 166
16.2.2.1. Object 2006h: Call TML Function ................................................................... 166
16.3. Executing TML programs ........................................................................................... 167
16.3.1. Object 2077h: Execute TML program .................................................................... 167
16.4. Loading Automatically Cam Tables Defined in EasyMotion Studio ........................... 168
16.4.1. CAM table structure ................................................................................................ 168
16.5. Customizing the Homing Procedures ........................................................................ 169
16.6. Customizing the Drive Reaction to Fault Conditions ................................................. 170
Appendix A Object Dictionary by Index ................................................................................... 171

© Technosoft 2010 XI CANopen programming

1. Introduction
1.1. Installing EasySetUp
EasySetUp is a PC software platform for the setup of the Technosoft drives. It can be
downloaded free of charge from Technosoft web page. EasySetUp comes with an Update via
Internet tool through which you can check if your software version is up-to-date, and when
necessary download and install the latest updates.
EasySetUp can be installed independently or together with EasyMotion Studio platform for
motion programming using TML. You will need EasyMotion Studio only if you plan to use the
advanced features presented in Chapter 16. A demo version of EasyMotion Studio including
the fully functional version of EasySetUp can be downloaded free of charge from Technosoft
web page.
On request, EasySetUp can be provided on a CD too. In this case, after installation, use the
update via internet tool to check for the latest updates. Once you have started the installation
package, follow its indications.

1.2. Getting Started with EasySetUp

Using EasySetUp you can quickly setup a drive for your application. The drive can be:
ƒ directly connected with your PC via a serial RS 232 link
ƒ any drive from a CANbus network where the PC is serially linked with one of the other drives.

The output of EasySetUp is a set of setup data, which can be downloaded into the drive
EEPROM or saved on your PC for later use.
EasySetUp includes a set of evaluation tools like the Data Logger, the Control Panel and the
Command Interpreter which help you to quickly measure, check and analyze your drive
commissioning.
EasySetUp works with setup data. A setup contains all the information needed to configure and
parameterize a Technosoft drive. This information is preserved in the drive EEPROM in the setup
table. The setup table is copied at power-on into the RAM memory of the drive and is used during
runtime. With EasySetUp it is also possible to retrieve the complete setup information from a drive
previously programmed.
Note that with EasySetUp you do only your drive/motor commissioning. For motion programming
you have the following options:
• Use a CANopen master
• Use EasyMotion Studio to create and download a TML program into the drive/motor memory
and from the CANopen master send commands to execute the TML code and monitor the
execution (see Chapter 16).

© Technosoft 2010 13 CANopen programming

1.2.1. Establish communication
EasySetUp starts with an empty window from where you can create a New setup, Open a
previously created setup which was saved on your PC, or Upload the setup from the drive/motor.

Before selecting one of the above options, you need to establish the communication with the drive
you want to commission. Use menu command Communication | Setup to check/change your
PC communication settings. Press the Help button of the dialogue opened. Here you can find
detailed information about how to setup your drive and do the connections. Power on the drive,
then close the Communication | Setup dialogue with OK. If the communication is established,
EasySetUp displays in the status bar (the bottom line) the text “Online” plus the axis ID of your
drive/motor and its firmware version. Otherwise the text displayed is “Offline” and a
communication error message tells you the error type. In this case, return to the Communication |
Setup dialogue, press the Help button and check troubleshoots.
Remark: When first started, EasySetUp tries to communicate via RS-232 and COM1 with a drive
having axis ID=255 (default communication settings). If your drive is powered with all the DIP
switches OFF and it is connected to your PC port COM1 via an RS-232 cable, the communication
shall establish automatically. If the drive has a different axis ID and you don’t know it, select in the
Communication | Setup dialogue at “Axis ID of drive/motor connected to PC” the option
Autodetected.

© Technosoft 2010 14 CANopen programming

1.2.2. Setup drive/motor

Press New button and select your drive type.

The selection continues with the motor technology (for example: 2 phase stepper, 3 phase
stepper) the control mode (for example: open-loop or closed-loop) and type of feedback device
(for example: none or incremental encoder).
The selection opens 2 setup dialogues: for Motor Setup and for Drive setup through which you
can configure and parameterize a Technosoft drive, plus several predefined control panels
customized for the product selected.

© Technosoft 2010 15 CANopen programming

In the Motor setup dialogue you can introduce the data of your motor and the associated
sensors. Data introduction is accompanied by a series of tests having as goal to check the
connections to the drive and/or to determine or validate a part of the motor and sensors
parameters. In the Drive setup dialogue you can configure and parameterize the drive for your
application. In each dialogue you will find a Guideline Assistant, which will guide you through the
whole process of introducing and/or checking your data. Close the Drive setup dialogue with OK
to keep all the changes regarding the motor and the drive setup.

1.2.3. Download setup data to drive/motor

Press the Download to Drive/Motor button to download your setup data in the
drive/motor EEPROM memory in the setup table. From now on, at each power-on, the setup data
is copied into the drive/motor RAM memory which is used during runtime. It is also possible to

Save the setup data on your PC and use it in other applications.

© Technosoft 2010 16 CANopen programming

To summarize, you can define or change the setup data in the following ways:
• create a new setup data by going through the motor and drive dialogues
• use setup data previously saved in the PC
• upload setup data from a drive/motor EEPROM memory

1.2.4. Evaluate drive/motor behaviour (optional)

You can use the Data Logger or the Control Panel evaluation tools to quickly measure and
analyze your application behavior. In case of errors like protections triggered, use the Drive
Status control panel to find the cause.

1.3. Changing the drive Axis ID

The axis ID of a Technosoft drives drive can be set in 2 ways:
ƒ Hardware (H/W) – in the range 1 to 31 or 255. The hardware selection can be done using
DIP switches or jumpers, according to the drive model.
ƒ Software – any value between 1 and 255, stored in the setup table
The axis ID is initialized at power on, using the following algorithm:
a) If a valid setup table exists, with the value read from it. This value can be an axis number
1 to 255 or can indicate that axis ID will be set by hardware.
b) If the setup table is invalid, with the last value set with a valid setup table. This value can
be an axis number 1 to 255 or can indicate that axis ID will be set by hardware
c) If there is no axis ID set by a valid setup table, it will be set by hardware
Remark: If a drive axis ID was previously set by software but its value is unknown, you can find it
by selecting in the Communication | Setup dialogue at “Axis ID of drive/motor connected to PC”
the option Autodetected. Apply this solution only if this drive is connected directly with your PC
via an RS-232 link. If this drive is part of a CANbus network and the PC is serially connected with
another drive, use the menu command Communication | Scan CAN Network.

© Technosoft 2010 17 CANopen programming

1.4. Setting the CANbus rate
The Technosoft intelligent drives/motors can work with the following rates on the CAN: 125kHz,
250kHz, 500kHz, 800kHz 1 , 1MHz. In the Drive Setup dialogue you can choose the initial CAN
rate after power on. This information is stored in the setup table. The CAN rate is initialized using
the following algorithm:
a) If a valid setup table exists, with the CAN rate value read from it. This can be any of the
supported rates or can indicate to use the firmware default (F/W default) value, which is
500kHz
b) If the setup table is invalid, with the last CAN rate value set with a valid setup table. This
can be any of the supported rates or can indicate to use the firmware default (F/W
default) value
c) If there is no CAN rate value set by a valid setup table, with the firmware default value i.e.
500kHz

1
800 kHz not available for MotionChip III family

© Technosoft 2010 18 CANopen programming

1.5. CANopen factor group setting 2
By pressing the CANopen Settings button, you can choose the initial values after power on for the
CANopen factor group settings. The factor group settings describe the scaling factors for position,
speed, acceleration and time objects. In the factor group dialogue you can select the units to use
when writing to these objects or reading them. You can either choose one of the standard units
defined in the CANopen standard DS-402 or define your own unit.

2
Only available for MotionChip III family

© Technosoft 2010 19 CANopen programming

In the last case, it is your responsibility to set the factor numerator and divisor as well as its
dimension and notation index. The factor group settings are stored in the setup table. By default
the drive uses its internal units. The correspondence between the drive internal units and the SI
units is presented in the drives’ user manual.

1.6. Creating an Image File with the Setup Data

Once you have validated your setup, you can create with the menu command Setup | Create
EEPROM Programmer File a software file (with extension .sw) which contains all the setup data
to write in the EEPROM of your drive.
A software file is a text file that can be read with any text editor. It contains blocks of data
separated by an empty line. Each block of data starts with the block start address, followed by
data values to place in ascending order at consecutive addresses: first data – to write at start
address, second data – to write at start address + 1, etc. All the data are hexadecimal 16- bit
values (maximum 4 hexadecimal digits). Each line contains a single data value. When less then 4
hexadecimal digits are shown, the value must be right justified. For example 92 represent 0x0092.
The .sw file can be programmed into a drive:
ƒ from a CANopen master, using the communication objects for writing data into the drive
EEPROM (see Chapter 15 for detailed example)
ƒ from a host PC or PLC, using the TML_LIB functions for writing data into the drive
EEPROM
ƒ using the EEPROM Programmer tool, which comes with EasySetUp but may also be
installed separately. The EEPROM Programmer was specifically designed for repetitive
fast and easy programming of .sw files into the Technosoft drives during production

1.7. Motion Programming using a CANopen Master

The Technosoft intelligent drives/motors support the CiA draft standard DS-301 v4.02 CANopen
Application Layer and Communication Profile. It also conforms to the CiA draft standard proposal
DSP-402 v2.0 CANopen Device Profile for Drives and Motion Control. Detailed descriptions of the

© Technosoft 2010 20 CANopen programming

objects supported by the drives are presented in the following chapters. DSP-401 v2.0 CANopen
Device Profile for I/O Modules is also available as an option upon request.

1.7.1. TechnoCAN Extension

In order to take full advantage of the powerful Technosoft Motion Language (TML) built into the
intelligent drives/motors, Technosoft has developed an extension to CANopen, called
TechnoCAN through which TML commands can be exchanged with the drives. Thanks to
TechnoCAN you can inspect or reprogram any of the Technosoft drives from a CANopen network
using EasySetUp or EasyMotion Studio and an RS-232 link between your PC and any of the
drives.
TechnoCAN uses only message identifiers outside of the range used by the CANopen predefined
connection set (as defined by CiA DS301 v4.02). Thus, TechnoCAN protocol and CANopen
protocol can co-exist and communicate simultaneously on the same physical CAN bus, without
disturbing each other.

1.7.2. Checking Setup Data Consistency

During the configuration phase, a CANopen master can quickly verify using the checksum objects
and a reference .sw file (see 1.6 and 15 for details) whether the non-volatile EEPROM memory of
an intelligent drive/motor contains the right information. If the checksum reported by the drive
doesn’t match with that computed from the .sw file, the CANopen master can download the entire
.sw file into the drive EEPROM using the communication objects for writing data into the drive
EEPROM.

1.8. Using the built-in Motion Controller and TML

One of the key advantages of the Technosoft drives is their capability to execute complex motions
without requiring an external motion controller. This is possible because Technosoft drives offer in
a single compact package both a state of art digital drive and a powerful motion controller.

1.8.1. Technosoft Motion Language Overview

Programming motion directly on a Technosoft drive requires to create and download a TML
(Technosoft Motion Language) program into the drive memory. The TML allows you to:
• Set various motion modes (profiles, PVT, PT, electronic gearing or camming 3 , etc.)
• Change the motion modes and/or the motion parameters
• Execute homing sequences
• Control the program flow through:
ƒ Conditional jumps and calls of TML functions

3
Electronic gearing and camming are not available by default on the CANopen versions of
MotionChip II family. However, they are available on request as special firmware versions.

© Technosoft 2010 21 CANopen programming

 ƒ Interrupts generated on pre-defined or programmable conditions (protections
triggered, transitions of limit switch or capture inputs, etc.)
ƒ Waits for programmed events to occur
• Handle digital I/O and analogue input signals
• Execute arithmetic and logic operations
• Perform data transfers between axes
• Control motion of an axis from another one via motion commands sent between axes
• Send commands to a group of axes (multicast). This includes the possibility to start
simultaneously motion sequences on all the axes from the group
• Synchronize all the axes from a network
In order to program a motion using TML you need EasyMotion Studio software platform.
Chapter 16 describes in detail how the TML features can be combined with the CANopen
programming.

© Technosoft 2010 22 CANopen programming

2. CAN and the CANopen protocol
CAN (Controller Area Network) is a serial bus system used in a broad range of automation control
systems. The CAN specifies the data link and the physical connection over which lays the
CANopen, a high level protocol specifying how various types of devices can use the CAN
network.

2.1. CAN Architecture

CAN provides distributed control of the motion application, the control loops are closed locally not
on the master controller. The master controller coordinates multiple devices through the
commands it sends and receives information about the status of the devices.

Master controller

High level
Motion trajectory
application generation

CAN network

Technosoft drive Technosoft drive

CANopen device
Position Position
Generation
Generation

Trajectory
Trajectory

Control Control

Torque Torque
Control Control

Motor Motor

Technosoft extended the concept of distributed motion application allowing splitting the motion
application between the Technosoft drives and the CANopen master. Using TML the user can
build complex motion applications locally, on each drive, leaving on the CANopen master only a
high level motion application and thus reducing the CAN master complexity. The master has the
vision of the motion application, specific tasks being executed on the Technosoft drives.

© Technosoft 2010 23 CANopen programming

 Master controller

High level High level

motion trajectory
application generation

CAN network

Technosoft drive Technosoft drive

CANopen device
Motion Motion
application application

Position Position
Generation

Generation
Trajectory

Trajectory

Control Control

Torque Torque
Control Control

Motor Motor

2.2. Accessing CANopen devices

A CANopen device is controlled through read/write operations to/from objects performed by a
CANopen master (PC or PLC).

2.2.1. Object dictionary

The Object Dictionary is a group of objects that describe the complete functionality of a device by
way of communication objects and is the link between the communication interface and the
application. All communication objects of a device (application data and configuration parameters)
are described in the Object Dictionary in a standardized way.

© Technosoft 2010 24 CANopen programming

2.2.2. Object access using index and sub-index
The objects defined for a device are accessed using a 16-bit index and an 8-bit sub-index. In
case of arrays and records there is an additional sub-index for each element of the array or
record.

2.2.3. Service Data Objects (SDO)

Service Data Objects are used by CANopen master to access any object from the drive’s Object
Dictionary. Both expedited and segmented SDO transfers are supported (see DS301 v4.02 for
details). The SDOs are typically used for drive configuration after power-on, for PDO mapping
and for infrequent low priority communication.
SDO transfers are confirmed services. In case of an error, an Abort SDO message is transmitted
with one of the codes listed in Table 2.1.
Table 2.1 SDO Abort Codes

Abort code Description

0503 0000h Toggle bit not alternated
0504 0001h Client/server command specifier not valid or unknown
0601 0000h Unsupported access to an object.
0602 0000h Object does not exist in the object dictionary.
0604 0041h Object cannot be mapped to the PDO.
0604 0042h The number and length of the objects to be mapped would exceed PDO length.
0604 0043h General parameter incompatibility reason.
0604 0047h General internal incompatibility error in the device.
0607 0010h Data type does not match, length of service parameter does not match
0607 0012h Data type does not match, length of service parameter too high
0607 0013h Data type does not match, length of service parameter too low
0609 0011h Sub-index does not exist.
0609 0030h Value range of parameter exceeded (only for write access).
0609 0031h Value of parameter written too high.
0609 0032h Value of parameter written too low.
0800 0000h General error
0800 0020h Data cannot be transferred or stored to the application.
0800 0021h Data cannot be transferred or stored to the application because of local control.
Data cannot be transferred or stored to the application because of the present
0800 0022h
device state.

© Technosoft 2010 25 CANopen programming

2.2.4. Process Data Objects (PDO)
Process Data Objects are used for high priority, real-time data transfers between CANopen
master and the drives. The PDOs are unconfirmed services and are performed with no protocol
overhead. Transmit PDOs are used to send data from the drive, and receive PDOs are used to
receive data. The Technosoft drives accept 4 transmit PDOs and 4 receive PDOs. The contents
of the PDOs can be set according with the application needs through the dynamic PDO-mapping.
This operation can be done during the drive configuration phase using SDOs.
A PDO is defined by two objects: the communication object and the mapping object. The
communication object defines the COB-ID of the PDO, the transmission type and the event
triggering the transmission. The mapping object contains the descriptions of the objects mapped
into the PDO, i.e. the index, sub-index and size of the mapped objects.

2.3. Objects that define SDOs and PDOs

2.3.1. Object 1200h: Server SDO Parameter
The object contains the COB-IDs of the messages used for the SDO protocol. The COBID of the
SDO packages received by the drive, stored in sub-index 01, is computed as 600h + drive Node
ID. The COB ID of the SDO packages sent by the drive, stored in sub-index 02, is computed as
580h + drive Node ID.
Object description:
Index 1200h
Name Server SDO Parameter
Object code RECORD
Data type SDO Parameter
Entry description:
Sub-index 00h
Description Number of entries
Access RO
PDO mapping No
Value range 2
Default value 2

Sub-index 01h
Description SDO receive COB-ID
Access RO
PDO mapping No
Value range UNSIGNED32
Default value 600h + Node-ID

© Technosoft 2010 26 CANopen programming

 Sub-index 02h
Description SDO transmit COB-ID
Access RO
PDO mapping No
Value range UNSIGNED32
Default value 580h + Node-ID

2.3.2. Object 1400h: Receive PDO1 Communication Parameters

The object contains the communication parameters of the receive PDO1. Sub-index 1h contains
the COB ID of the PDO. The transmission type (sub-index 2h) defines the reception character of
the PDO.
Object description:
Index 1400h
Name RPDO1 Communication
Parameter
Object code RECORD
Data type PDO CommPar
Entry description:
Sub-index 00h
Description Number of entries
Access RO
PDO mapping No
Value range -
Default value 2

Sub-index 01h
Description COB-ID RPDO1
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 200h + Node-ID

Sub-index 02h
Description Transmission type
Access RW
PDO mapping No

© Technosoft 2010 27 CANopen programming

 Value range UNSIGNED8
Default value 255
Table 2.2 PDO COB-ID entry description

Bit Value Meaning

0 PDO exists / is valid
31
1 PDO does not exist / is not valid
0 RTR allowed on this PDO
30
1 No RTR allowed on this PDO
0 11 bit ID
29
1 29 bit ID
0 If bit 29=0
28…11
X If bit 29=1: Bit 11...28 of 29-bit PDO COB-ID
10...0 X Bit 0...10 of PDO COB-ID
It is not allowed to change bits 0-29 while the PDO exists (bit 31=0).

2.3.3. Object 1401h: Receive PDO2 Communication parameters

The object contains the communication parameters of the receive PDO2. Sub-index 1h contains
the COB ID of the PDO. The transmission type (sub-index 2h) defines the reception character of
the PDO. The receive PDO2 COB-ID entry description is identical with the one of the receive
PDO1 (see Table 2.2 ).
Object description:
Index 1401h
Name RPDO2 Communication
Parameter
Object code RECORD
Data type PDO CommPar
Entry description:
Sub-index 00h
Description Number of entries
Access RO
PDO mapping No
Value range -
Default value 2

Sub-index 01h
Description COB-ID RPDO2
Access RW

© Technosoft 2010 28 CANopen programming

 PDO mapping No
Value range UNSIGNED32
Default value 300h + Node-ID

Sub-index 02h
Description Transmission type
Access RW
PDO mapping No
Value range UNSIGNED8
Default value 255

2.3.4. Object 1402h: Receive PDO3 Communication parameters

The object contains the communication parameters of the receive PDO3. Sub-index 1h contains
the COB ID of the PDO. The transmission type (sub-index 2h) defines the reception character of
the PDO. The receive PDO3 COB-ID entry description is identical with the one of the receive
PDO1 (see Table 2.2 ).
Object description:
Index 1402h
Name RPDO3 Communication
Parameter
Object code RECORD
Data type PDO CommPar
Entry description:
Sub-index 00h
Description Number of entries
Access RO
PDO mapping No
Value range -
Default value 2

Sub-index 01h
Description COB-ID RPDO3
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 400h + Node-ID

© Technosoft 2010 29 CANopen programming

 Sub-index 02h
Description Transmission type
Access RW
PDO mapping No
Value range UNSIGNED8
Default value 255

2.3.5. Object 1403h: Receive PDO4 Communication parameters

The object contains the communication parameters of the receive PDO4. Sub-index 1h contains
the COB ID of the PDO. The transmission type (sub-index 2h) defines the reception character of
the PDO. The receive PDO4 COB-ID entry description is identical with the one of the receive
PDO1 (see Table 2.2 ).
Object description:
Index 1403h
Name RPDO4 Communication
Parameter
Object code RECORD
Data type PDO CommPar
Entry description:
Sub-index 00h
Description Number of entries
Access RO
PDO mapping No
Value range -
Default value 2

Sub-index 01h
Description COB-ID RPDO2
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 500h + Node-ID

Sub-index 02h
Description Transmission type
Access RW
PDO mapping No

© Technosoft 2010 30 CANopen programming

 Value range UNSIGNED8
Default value 255

© Technosoft 2010 31 CANopen programming

2.3.6. Object 1600h: Receive PDO1 Mapping Parameters
This object contains the mapping parameters of the receive PDO1. The sub-index 00h contains
the number of valid entries within the mapping record. This number of entries is also the number
of the objects that shall be transmitted/received with the corresponding PDO. The sub-indices
from 01h to the number of entries contain the information about the mapped objects. These
entries describe the PDO contents by their index, sub-index and length. The length entry contains
the length of the mapped object in bits and is used to verify the overall mapping length.
The structure of the entries from sub-index 01h to the number of entries is as follows:

MSB LSB
Index (16 bits) Sub-index (8 bits) Object length (8 bits)

In order to change the PDO mapping, first the PDO has to be disabled - the object 160xh sub-
index 00h has to be set to 0. Now the objects can be remapped. If a wrong mapping parameter is
introduced (object does not exist, the object can not be mapped or wrong mapping length is
detected) the SDO transfer will be aborted with an appropriate error code (0602 0000h or 0604
0041h). After all objects are mapped, sub-index 00h has to be set to the valid number of mapped
objects thus enabling the PDO.
If data types (index 01h - 07h) are mapped, they serve as “dummy entries”. The corresponding
data is not evaluated by the drive. This feature can be used to transmit data to several drives
using only one PDO, each drive using only a part of the PDO. This feature is only valid for receive
PDOs.
Object description:
Index 1600h
Name RPDO1 Mapping Parameters
Object code RECORD
Data type PDO Mapping
Entry description:
Sub-index 00h
Description Number of mapped objects
Access RW
PDO mapping No
Value range 0: deactivated
1 – 64: activated
Default value 1

Sub-index 01h
Description 1st mapped object
Access RW
PDO mapping No

© Technosoft 2010 32 CANopen programming

 Value range UNSIGNED32
Default value 60400010h – control word

2.3.7. Object 1601h: Receive PDO2 Mapping Parameters

This object contains the mapping parameters of the receive PDO2. The sub-index 00h contains
the number of valid entries within the mapping record. This number of entries is also the number
of the objects that shall be transmitted/received with the corresponding PDO.
Object description:
Index 1601h
Name RPDO2 Mapping Parameter
Object code RECORD
Data type PDO Mapping
Entry description:
Sub-index 00h
Description Number of mapped objects
Access RW
PDO mapping No
Value range 0: deactivated
1 – 64: activated
Default value 2

Sub-index 01h
Description 1st mapped object
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 60400010h – control word

Sub-index 02h
Description 2nd mapped object
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 60600008h – modes of operation

© Technosoft 2010 33 CANopen programming

2.3.8. Object 1602h: Receive PDO3 Mapping Parameters
This object contains the mapping parameters of the receive PDO3. The sub-index 00h contains
the number of valid entries within the mapping record. This number of entries is also the number
of the objects that shall be transmitted/received with the corresponding PDO.
Object description:
Index 1602h
Name RPDO3 Mapping Parameter
Object code RECORD
Data type PDO Mapping
Entry description:
Sub-index 00h
Description Number of mapped objects
Access RW
PDO mapping No
Value range 0: deactivated
1 – 64: activated
Default value 2

Sub-index 01h
Description 1st mapped object
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 60400010h – control word

Sub-index 02h
Description 2nd mapped object
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 607A0020h – target position

2.3.9. Object 1603h: Receive PDO4 Mapping Parameters

This object contains the mapping parameters of the receive PDO4. The sub-index 00h contains
the number of valid entries within the mapping record. This number of entries is also the number
of the objects that shall be transmitted/received with the corresponding PDO.
Object description:

© Technosoft 2010 34 CANopen programming

 Index 1603h
Name RPDO4 Mapping Parameters
Object code RECORD
Data type PDO Mapping
Entry description:
Sub-index 00h
Description Number of mapped objects
Access RW
PDO mapping No
Value range 0: deactivated
1 – 64: activated
Default value 2

Sub-index 01h
Description 1st mapped object
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 60400010h – control word

Sub-index 02h
Description 2nd mapped object
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 60FF0020h – target velocity

2.3.10. Object 1800h: Transmit PDO1 Communication parameters

This object contains the communication parameters of the transmit PDO1. For detailed
description see object 1400h (Receive PDO1 communication parameters)
Object description:
Index 1800h
Name TPDO1 Communication
Parameters
Object code RECORD
Data type PDO CommPar
Entry description:

© Technosoft 2010 35 CANopen programming

 Sub-index 00h
Description Number of entries
Access RO
PDO mapping No
Value range -
Default value 5

Sub-index 01h
Description COB-ID TPDO1
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 180h + Node-ID

Sub-index 02h
Description Transmission type
Access RW
PDO mapping No
Value range UNSIGNED8
Default value 255

Sub-index 03h
Description Reserved

Sub-index 04h
Description Reserved

Sub-index 05h
Description Event timer
Access RW
PDO mapping No
Value range UNSIGNED16
Default value 0

© Technosoft 2010 36 CANopen programming

2.3.11. Object 1801h: Transmit PDO2 Communication parameters
This object contains the communication parameters of the transmit PDO2. For detailed
description see object 1400h (Receive PDO1 communication parameters)
Object description:
Index 1801h
Name TPDO2 Communication
Parameters
Object code RECORD
Data type PDO CommPar
Entry description:
Sub-index 00h
Description Number of entries
Access RO
PDO mapping No
Value range -
Default value 5

Sub-index 01h
Description COB-ID TPDO2
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 280h + Node-ID

Sub-index 02h
Description Transmission type
Access RW
PDO mapping No
Value range UNSIGNED8
Default value 255

Sub-index 03h
Description Reserved

Sub-index 04h
Description Reserved

© Technosoft 2010 37 CANopen programming

 Sub-index 05h
Description Event timer
Access RW
PDO mapping No
Value range UNSIGNED16
Default value 0

2.3.12. Object 1802h: Transmit PDO3 Communication parameters

This object contains the communication parameters of the transmit PDO3. For detailed
description see object 1400h (Receive PDO1 communication parameters)
Object description:
Index 1802h
Name TPDO3 Communication
Parameters
Object code RECORD
Data type PDO CommPar
Entry description:
Sub-index 00h
Description Number of entries
Access RO
PDO mapping No
Value range -
Default value 5

Sub-index 01h
Description COB-ID TPDO3
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 380h + Node-ID

Sub-index 02h
Description Transmission type
Access RW
PDO mapping No
Value range UNSIGNED8
Default value 255

© Technosoft 2010 38 CANopen programming

 Sub-index 03h
Description Reserved

Sub-index 04h
Description Reserved

Sub-index 05h
Description Event timer
Access RW
PDO mapping No
Value range UNSIGNED16
Default value 0

2.3.13. Object 1803h: Transmit PDO4 Communication parameters

This object contains the communication parameters of the transmit PDO4.
Object description:
Index 1803h
Name TPDO4 Communication
Parameter
Object code RECORD
Data type PDO CommPar

Entry description:
Sub-index 00h
Description Number of entries
Access RO
PDO mapping No
Value range -
Default value 5

Sub-index 01h
Description COB-ID TPDO4
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 480h + Node-ID

© Technosoft 2010 39 CANopen programming

 Sub-index 02h
Description Transmission type
Access RW
PDO mapping No
Value range UNSIGNED8
Default value 255

Sub-index 03h
Description Reserved

Sub-index 04h
Description Reserved

Sub-index 05h
Description Event timer
Access RW
PDO mapping No
Value range UNSIGNED16
Default value 0

2.3.14. Object 1A00h: Transmit PDO1 Mapping Parameters

This object contains the mapping parameters of the transmit PDO1. For detailed description see
object 1600h (Receive PDO1 mapping parameters)
Object description:
Index 1A00h
Name TPDO1 Mapping Parameters
Object code RECORD
Data type PDO Mapping
Entry description:
Sub-index 00h
Description Number of mapped objects
Access RW
PDO mapping No
Value range 0: deactivated
1 – 64: activated
Default value 1

© Technosoft 2010 40 CANopen programming

 Sub-index 01h
Description 1st mapped object
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 60410010h – status word

2.3.15. Object 1A01h: Transmit PDO2 Mapping Parameters

This object contains the mapping parameters of the transmit PDO2. For detailed description see
object 1600h (Receive PDO1 mapping parameters)
Object description:
Index 1A01h
Name TPDO2 Mapping Parameter
Object code RECORD
Data type PDO Mapping
Entry description:
Sub-index 00h
Description Number of mapped objects
Access RW
PDO mapping No
Value range 0: deactivated
1 – 64: activated
Default value 2

Sub-index 01h
Description 1st mapped object
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 60410010h – status word

Sub-index 02h
Description 2nd mapped object
Access RW
PDO mapping No
Value range UNSIGNED32

© Technosoft 2010 41 CANopen programming

 Default value 60610008h – modes of operation
display

2.3.16. Object 1A02h: Transmit PDO3 Mapping Parameters

This object contains the mapping parameters of the transmit PDO3. For detailed description see
object 1600h (Receive PDO1 mapping parameters). By default, this PDO is disabled.
Object description:
Index 1A02h
Name TPDO3 Mapping Parameter
Object code RECORD
Data type PDO Mapping
Entry description:
Sub-index 00h
Description Number of entries
Access RW
PDO mapping No
Value range 0: deactivated
1 – 64: activated
Default value 0

Sub-index 01h
Description 1st mapped object
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 60410010h – status word

Sub-index 02h
Description 2nd mapped object
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 60640020h – position actual value

2.3.17. Object 1A03h: Transmit PDO4 Mapping Parameters

This object contains the mapping parameters of the transmit PDO4. For detailed description see
object 1600h (Receive PDO1 mapping parameters). By default, this PDO is disabled.

© Technosoft 2010 42 CANopen programming

Object description:
Index 1A03h
Name TPDO4 Mapping Parameter
Object code RECORD
Data type PDO Mapping
Entry description:
Sub-index 00h
Description Number of entries
Access RW
PDO mapping No
Value range 0: deactivated
1 – 64: activated
Default value 0

Sub-index 01h
Description 1st mapped object
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 60410010h – status word

Sub-index 02h
Description 2nd mapped object
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 606C0020h – velocity actual value

2.4. Dynamic mapping of the PDOs

Follow the next steps to change the default mapping of a PDO:
1. Disable the PDO. In the PDO’s mapping object (index 1600h-1603h for RxPDOs and
1A00h-1A03h for TxPDOs) set the first sub-index (the number of mapped objects) to 0.
This will disable the PDO.
2. Change the communication parameters. If necessary change the communication
parameters of the PDO (index 1400h-1403h for RxPDOs and 1800h-1803h for TxPDOs):
its COB-ID, the transmission type or the event that triggers the transmission.

© Technosoft 2010 43 CANopen programming

 3. Map the new objects. Write in the PDO’s mapping object (index 1600h-1603h for
RxPDOs and 1A00h-1A03h for TxPDOs) sub-indexes (1-8) the description of the objects
that will be mapped. You can map up to 8 objects having 1 byte size.
4. Enable the PDO. In sub-index 0 of the PDO’s associated mapping object (index 1600h-
1603h for RxPDOs and 1A00h-1A03h for TxPDOs) write the number of mapped objects.

Example: Map the receive PDO3 of axis number 10 with ControlWord (index 6040h) and Modes
of Operation (index 6060h).
1. Disable the PDO. Write zero in object 1602h sub-index 0, this will disable the PDO.
Send the following message (SDO access to object 1602h sub-index 0, 8-bit value 0):
COB-ID 60A
Data 2F 02 16 00 00 00 00 00
2. Change the communication parameters. For example purposes the communication
parameters default values are acceptable.
3. Map the new objects.
a. Write in object 1602h sub-index 1 the description of the Control Word:
Index Sub-index Length
6040h 00h 10h 60400010h

Send the following message (SDO access to object 1602h sub-index 1, 32-bit value 60400010h):
COB-ID 60A
Data 23 02 16 01 10 00 40 60
b. Write in object 1602h sub-index 2 the description of the Mode of Operation:
Index Sub-index Length
6060h 00h 08h 60600008h

Send the following message (SDO access to object 1602h sub-index 2, 32-bit value 60600008h):
COB-ID 60A
Data 23 02 16 02 08 00 60 60
4. Enable the PDO. Set the object 1602h sub-index 0 with the value 2.
Send the following message (SDO access to object 1602h sub-index 0, 8-bit value 2):
COB-ID 60A
Data 2F 02 16 00 02 00 00 00

© Technosoft 2010 44 CANopen programming

 This page is empty

© Technosoft 2010 45 CANopen programming

3. Network Management
3.1. Overview
The Network Management (NMT) services initialize, start, monitor, reset or stop the CANopen
nodes. The NMT requires a node in the network (a PC or a PLC) to be designed as a network
manager while the Technosoft intelligent drives/motors are the NMT slaves. The NMT services
are fulfilled by the NMT objects described later in this chapter.

3.1.1. Device control

Through Module Control Services, the NMT master controls the state of the NMT slaves. The
following states are implemented on the Technosoft drives:

State Description
The drive enters the pre-operational state after finishing its initialization. In
Pre-operational this state the communication between the CANopen master and the drive
can be done only via SDOs. PDOs are not allowed.
This is the normal operating state of the drives. The communication through
Operational
SDO and PDO is allowed
In this state the drive stops the communication except the network
Stopped
management messages.

The network manager can change the state of the drives using one of the following services:

Service Description
Start Remote Node The NMT master sets the state of the selected NMT slave to operational
Stop Remote Node The NMT master sets the state of the selected NMT slave to stopped
Enter Pre-Operational The NMT master sets the state of the selected NMT slave to pre-operational
The NMT master sets the state of the selected NMT slave to the “reset
Reset Node application” sub-state. In this state the drives perform a software reset and
enter the pre-operational state.
The NMT master sets the state of the selected NMT slave to the “reset
Reset Communication communication” sub-state. In this state the drives resets their communication
and enter the pre-operational state.

All the services are unconfirmed.

3.1.2. Device monitoring

In addition to controlling the drive states the NMT provides services for monitoring the nodes in
the network. The monitoring services are achieved mainly through the periodical transmission of

© Technosoft 2010 46 CANopen programming

messages by the network manager, with answers from the slaves, or messages sent by the
slaves without master intervention. Monitoring services can use the Node Guarding protocol
(including Life Guarding) or the Heartbeat protocol.
Node guarding protocol
The master polls each NMT slave at regular time intervals. This time interval is called the guard
time and may be different for each NMT slave. The slaves answer with a node-guarding message
containing their state. This allows both the master and the slave to identify a network error if either
the remote request or the guarding messages stop.
The node life time is computed as the product between the guard time (index 100Ch) and the life
time factor (index 100Dh). If the drive is not accessed within the life time then a Life Time event
occurs and an emergency telegram is sent.
Heartbeat protocol
The Heartbeat protocol defines an error control service without the need of remote frames. It
implies independent and cyclical transmission of a telegram by the drive (the Heartbeat producer)
indicating the drives current state. The time interval between two heartbeat messages is specified
through producer heartbeat time (index 1017h). The master (Heartbeat consumer) guards the
reception of the heartbeat messages within the Heartbeat Consumer Time. If the value of this
object is 0, the heartbeat transmission is disabled. If the master doesn’t receive the heartbeat
message this indicates a problem with the drive or with its network connection.
Bootup protocol
This protocol is used by the drive to signal to the network master that it has entered the state pre-
operational.

3.1.3. Synchronisation between devices

The synchronization message (SYNC) allows synchronizing the devices in the network and
triggering the synchronous transmission of PDOs. The SYNC producer broadcasts the
synchronization object periodically. This service is unconfirmed. Technosoft intelligent
drives/motors can act both as SYNC consumer and producer.
For time critical applications, which require more accurate synchronization, the Technosoft drives
can use the optional high-resolution synchronization protocol, which employs a special form of
time stamp message. The High Resolution Time Stamp object (index 1013h) contains a time
stamp with a resolution of 1µs. The object can be mapped into a PDO in order to define a high-
resolution time stamp message. The PDO should be configured for synchronous transmission.
When one of the Technosoft drives is set as synchronization master, the High resolution time
stamp is by default sent using the COB ID defined in COB-ID High Resolution Time Stamp object
(index 2004h).

3.1.4. Emergency messages

A drive sends an emergency message (EMCY) when a drive internal error occurs. An emergency
message is transmitted only once per ‘error event’. As long as no new errors occur, the drive will
not transmit further emergency messages.

© Technosoft 2010 47 CANopen programming

The emergency error codes supported by the Technosoft drives are listed in Table 3.1. Details
regarding the conditions that may generate emergency messages are presented at object Motion
Error Register index 2000h.
Table 3.1 Emergency Error Codes

Error code (hex) Description

0000 Error Reset or No Error
1000 Generic Error
2310 Continuous over-current
2340 Short-circuit
3210 DC-link over-voltage
3220 DC-link under-voltage
4280 Over temperature motor
4310 Over temperature drive
5441 Drive disabled due to enable input
5442 Negative limit switch active
5443 Positive limit switch active
6100 Invalid setup data
7500 Communication error
8110 CAN overrun (message lost)
8130 Life guard error or heartbeat error
8331 I2t protection triggered
8580 Position wraparound
8611 Control error / Following error
9000 Command error
FF01 Generic interpolated position mode error (PVT / PT error)
FF02 Change set acknowledge bit wrong value
FF03 Specified homing method not available
FF04 A wrong mode is set in object 6060h, modes_of_operation
4
FF05 Specified digital I/O line not available

The Emergency message contains of 8 data bytes having the following contents:

4
Only valid for MotionChip III family

© Technosoft 2010 48 CANopen programming

0-1 2 3-7
Error Register
Emergency Error Code Manufacturer specific error field
(Object 1001h)

3.2. Network management objects

The section describes the objects related to network management

3.2.1. Object 1001h: Error Register

This object is an error register for the device. The device can map internal errors in this byte. This
entry is mandatory for all devices. It is a part of an Emergency object.

Object description:
Index 1001h
Name Error register
Object code VAR
Data type UNSIGNED8

Entry description:
Access RO
PDO mapping No
Value range UNSIGNED8
Default value No

Table 3.2 Bit description of the object

Bit Description
0 Generic error
1 Current
2 Voltage
3 Temperature
4 Communication error
5 Device profile specific
6 Reserved (always 0)
7 Manufacturer specific.

© Technosoft 2010 49 CANopen programming

Valid bits while an error occurs – bit 0 and bit 4. The other bits will remain 0.

3.2.2. Object 1005h: COB-ID of the SYNC Message

This object defines the COB-ID of the Synchronization Object (SYNC) and whether the drive
generates the SYNC or not.
Object description:
Index 1005h
Name COB-ID SYNC Message
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 80h
The structure of the parameter is the following:
Table 3.3 Bit description of the object

Bit Value Description

31 X Reserved
0 Drive does not generate synchronization messages
30
1 Drive is the synchronization master (SYNC producer)
0 Use 11 bit identifier
29
1 Use 29 bit identifier
28…11 X Bit 11...28 of 29-bit SYNC COB-ID
10...0 X Bit 0...10 of SYNC COB-ID
The first transmission of SYNC object starts within 1 sync cycle after setting bit 30 to 1. It is not
allowed to change bit 0...29, while the object exists (bit 30 = 1).

3.2.3. Object 1006h: Communication Cycle Period

The object defines the time interval between SYNC messages expressed in μs. A drive sends
SYNC messages if it is configured to send SYNC messages through object 1005h and the object
1006h is set with a non-zero value.
Object description:
Index 1006h
Name Communication cycle period
Object code VAR

© Technosoft 2010 50 CANopen programming

 Data type UNSIGNED32
Entry description:
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 0

3.2.4. Object 100Ch: Guard Time

The Guard Time object multiplied with Lifetime Factor (index 100Dh) gives the Lifetime of the
drive for the Life Guarding Protocol. The Guard Time is expressed in ms. When the Life Guarding
Protocol is not used the object must be set to 0. When the Node Guarding is active, i.e. the
network manager sends the Node Guarding messages, the Life Guarding Protocol checks if the
master has stopped sending messages or not. The decision of Node Guarding failure is taken if
no message from the master is received within the period defined as Lifetime.
Object description:
Index 100Ch
Name Guard time
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW
PDO mapping No
Value range UNSIGNED16
Default value 0

3.2.5. Object 100Dh: Life Time Factor

The lifetime factor multiplied with the guard time gives the lifetime for the Life Guarding Protocol.
Must be 0 if not used.
Object description:
Index 100Dh
Name Life time factor
Object code VAR
Data type UNSIGNED8
Entry description:
Access RW
PDO mapping No
Value range UNSIGNED8

© Technosoft 2010 51 CANopen programming

 Default value 0

3.2.6. Object 1013h: High Resolution Time Stamp

This object contains a time stamp with a resolution of 1μs. It can be used in order to synchronize
the drives in the CANopen network.
When setting up the synchronization mechanism, the master has to map the object 1013h on a
receive PDO whose COB-ID should be identical on all the slave drives that need to be
synchronized.
This object has to be written immediately after the SYNC object. Upon the reception of this object,
the drive will adjust its internal clock so that to compensate for the difference between the
received value and its internal value.
Object description:
Index 1013h
Name High resolution time stamp
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value 0

3.2.7. Object 2004h: COB-ID of the High-resolution time stamp

This object defines the COB-ID used by the high-resolution time stamp message sent by the
synchronization master (SYNC producer) in order to achieve synchronization on the network.
Object description:
Index 2004h
Name COB-ID High resolution time
stamp
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 100h

The structure of the parameter is the following:

© Technosoft 2010 52 CANopen programming

Bit Value Meaning
0 High resolution time stamp exists / is valid
31
1 High resolution time stamp does not exist / is not valid
30 0 Reserved (always 0)
0 11 bit ID
29
1 29 bit ID
28…11 X Bit 11...28 of 29-bit High resolution time stamp COB-ID
10...0 X Bit 0...10 of High resolution time stamp COB-ID
It is not allowed to change bits 0-29 while the object exists (bit 31=0).
This object will be used when a Technosoft drive is required to be the master for the
synchronization messages. In this case, the CANopen master does not need to map the 1013h
into a receive PDO. The procedure to activate the synchronization is the following:
1. Set the SYNC interval. Write the desired SYNC interval into the object 1006h
(Communication Cycle Period). For example – 20 ms.
Send the following message (SDO access to object 1006h sub-index 0, 32-bit value 0x4E20 =
20000 μs = 20 ms):
COB-ID 60A
Data 23 06 10 00 20 4E 00 00
2. Activate the SYNC producer. Set bit 30 in object 1005h (COB-ID of SYNC Message).
Send the following message (SDO access to object 1005h sub-index 0, 32-bit value 40000080h):
COB-ID 60A
Data 23 05 10 00 80 00 00 40

3.2.8. Object 1014h: COB-ID Emergency Object

Index 1014h defines the COB-ID of the Emergency Object (EMCY).
Object description:
Index 1014h
Name COB-ID Emergency message
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping No
Value range UNSIGNED32
Default value 80h + Node-ID

© Technosoft 2010 53 CANopen programming

Table 3.4 Structure of the EMCY Identifier

MSB LSB
31 30 29 28 - 11 10 - 0
0/1 0 1 000000000000000000 11-bit Identifier
0/1 0 1 29 –bit Identifier

Table 3.5 Description of EMCY COB-ID entry

Bit Value Description

31 (MSB) 0 EMCY exists / is valid
1 EMCY does not exist / is not valid
0 Drive does not generate synchronization messages
30
1 Drive is the synchronization master (SYNC producer)
0 Use 11 bit identifier
29
1 Use 29 bit identifier
28…11 0 If bit 29 = 0
X Bit 11...28 of 29-bit SYNC COB-ID
10...0 (LSB) X Bit 0...10 of COB-ID

It is not allowed to change Bits 0-29, while the object exists (Bit 31=0).

3.2.9. Object 1017h: Producer Heartbeat Time

This object defines the cycle time of the heartbeat (if not equal to zero). If the heartbeat is not
used, this object must have the default value 0. The time has to be a multiple of 1 ms.
Object description:
Index 1017h
Name Producer Heartbeat Time
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW
PDO mapping No
Value range UNSIGNED16
Default value 0

© Technosoft 2010 54 CANopen programming

4. Drive control and status
4.1. Overview
The state machine from Device Profile Drives and Motion Control describes the drive status
and the possible control sequences of the drive. The drive states can be changed by the Control
Word and/or according to internal events. The drive current state is reflected in the Status Word.
The state machine presented in Figure 4.1 describes the state machine of the drive with respect
to the control of the power stage as a result of user commands and internal drive faults.

Figure 4.1 Drive’s status machine. States and transitions

© Technosoft 2010 55 CANopen programming

Table 4.1 Drive States

State Description
Not Ready to Switch On The drive performs basic initializations after power-on.
The drive function is disabled
The transition to this state is automatic.
Switch On Disabled The drive basic initializations are done and the green led must
turn-on if no error is detected. The drive is not ready to switch on;
any drive parameters can be modified, including a complete
update of the whole EEPROM data (setup table, TML program,
cam files, etc.) The motor supply can be switched on, but the
motion functions cannot be carried out yet.
The transition to this state is automatic.
Ready to Switch On The motor supply voltage may be switched on, most of the drive
parameter settings can still be modified, motion functions cannot
be carried out yet.
Switched On The motor supply voltage must be switched on. The power stage
is switched on (enabled). If the operation mode set performs
(Operation Disabled)
position control, the motor is held in position. If the operation
mode set performs speed control, the motor is kept at zero speed.
If the operation mode is torque external, the motor is kept with
zero torque. The motion functions cannot be carried out yet.
Operation Enable No fault present, power stage is switched on, motion functions are
enabled. This corresponds to the normal operation of the drive.
Quick Stop Active Drive has been stopped with the quick stop deceleration. The
power stage is enabled. If the drive was operating in position
control when quick stop command was issued, the motor is held in
position. If the drive was operating in speed control, the motor is
kept at zero speed. If the drive was operating in torque control, the
motor is kept at zero torque.
Fault Reaction Active The drive performs a default reaction to the occurrence of an error
condition
Fault The drive remains in fault condition, until it receives a Reset Fault
command. If following this command, all the bits from the Motion
Error Register are reset, the drive exits the fault state

Table 4.2 Drive State Transitions

Transition Event Action

0 Reset Initialization
Initialization completed successfully.
1 None
Drive is ready to operate.

© Technosoft 2010 56 CANopen programming

 Bit 1 Disable Voltage and Bit 2
Quick Stop, are set in Control Word
2 None
(Shutdown command).
Motor voltage may be present.
Power stage is switched on (enabled),
provided that the enable input is on enable
Bit 0 is also set in Control Word status. Drive has torque and depending on
3
(Switch On command) the mode of operation set, may held motor at
the present position, keep the motor at zero
speed or keep the motor at zero torque
Bit 3 is also set Control Word Motion function is enabled, depending on the
4
(Enable Operation command) mode that is set
Motion function is inhibited. Drive is stopped,
using the acceleration rate set for position or
Bit 3 is cancelled in Control Word speed profiles. Depending on the mode of
5 (Disable Operation command) operation set before the Disable Operation
command, the motor may be held at the
present position, kept at zero speed or zero
torque
Bit 0 is cancelled in Control Word Power stage is disabled. Drive has no torque.
6
(Shutdown command) Motor is free to rotate
Bit 1 or 2 is cancelled in Control Word
7 (Quick Stop or Disable Voltage None
command)
Bit 0 is cancelled in Control Word Power stage is disabled. Drive has no torque.
8
(Shutdown command) Motor is free to rotate
Bit 1 is cancelled in Control Word Power stage is disabled. Drive has no torque.
9
(Disable Voltage command) Motor is free to rotate
Bit 1 or 2 is cancelled in Control Word
Power stage is disabled. Drive has no torque.
10 (Quick Stop or Disable Voltage
Motor is free to rotate
command)
Drive is stopped with the quick-stop
deceleration rate. The power stage remains
Bit 2 is cancelled in Control Word enabled. Depending on the mode of
11 operation set before the Quick Stop
(Quick Stop command) command, the motor may be held at the
present position, kept at zero speed or zero
torque.
Quick Stop is completed or bit 1 is
cancelled in Control Word Output stage is disabled. Drive has no
12
torque.
(Disable Voltage command)
13 A fault has occurred Execute specific fault treatment routine
14 The fault treatment is complete The drive function is disabled

© Technosoft 2010 57 CANopen programming

 Some of the bits from Motion Error Register
are reset. If all the error conditions are reset,
Bit 7 is set in Control Word the drive returns to Switch On Disabled
15
(Reset Fault command) status. After leaving the state Fault the bit
Fault Reset of the control_word has to be
cleared by the host.
Bit 2 is set in Control Word (Enable
Operation command). This transition is Drive exits from Quick Stop state. Drive
16
possible if Quick-Stop-Option-Code is function is enabled.
5, 6, 7 or 8

4.2. Drive control and status objects

4.2.1. Object 6040h: Control Word
The object controls the status of the drive. It is used to enable/disable the power stage of the
drive, start/halt the motions and to clear the fault status. The status machine is controlled through
the Control Word.
Object description:

Index 6040h
Name Control word
Object code VAR
Data type UNSIGNED16
Entry description:

Access RW
PDO mapping Yes
Units -
Value range 0 … 65535
Default value No

The Control Word has the following bit assignment:

Table 4.3 Bit Assignment in Control Word

Bit Value Meaning

0 Registration mode inactive
15 5
1 Activate registration mode

5
Only valid for MotionChip III family

© Technosoft 2010 58 CANopen programming

 When an update is performed, update the demand values for speed and
0
position with the actual values of speed and position
14
When an update is performed, keep unchanged the demand values for speed
1
and position
When it is set it cancels the execution of the TML function called through object
13 2006h. The bit is automatically reset by the drive when the command is
executed.
0 No action
If bit 14 = 1 – Force position demand value to 0
12
1 If bit 14 = 0 – Force position actual value to 0
This bit is valid regardless of the status of the drive or other bits in control_word
Manufacturer Specific - Operation Mode Specific. The meaning of this bit is
11
detailed further in this manual for each operation mode
10-9 Reserved. Writes have no effect. Read as 0
0 No action
8
1 Halt command – the motor will slow down on slow down ramp
0 No action
7 Reset Fault. The faults are reset on 0 to 1 transition of this bit. After a Reset
1
Fault command, the master has to reset this bit.
Operation Mode Specific. The meaning of these bits is detailed further in this
4-6
manual for each operation mode
3 Enable Operation
2 Quick Stop
1 Enable Voltage
0 Switch On

4.2.2. Object 6041h: Status Word

Object description:

Index 6041h
Name Status word
Object code VAR
Data type UNSIGNED16

Entry description:

Access RO
PDO mapping Yes

© Technosoft 2010 59 CANopen programming

 Units -
Value range 0 … 65535
Default value No
The Status Word has the following bit assignment:

Table 4.4 Bit Assignment in Status Word

Bit Value Description

0 Axis off. Power stage is disabled. Motor control is not performed
15
1 Axis on. Power stage is enabled. Motor control is performed
0 No event set or the programmed event has not occurred yet
14
1 Last event set has occurred
Operation Mode Specific. The meaning of these bits is detailed further in this
13..12
manual for each operation mode
11 Internal Limit Active
10 Target reached
0 Remote – drive is in local mode and will not execute the command message.
9 Remote – drive parameters may be modified via CAN and the drive will
1
execute the command message.
No TML function or homing is executed. The execution of the last called TML
0
function or homing is completed.
8
A TML function or homing is executed. Until the function or homing execution
1
ends or is aborted, no other TML function / homing may be called
0 No Warning
7 Warning. A TML function / homing was called, while another TML function /
1
homing is still in execution. The last call is ignored.
6 Switch On Disabled.
5 Quick Stop. When this bit is zero, the drive is performing a quick stop
0 Motor supply voltage is present
4
1 Motor supply voltage is absent
3 Fault. If set, a fault condition is or was present in the drive.
2 Operation Enabled
1 Switched On

© Technosoft 2010 60 CANopen programming

 0 Ready to Switch On

4.2.3. Object 1002h: Manufacturer Status Register

This object is a common status register for manufacturer specific purposes.
Object description:
Index 1002h
Name Manufacturer status register
Object code VAR
Data type UNSIGNED32
Entry description:
Access RO
PDO mapping Optional
Value range UNSIGNED32
Default value No
Table 4.5 Bit Assignment in Manufacturer Status Register

Bit Value Description

31 1 Drive/motor in fault status
1 Reference position in absolute electronic camming mode reached – valid only
30
for MotionChip III family
29 1 Reserved
1 Gear ratio in electronic gearing mode reached – valid only for MotionChip III
28
family
27 1 Drive I2t protection warning level reached
26 1 Motor I2t protection warning level reached
25 1 Target command reached
24 1 Capture event/interrupt triggered
23 1 Limit switch negative event / interrupt triggered
22 1 Limit switch positive event / interrupt triggered
21 1 AUTORUN mode enabled
20 1 Position trigger 4 reached
19 1 Position trigger 3 reached
18 1 Position trigger 2 reached
17 1 Position trigger 1 reached

© Technosoft 2010 61 CANopen programming

 16 1 Drive/motor initialization performed
15…0 Same as Object 6041h, Status Word

4.2.4. Object 6060h: Modes of Operation

The object selects the mode of operation of the drive.
Object description:
Index 6060h
Name Modes of Operation
Object code VAR
Data type INTEGER8
Entry description:
Access WO
PDO mapping Yes
Units -
Value range -128 … 127
Default value No
Data description:
Value Description
-128…-6 Reserved
-5 Manufacturer specific – External Reference Torque Mode 6
-4 Manufacturer specific – External Reference Speed Mode 7
-3 Manufacturer specific – External Reference Position Mode 8
-2 Manufacturer specific – Electronic Camming Position Mode 9
-1 Manufacturer specific – Electronic Gearing Position Mode 10
0 Reserved
1 Profile Position Mode
2 Reserved
3 Profile Velocity Mode
4,5 Reserved

6
Only available for MotionChip III family. Available also on request for MotionChip II family
7
Only available for MotionChip III family. Available also on request for MotionChip II family
8
Only available for MotionChip III family. Available also on request for MotionChip II family
9
Only available for MotionChip III family. Available also on request for MotionChip II family
10
Only available for MotionChip III family. Available also on request for MotionChip II family

© Technosoft 2010 62 CANopen programming

 6 Homing Mode
7 Interpolated Position Mode
8…127 Reserved
Remark: The actual mode is reflected in object 6061h (Modes of Operation Display).

4.2.5. Object 6061h: Modes of Operation Display

The object reflects the actual mode of operation set with object Modes of Operation (index 6060h)
Object description:
Index 6061h
Name Modes of Operation Display
Object code VAR
Data type INTEGER8
Entry description:
Access RO
PDO mapping Possible
Units -
Value range -128 … 127
Default value No
Data description: Same as for object 6060h, Modes of Operation.

4.2.6. Object 2002h: Drive Status Mask

The Drive Status Mask offers the possibility to choose which changes of the 32 bits from the
Manufacturer Status Register (1002h) bits should be signaled via asynchronous (event triggered)
TPDOs when the register is mapped inside any TPDOs.
For the 16 least significant bits (the one corresponding to the Status Word), both the Status Word
and the Manufacturer Status Register will be sent, if both of them are mapped on TPDOs.
The manufacturer status register is continuously monitored for bit changes. When a bit changes,
if the corresponding bit from the Drive Status Mask is set to 1, the drives send the TPDOs defined
as asynchronous which include either the Status Word of Manufacturer Status Register. By
default, the Status word is mapped to TPDO1,2,3 and 4. Only TPDO1 and 2 are enabled by
default.
The Drive Status Mask has the same bit codification as the Manufacturer Status Register and the
following meaning:
1 – unmask bit. If the same bit from Manufacturer Status Register is changed the drive sends the
asynchronous (event triggered) TPDOs including the Status Word and / or Manufacturer Status
Register
0 – mask bit. If the same bit from Manufacturer Status Register is changed, no asynchronous
(event triggered) TPDOs are sent due to Manufacturer Status Register modification
Object description:

© Technosoft 2010 63 CANopen programming

 Index 2002h
Name Drive status mask
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping Possible
Units -
Value range UNSIGNED32
Default value 0000347Fh

4.3. Error monitoring

4.3.1. Object 2000h: Motion Error Register
The Motion Error Register displays all the drive possible errors. A bit set to 1 signals that a
specific error has occurred. When the error condition disappears or the error is reset using a Fault
Reset command, the corresponding bit is reset to 0.
The Motion Error Register is continuously checked for changes of the bits status. When a bit is
set (e.g. an error has occurred), if the corresponding bit from Motion Error Register Mask (2001h)
is set to 1, an emergency message with the specific error code is sent. When a bit is reset, if the
corresponding bit from Motion Error Register Mask (2001h) is set to 1, an emergency message for
error reset is sent.
Object description:
Index 2000h
Name Motion Error Register
Object code VAR
Data type UNSIGNED16
Entry description:
Access RO
PDO mapping Possible
Units -
Value range 0 … 65535
Default value 0

Table 4.6 Bit Assignment in Motion Error Register

Bit Description
15 Drive disabled due to enable input. Set when enable input is on disable state. Reset when
enable input is on enable state

© Technosoft 2010 64 CANopen programming

14 Command error. This bit is set in several situations. They can be distinguished either by
the associated emergency code, or in conjunction with other bits:
0xFF03 - Specified homing method not available
0xFF04 - A wrong mode is set in object 6060h, modes_of_operation
0xFF05 - Specified digital I/O line not available
A function is called during the execution of another function (+ set bit 7 of object 6041h,
status word)
Update of operation mode received during a transition
This bit acts just as a warning.
13 Under-voltage. Set when protection is triggered. Reset by a Reset Fault command
12 Over-voltage. Set when protection is triggered. Reset by a Reset Fault command
11 Over temperature drive. Set when protection is triggered. Reset by a Reset Fault
command.
10 Over temperature motor. Set when protection is triggered. Reset by a Reset Fault
command. This protection may be activated if the motor has a PTC or NTC temperature
contact.
9 I2T protection. Set when protection is triggered. Reset by a Reset Fault command
8 Over current. Set when protection is triggered. Reset by a Reset Fault command
7 Negative limit switch active. Set when LSN input is in active state. Reset when LSN input
is inactive state
6 Positive limit switch active. Set when LSP input is in active state. Reset when LSP input is
inactive state
5 Motor position wraps around. Set when protection is triggered. Reset by a Reset Fault
command
4 Communication error. Set when protection is triggered. Reset by a Reset Fault command
3 Control error (position/speed error too big). Set when protection is triggered. Reset by a
Reset Fault command
2 Invalid setup data. Set when the EEPROM stored setup data is not valid or not present.
1 Short-circuit. Set when protection is triggered. Reset by a Reset Fault command
0 CAN error. Set when CAN controller is in error mode. Reset by a Reset Fault command

4.3.2. Object 2001h: Motion Error Register Mask

Object description:
Index 2001h
Name Motion Error Register Mask
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW

© Technosoft 2010 65 CANopen programming

 PDO mapping Possible
Units -
Value range 0 … 65535
Default value FFFFh

The Motion Error Register Mask offers the possibility to choose which of the errors set or reset in
the Motion Error Register to be signaled via emergency messages. The Motion Error Register
Mask has the same bit codification as the Motion Error Register (see Table 4.6) and the following
meaning:
1 – Send an emergency message when the corresponding bit from the Motion Error Register is
set
0 – Don’t send an emergency message when the corresponding bit from the Motion Error
Register is set

4.3.3. Object 605Eh: Fault reaction option code 11

This parameter determines what action should be taken if a non-fatal error occurs in the drive.
The non-fatal errors are by default the following:
Under-voltage
Over-voltage
Drive over-temperature
Motor over-temperature

Object description:
Index 605Eh
Name Fault reaction option code
Object code VAR
Data type INTEGER16
Entry description:
Access RW
PDO mapping No
Value range -32768 … 32767
Default value 2
Data description:
Value Description
-32768…-2 Manufacturer specific
-1 No action

11
Only valid for MotionChip III family

© Technosoft 2010 66 CANopen programming

 0 Disable drive, motor is free to
rotate
1 Reserved
2 Slow down with quick stop ramp
3…32767 Reserved

4.3.4. Object 6007h: Abort connection option code 12

The object sets the action performed by the drive when the connection to the network is lost.
Object description:
Index 6007h
Name Abort connection option code
Object code VAR
Data type INTEGER16
Entry description:
Access RW
PDO mapping Possible
Value range -32768…32767
Default value 0

Table 4.7 Abort connection option codes values:

Option code Description

0 No action
1 Malfunction – the drive will enter into Fault status
2…32767 Reserved
-32768…-1 Manufacturer specific (reserved)

4.4. Digital I/O control and status objects

4.4.1. Object 60FDh: Digital inputs 13
The object contains the actual value of the digital inputs available on the drive. Each bit from the
object corresponds to a digital input (manufacturer specific or device profile defined). If a bit is
SET, then the status of the corresponding input is logical ‘1’ (high). If the bit is RESET, then the
corresponding drive input status is logical ‘0’ (low).

12
Only valid for MotionChip III family
13
Only valid for MotionChip III family

© Technosoft 2010 67 CANopen programming

Remarks:
The device profile defined inputs (limit switches, home input and interlock) are mapped also on
the manufacturer specific inputs. Hence, when one of these inputs changes the status, then both
bits change, from the manufacturer specific list and from the device profile list.
The number of available digital inputs is product dependent. Check the drive user manual for the
available digital inputs.

Object description:
Index 60FDh
Name Digital inputs
Object code VAR
Data type UNSIGNED32
Entry description:
Access RO
PDO mapping Possible
Value range UNSIGNED32
Default value 0

Bit Description
31 IN15 status
30 IN14 status
29 IN13 status
28 IN12 status
27 IN11 status
26 IN10 status
25 IN9 status
24 IN8 status
23 IN7 status
22 IN6 status
Manufacturer specific

21 IN5 status
20 IN4 status
19 IN3 status
18 IN2 status
17 IN1 status
16 IN0 status
Device profile

15..4 Reserved
3 Interlock (Drive enable)
defined

2 Home switch status

1 Positive limit switch status

© Technosoft 2010 68 CANopen programming

 0 Negative limit switch status

4.4.2. Object 2042h: Digital inputs mask 14

The role of this object is to provide a mask through which the user can program which drive inputs
should be actively monitored in the event that object 60FDh is mapped on a transmit PDO.

Object description:
Index 2042h
Name Digital inputs mask
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping Possible
Units -
Value range UNSIGNED32
Default value E00F0000h
Data description:
MSB LSB
Manufacturer specific reserved Interlock Home Positive Negative
(enable) switch limit switch limit switch
31 16 15 4 3 2 1 0

Data description – manufacturer specific:

Bit Meaning Bit Meaning
31 IN15 mask 23 IN7 mask
30 IN14 mask 22 IN6 mask
29 IN13 mask 21 IN5 mask
28 IN12 mask 20 IN4 mask
27 IN11 mask 19 IN3 mask
26 IN10 mask 18 IN2 mask
25 IN9 mask 17 IN1 mask
24 IN8 mask 16 IN0 mask

If the any of the non-reserved bits is SET, then the corresponding drive input will be actively
monitored. If the bit is RESET, then the corresponding drive input active monitoring would stop.

14
Only valid for MotionChip III family

© Technosoft 2010 69 CANopen programming

4.4.3. Object 2040h: Digital inputs status 15
The current status of the drive inputs can be monitored using this object. If a bit is SET, then the
status of the corresponding input is logical ‘1’ (high). If the bit is RESET, then the corresponding
drive input status is logical ‘0’ (low).

Remarks:
The number of available digital inputs is product dependent. Check the drive user manual for the
available digital inputs.

Object description:
Index 2040h
Name Digital inputs status
Object code VAR
Data type UNSIGNED16
Entry description:
Access RO
PDO mapping Possible
Value range UNSIGNED16
Default value 0
Data description:
Bit Meaning Bit Meaning
15 Drive enable status 7 IN7 status
14 Negative limit switch status 6 IN6 status
13 Positive limit switch status 5 IN5 status
12 IN12 status 4 IN4 status
11 IN11 status 3 IN3 status
10 IN10 status 2 IN2 status
9 IN9 status 1 IN1 status
8 IN8 status 0 IN0 status

4.4.4. Object 60FEh: Digital outputs 16

The object defines the digital outputs of the drive that are controlled. The first sub-index defines
the outputs that will be controlled by the mask set in the second sub-index. The second sub-index
describes a mask that specifies how the selected outputs will be commanded. If any of the bits is

15
Only valid for MotionChip II family
16
Only valid for MotionChip III family

© Technosoft 2010 70 CANopen programming

SET, then the corresponding drive output will be switched to logical ‘1’ (high). If the bit is RESET,
then the corresponding drive output will be switched to logical ‘0’ (low).

Remarks:
The actual number of available digital outputs is product dependent. Check the drive user manual
for the available digital outputs.
If an unavailable digital output is specified, the drive will issue an emergency message.

Object description:
Index 60FEh
Name Digital outputs
Object code ARRAY
Data type UNSIGNED32
Entry description:
Sub-index 0
Description Number of entries
Access RO
PDO mapping No
Value range 1…2
Default value 2

Sub-index 1
Description Physical outputs
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value 0

Sub-index 2
Description Bit mask
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value 0

Table 4.8 Bits mask description:

Bit Description

© Technosoft 2010 71 CANopen programming

 31 OUT15 command
30 OUT14 command
29 OUT13 command
28 OUT12 command
27 OUT11 command
26 OUT10 command
25 OUT9 command
24 OUT8 command
23 OUT7 command
22 OUT6 command

Manufacturer Specific
21 OUT5 command
20 OUT4 command
19 OUT3 command
18 OUT2 command
17 OUT1 command
16 OUT0 command

15…1 Reserved
Device profile
Defined

0 Set brake

4.4.5. Object 2045h: Digital outputs status 17

The actual status of the drive outputs can be monitored using this object.
Object description:
Index 2045h
Name Digital outputs status
Object code VAR
Data type UNSIGNED16
Entry description:
Access RO
PDO mapping Possible
Units -

17
Only valid for MotionChip III family

© Technosoft 2010 72 CANopen programming

 Value range UNSIGNED16
Default value No
Data description:
Bit Meaning Bit Meaning
15 OUT15 status 7 OUT7 status
14 OUT14 status 6 OUT6 status
13 OUT13 status 5 OUT5 status
12 OUT12 status 4 OUT4 status
11 OUT11 status 3 OUT3 status
10 OUT10 status 2 OUT2 status
9 OUT9 status 1 OUT1 status
8 OUT8 status 0 OUT0 status
If the any of the bits is SET, then the corresponding drive output status is logical ‘1’ (high). If the
bit is RESET, then the corresponding drive output status is logical ‘0’ (low).

4.4.6. Object 2043h: Digital outputs command 18

This object is used to control the status of the digital outputs of the drive.

Remarks:
The actual number of available digital outputs is product dependent. Check the drive user manual
for the available digital outputs.

Object description:
Index 2043h
Name Digital outputs command
Object code VAR
Data type UNSIGNED16
Entry description:
Access WO
PDO mapping Possible
Units -
Value range UNSIGNED16
Default value No
Data description:
Bit Meaning Bit Meaning

18
Only valid for MotionChip II family

© Technosoft 2010 73 CANopen programming

 15 Ready output command 7 Ready output selection
14 Error output command 6 Error output selection
13 OUT5 command 5 OUT5 selection
12 OUT4 command 4 OUT4 selection
11 OUT3 command 3 OUT3 selection
10 OUT2 command 2 OUT2 selection
9 OUT1 command 1 OUT1 selection
8 OUT0 command 0 OUT0 selection

If any of the selection bits (0…7) is SET, then the corresponding drive output will be selected to
be switched according to the information in the command bits (8…15). If an output port is selected
and the command bit is SET, then the corresponding drive output will be switched to logical “1”
(high). If the command bit is RESET, then the corresponding drive output will be switched to
logical “0” (low).

4.4.7. Object 2046h: Analogue input: Reference 19

The object contains the actual value of the analog reference applied to the drive. Through this
object one can supervise the analogue input dedicated to receive the analogue reference in the
external control modes.
Object description:
Index 2046h
Name Analogue input: Reference
Object code VAR
Data type UNSIGNED16
Entry description:
Access RO
PDO mapping Possible
Units -
Value range 0 … 65472
Default value No

4.4.8. Object 2047h: Analogue input: Feedback 20

The object contains the actual value of the analogue feedback applied to the drive.
Object description:
Index 2047h

19
Only valid for MotionChip III family
20
Only valid for MotionChip III family

© Technosoft 2010 74 CANopen programming

 Name Analogue input: Feedback
Object code VAR
Data type UNSIGNED16
Entry description:
Access RO
PDO mapping Possible
Units -
Value range 0 … 65272
Default value No

4.4.9. Object 2055h: DC-link voltage 21

The object contains the actual value of the DC-link voltage. The object is expressed in internal
voltage units.
Object description:
Index 2055h
Name Analogue input: DC-link voltage
Object code VAR
Data type UNSIGNED16
Entry description:
Access RO
PDO mapping Possible
Units DC-VU
Value range 0 … 65472
Default value No

4.4.10. Object 2058h: Drive Temperature 22

The object contains the actual drive temperature. The object is expressed in temperature internal
units.
Object description:
Index 2058h
Name Analogue input for drive
temperature
Object code VAR
Data type UNSIGNED16

21
Only valid for MotionChip III family
22
Only valid for MotionChip III family

© Technosoft 2010 75 CANopen programming

Entry description:
Access RO
PDO mapping Possible
Units -
Value range 0 … 65535
Default value No

4.5. Protections Setting Objects

4.5.1. Object 2050h: Over-current protection level
The Over-Current Protection Level object together with object Over-Current Time Out (2051h)
defines the drive over-current protection limits. The object defines the value of current in the drive,
over which the over-current protection will be activated, if lasting more than a time interval that is
specified in object 2051h. It is set in current internal units.
Object description:
Index 2050h
Name Over-current protection level
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW
PDO mapping Possible
Units CU
Value range 0 … 32767
Default value No

4.5.2. Object 2051h: Over-current time out

The Over-Current time out object together with object Over-Current Protection Limit (2050h)
defines the drive over-current protection limits. The object sets the time interval after which the
over-current protection is triggered if the drive current exceeds the value set through object 2050h.
It is set in time internal units.
Object description:
Index 2051h
Name Over-current time out
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW

© Technosoft 2010 76 CANopen programming

 PDO mapping Possible
Units TU
Value range 0 … 65535
Default value No

4.5.3. Object 2052h: Motor nominal current

The object sets the maximum motor current RMS value for continuous operation. This value is
used by the I2t motor protection and one of the start methods. It is set in current internal units.
See object 2053 for more details about the I2t motor protection.
Object description:
Index 2052h
Name Motor nominal current
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW
PDO mapping No
Units CU
Value range 0 … 32767
Default value No

4.5.4. Object 2053h: I2t protection integrator limit

Objects 2053h and 2054h contain the parameters of the I2t protection (against long-term motor
over-currents). Their setting must be coordinated with the setting of the object 2052h, motor
nominal current. Select a point on the I2t motor thermal protection curve, which is characterized
by the points I_I2t (current, [A]) and t_I2t: (time, [s]) (see Figure 4.2 )

© Technosoft 2010 77 CANopen programming

 Figure 4.2 I2t motor thermal protection curve

The points I_I2t and t_I2t on the motor thermal protection curve together with the nominal motor
current In define the surface SI2t. If the motor instantaneous current is greater than the nominal
current In and the I2t protection is activated, the difference between the square of the
instantaneous current and the square of the nominal current is integrated and compared with the
SI2t value (see Figure 4.3 ). When the integral equals the SI2t surface, the I2t protection is
triggered.
Object description:
Index 2053h
Name I2t protection integrator limit
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping No
Units -
Value range 0 … 231-1
Default value No

Figure 4.3 I2t protection implementation

The computation formula for the i2t protection integrator limit (I2TINTLIM) is

© Technosoft 2010 78 CANopen programming

 (I _ I2t ) 2 − (In) 2
I2TINTLIM = 2
⋅ 2 26
32767
where I_I2t and In are represented in current units (CU).

4.5.5. Object 2054h: I2t protection scaling factor

Object description:
Index 2054h
Name I2t protection scaling factor
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW
PDO mapping No
Units -
Value range 0 … 65535
Default value No

The computation formula for the i2t protection scaling factor (SFI2T) is
Ts _ S
SFI2T = 2 26 ⋅
t _ I2t
where Ts_S is the sampling time of the speed control loop [s], and t_I2t is the I2t protection time
corresponding to the point on the graphic in Figure 4.2

4.6. Drive info objects

4.6.1. Object 1000h: Device Type
The object contains information about drive type and its functionality. The 32-bit value contains 2
components of 16-bits: the 16 LSB describe the CiA standard that is followed.
Object description:
Index 1000h
Name Device type
Object code VAR
Data type UNSIGNED32
Value description:
Access RO
PDO mapping NO
Value range UNSIGNED32

© Technosoft 2010 79 CANopen programming

 Default value 60192h for MotionChip III family
20192h for MotionChip II family of
servo drives
40192h for MotionChip II family of
stepper drives

4.6.2. Object 6502h: Supported drive modes

This object gives an overview of the operating modes supported on the Technosoft drives. Each
bit from the object has assigned an operating mode. If the bit is set then the drive supports the
associated operating mode.
Object description:
Index 6502h
Name Supported drive modes
Object code VAR
Data type UNSIGNED32
Entry description:
Access RO
PDO mapping Possible
Value range UNSIGNED32
Default value 001F0065h for MotionChip III
family
00000065h for MotionChip II
family
The modes of operation supported by the Technosoft drives, and their corresponding bits, are the
following:
Data description:
MSB LSB
0 0 x … x 0 0 1 1 0 0 1 0 1
Manufacturer specific reserved ip hm reserved tq pv vl pp
31 21 20 … 16 15 7 6 5 4 3 2 1 0
Data description – manufacturer specific:
Bit Description
31 … 21 Reserved
20 External Reference Torque Mode
19 External Reference Speed Mode
18 External Reference Position Mode
17 Electronic Gearing Position Mode

© Technosoft 2010 80 CANopen programming

 16 Electronic Camming Position Mode

4.6.3. Object 1008h: Manufacturer Device Name 23

The object contains the manufacturer device name in ASCII form, maximum 15 characters.
Object description:
Index 1008h
Name Manufacturer device name
Object code VAR
Data type Visible String
Entry description:
Access Const
PDO mapping No
Value range No
Default value IDM680

4.6.4. Object 100Ah: Manufacturer Software Version 24

The object contains the firmware version programmed on the drive in ASCII form with the
maximum length of 15 characters.
Object description:
Index 100Ah
Name Manufacturer software version
Object code VAR
Data type Visible String
Entry description:
Access Const
PDO mapping No
Value range No
Default value Product dependent

4.6.5. Object 2060h: Software version of a TML application 25

By inspecting this object the user can find out the software version of the TML application (drive
setup plus motion setup and eventually cam tables) that is stored in the EEPROM memory of the

23
Only valid for MotionChip III family
24
Only valid for MotionChip III family
25
Only valid for MotionChip III family

© Technosoft 2010 81 CANopen programming

drive. The object stores the software version coded in a string of 4 elements, grouped in a 32-bit
variable. Each byte represents an ASCII character.
Object description:
Index 2060h
Name Software version of TML
application
Object code VAR
Data type UNSIGNED32
Entry description:
Access RO
PDO mapping No
Units -
Value range No
Default value No
Example:
If object 2060h contains the value 0x322E3156, then the software version of the TML application
is read as:
0x56 – ASCII code of letter V
0x31 – ASCII code of number 1
0x2E – ASCII code of character .
0x32 – ASCII code of number 2
So the version is V1.2.

4.6.6. Object 1018h: Identity Object

Contains the unique VendorID allocated to Technosoft.
Object description:
Index 1018h
Name Identitty Object
Object code RECORD
Data type Identity
Entry description:
Sub-index 00h
Description Number of entries
Access RO
PDO mapping No
Value range 1..4
Default value 1

© Technosoft 2010 82 CANopen programming

 Sub-index 01h
Description Vendor ID
Access RO
PDO mapping No
Value range UNSIGNED32
Default value 000001A3h

4.7. Miscellaneous Objects

4.7.1. Object 2025h: Stepper current in open-loop operation 26
In this object one can set the level of the current to be applied when controlling a stepper motor in
open loop operation at runtime.
Object description:
Index 2025h
Name Stepper current in open-loop
operation
Object code VAR
Data type INTEGER16
Entry description:
Access RW
PDO mapping Possible
Units CU
Value range -32768 … 32767
Default value No

4.7.2. Object 2026h: Stand-by current for stepper in open-loop operation 27

In this object one can set the level of the current to be applied when controlling a stepper motor in
open loop operation in stand-by.
Object description:
Index 2026h
Name Stand-by current for stepper in
open-loop operation
Object code VAR
Data type INTEGER16

26
Only valid for MotionChip III family & the intelligent stepper drives of the MotionChip II family
27
Only valid for MotionChip III family & the intelligent stepper drives of the MotionChip II family

© Technosoft 2010 83 CANopen programming

Entry description:
Access RW
PDO mapping Possible
Units CU
Value range -32768 … 32767
Default value No

4.7.3. Object 2027h: Timeout for stepper stand-by current 28

In this object one can set the amount of time after the value set in object 2026h, stand-by current
for stepper in open-loop operation will activate as the reference for the current applied to the
motor after the reference has reached the target value.
Object description:
Index 2027h
Name Timeout for stepper stand-by
current
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW
PDO mapping Possible
Units TU
Value range 0 … 65535
Default value No

4.7.4. Object 2075h: Position triggers 29

This object is used in order to define a set of 4 position values whose proximity will be signaled
through bits 17-20 of object 1002h, Manufacturer Status Register. If the position actual value is
over a certain value set as a position trigger, then the corresponding bit in Manufacturer Status
Register will be set.
Object description:
Index 2075h
Name Position triggers
Object code ARRAY
Data type INTEGER32
Entry description:

28
Only valid for MotionChip III family & the intelligent stepper drives of the MotionChip II family
29
Only valid for MotionChip III family

© Technosoft 2010 84 CANopen programming

 Sub-index 00h
Description Number of sub-indexes
Access RO
PDO mapping No
Default value 4

Sub-index 01h – 04h

Description Position trigger 1 - 4
Access RW
PDO mapping Possible
Value range INTEGER32
Default value No

4.7.5. Object 2076h: Save current configuration

This object is used in order to enable saving the current configuration of the operating parameters
of the drive. These parameters are the ones that are set when doing the setup of the drive. The
purpose of this object is to be able to save the new values of these parameters in order to be re-
initialized at subsequent system re-starts.
Writing any value in this object will trigger the save in the non-volatile EEPROM memory of the
current drive operating parameters.
Object description:
Index 2076h
Name Save current configuration
Object code VAR
Data type UNSIGNED16
Entry description:
Access WO
PDO mapping No
Value range UNSIGNED16
Default value -

Remark:
There is a special case of using this object for an IDM680-8EI with SSI encoder and IDM680-8BI
with BiSS encoder – as these 2 sensors use the same SPI interface used for communication with
the EEPROM. The steps to correctly use this object in these cases are the following:
1. Set the drive into Switch on Disabled status.
2. Enable EEPROM. Send the following TechnoCAN message (assumes the NodeID is 10):

© Technosoft 2010 85 CANopen programming

COB-ID 12A
Data 00 95
3. Save the parameters. Write value 1 inside object 2076h.
Send the following message (SDO write to object 2076h sub-index 0, 16-bit value 0001h):
COB-ID 60A
Data 2B 76 20 00 01 00 00 00
4. Reset the drive. Needed in order to re-establish encoder connection.
Send the following message (NMT message for reset node to drive with NodeID 10):
COB-ID 0
Data 81 0A

4.7.6. Object 2078h: Execute auto-tuning for Linear Halls configuration 30

This object is used in order to start the automatic sequence of tuning the linear halls sensors in a
configuration having a brushless motor with linear hall sensors.
Writing any value in this object will trigger the start of the automatic tuning sequence.
Object description:
Index 2078h
Name Execute auto-tuning for Linear
Halls configuration
Object code VAR
Data type UNSIGNED16
Entry description:
Access WO
PDO mapping No
Value range UNSIGNED16
Default value -

30
Only valid for MotionChip III family

© Technosoft 2010 86 CANopen programming

5. Factor group 31
The MotionChip III drives family offers the possibility to interchange physical dimensions and
sizes into the device internal units. This chapter describes the factors that are necessary to do the
interchanges.
Remark:
The MotionChip II drives family currently does not support the factor group and its objects.
The factors defined in Factor Group set up a relationship between device internal units and
physical units. The actual factors used for scaling are the position factor (object 6093h), the
velocity encoder factor (object 6094h), the acceleration factor (object 6097h) and the time encoder
factor (object 2071h). Writing a non-zero value into the respective dimension index objects
validates these factors. The notation index objects are used for status only and can be set by the
user depending on each user-defined value for the factors.

5.1. Factor group objects

5.1.1. Object 6089h: Position notation index
The position notation index is used to scale the following objects:
• Position actual value
• Position demand value
• Target position
• Position window
• Following error window
• Following error actual value
Object description:

Index 6089h
Name Position notation index
Object code VAR
Data type INTEGER8

Entry description:

Access RW
PDO mapping Possible
Value range -128 … 127
Default value 0

31
This chapter, along with all the objects described inside it, is only valid for MotionChip III family

© Technosoft 2010 87 CANopen programming

5.1.2. Object 608Ah: Position dimension index
The position dimension index is used to scale the following objects:
• Position actual value
• Position demand value
• Target position
• Position window
• Following error window
• Following error actual value
Object description:

Index 608Ah
Name Position dimension index
Object code VAR
Data type UNSIGNED8

Entry description:

Access RW
PDO mapping Possible
Value range 0 … 255
Default value 0

5.1.3. Object 608Bh: Velocity notation index

The velocity notation index is used to scale the following objects:
• Velocity actual value
• Velocity demand value
• Target velocity
• Profile velocity
Object description:

Index 608Bh
Name Velocity notation index
Object code VAR
Data type INTEGER8

Entry description:

© Technosoft 2010 88 CANopen programming

 Access RW
PDO mapping Possible
Value range -128 … 127
Default value 0

5.1.4. Object 608Ch: Velocity dimension index

The velocity dimension index is used to scale the following objects:
• Velocity actual value
• Velocity demand value
• Target velocity
• Profile velocity
Object description:

Index 608Ch
Name Velocity dimension index
Object code VAR
Data type UNSIGNED8

Entry description:

Access RW
PDO mapping Possible
Value range 0 … 255
Default value 0

5.1.5. Object 608Dh: Acceleration notation index

The acceleration notation index is used to scale the following objects:
• Profile acceleration
• Quick stop deceleration
Object description:

Index 608Dh
Name Acceleration notation index
Object code VAR
Data type INTEGER8

© Technosoft 2010 89 CANopen programming

Entry description:

Access RW
PDO mapping Possible
Value range -128 … 127
Default value 0

5.1.6. Object 608Eh: Acceleration dimension index

The acceleration dimension index is used to scale the following objects:
• Profile acceleration
• Quick stop deceleration
Object description:

Index 608Eh
Name Acceleration dimension index
Object code VAR
Data type UNSIGNED8
Entry description:
Access RW
PDO mapping Possible
Value range 0 … 255
Default value 0

5.1.7. Object 206Fh: Time notation index

The time dimension index is used to scale the following objects:
• Following error time out
• Position window time
• Jerk time
• Max slippage time out
• Over-current time out
Object description:

Index 206Fh
Name Time notation index
Object code VAR

© Technosoft 2010 90 CANopen programming

 Data type INTEGER8

Entry description:

Access RW
PDO mapping Possible
Value range -128 … 127
Default value 0

5.1.8. Object 2070h: Time dimension index

The time dimension index is used to scale the following objects:
• Following error time out
• Position window time
• Jerk time
• Max slippage time out
• Over-current time out
Object description:

Index 2070h
Name Time dimension index
Object code VAR
Data type UNSIGNED8
Entry description:
Access RW
PDO mapping Possible
Value range 0 … 255
Default value 0

5.1.9. Object 6093h: Position factor (DS402)

The position factor converts the desired position (in position units) into the internal format (in
increments):
PositionFactor.Numerator
Position[ IU ] = Position[UserUnits] ×
PositionFactor.Divisor
Object description:

Index 6093h

© Technosoft 2010 91 CANopen programming

 Name Position factor
Object code ARRAY
Number of elements 2
Data type UNSIGNED32

Entry description:

Sub-index 01h
Description Numerator
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value 1

Sub-index 02h
Description Divisor
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value 1

5.1.10. Object 6094h: Velocity encoder factor (DS402)

The velocity encoder factor converts the desired velocity (in velocity units) into the internal format
(in increments).
VelocityEncoderFactor.Numerator
Velocity[ IU ] = Velocity[UserUnits] ×
VelocityEncoderFactor.Divisor
Object description:

Index 6094h
Name Velocity encoder factor
Object code ARRAY
Number of elements 2
Data type UNSIGNED32

Entry description:

© Technosoft 2010 92 CANopen programming

 Sub-index 01h
Description Numerator
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value 1

Sub-index 02h
Description Divisor
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value 1

5.1.11. Object 6097h: Acceleration factor (DS402)

The acceleration factor converts the velocity (in acceleration units/sec2) into the internal format (in
increments/sampling2).
AccelerationFactor.Numerator
Acceleration[ IU ] = Acceleration[UserUnits] ×
AccelerationFactor.Divisor
Object description:

Index 6097h
Name Acceleration factor
Object code ARRAY
Number of elements 2
Data type UNSIGNED32

Entry description:

Sub-index 01h
Description Numerator
Access RW
PDO mapping Possible
Value range UNSIGNED32

© Technosoft 2010 93 CANopen programming

 Default value 1

Sub-index 02h
Description Divisor
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value 1

5.1.12. Object 2071h: Time factor

The time factor converts the desired time values (in time units) into the internal format (in speed /
position loop samplings).
TimeFactor.Numerator
Time[ IU ] = Time[UserUnits] ×
TimeFactor.Divisor
Object description:

Index 2071h
Name Time factor
Object code ARRAY
Number of elements 2
Data type UNSIGNED32

Entry description:

Sub-index 01h
Description Numerator
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value 1

Sub-index 02h
Description Divisor
Access RW

© Technosoft 2010 94 CANopen programming

 PDO mapping Possible
Value range UNSIGNED32
Default value 1

© Technosoft 2010 95 CANopen programming

6. Homing Mode
6.1. Overview
Homing is the method by which a drive seeks the home position. There are various methods to
achieve this position using the four available sources for the homing signal: limit switches
(negative and positive), home switch and index pulse.
A homing move is started by setting bit 4 of the Control Word object (index 0x6040). The results
of a homing operation can be accessed in the Status Word (index 0x6041).
A homing mode is chosen by writing a value to homing_method which will clearly establish:
1. the homing signal (positive limit switch, negative limit switch, home switch)
2. the direction of actuation and where appropriate
3. the position of the index pulse.
The user can specify the home method, the home offset, the speed and the acceleration.
The home offset is the difference between the zero position for the application and the machine
home position. During homing the home position is found and once the homing is completed the
zero position is offset from the home position by adding the home_offset to the home position.
This is illustrated in the following diagram.

Figure 6.1 Home Offset

There are two homing speeds: a fast speed (which is used to find the home switch), and a slow
speed (which is used to find the index pulse).
The homing acceleration establishes the acceleration to be used for all accelerations and
decelerations with the standard homing modes.
The homing method descriptions in this document are based on those in the Profile for Drives and
Motion Control (DSP402 Standard).
As in the figure below for each homing method we will present a diagram that clearly describes
the sequence of homing operation.

© Technosoft 2010 96 CANopen programming

 Mechanical Stage Limit

Negative Limit Motor Positive Limit

Switch Switch

Starting Position

Direction of motion (positive)

Home position and number of homing mode

Switch active (high) Switch inactive (low)

Figure 6.2 Homing method diagram

Method 1: Homing on the Negative Limit Switch.

If the negative limit switch is inactive (low) the initial direction of movement is leftward (negative
sense). After negative limit switch is reached the motor will reverse the motion, moving in the
positive sense with slow speed. The home position is at the first index pulse to the right of the
position where the negative limit switch becomes inactive.

Figure 6.3 Homing on the Negative Limit Switch

Method 2: Homing on the Positive Limit Switch.

If the positive limit switch is inactive (low) the initial direction of movement is rightward (negative
sense). After positive limit switch is reached the motor will reverse the motion, moving in the
negative sense with slow speed. The home position is at the first index pulse to the left of the
position where the positive limit switch becomes inactive.

© Technosoft 2010 97 CANopen programming

 Figure 6.4 Homing on the Positive Limit Switch

Methods 3 and 4: Homing on the Positive Home Switch and Index Pulse.
The home position is at the index pulse either after home switch high-low transition (method 3) or
after home switch low-high transition (method 4).
The initial direction of movement is dependent on the state of the home switch (if low - move
positive, if high - move negative).

Figure 6.5 Homing on the Negative Home Switch and Index Pulse

For method 3, if home input is high the initial direction of movement will be negative, or positive if
home input is low, and reverse (with slow speed) after home input low-high transition. The motor
will stop at first index pulse after home switch high-low transition.
For method 4, if home input is low the initial direction of movement will be positive, or negative if
home input is high, and reverse (with slow speed) after home input high-low transition. The motor
will stop at first index pulse after home switch low-high transition.
In all cases after home switch transition the speed of the movement is slow.

Methods 5 and 6: Homing on the Negative Home Switch and Index Pulse.
The home position is at the index pulse either after home switch high-low transition (method 5) or
after home switch low-high transition (method 6).

© Technosoft 2010 98 CANopen programming

The initial direction of movement is dependent on the state of the home switch (if high - move
positive, if low - move negative).
For method 5, if home input is high the initial direction of movement will be positive, or negative if
home input is low, and reverse (with slow speed) after home input low-high transition. The motor
will stop at first index pulse after home switch high-low transition.
For method 6, if home input is low the initial direction of movement will be negative, or positive if
home input is high, and reverse (with slow speed) after home input high-low transition. The motor
will stop at first index pulse after home switch low-high transition.
In all cases after home switch transition the speed of the movement is slow.

Figure 6.6 Homing on the Negative Home Switch and Index Pulse

Methods 7 to14: Homing on the Negative Home Switch and Index Pulse.
These methods use a home switch that is active over only a portion of the travel distance, in
effect the switch has a ‘momentary’ action as the axle’s position sweeps past the switch.
Using methods 7 to 10 the initial direction of movement is to the right (positive), and using
methods 11 to 14 the initial direction of movement is to the left (negative), except the case when
the home switch is active at the start of the motion (initial direction of motion is dependent on the
edge being sought – the rising edge or the falling edge).
The home position is at the index pulse on either side of the rising or falling edges of the home
switch, as shown in the following two diagrams.
If the initial direction of movement leads away from the home switch, the drive will reverse on
encountering the relevant limit switch (negative limit switch for methods 7 to 10, or positive limit
switch for methods 11 to 14).

© Technosoft 2010 99 CANopen programming

 Figure 6.7 Homing on the Home Switch and Index Pulse – Positive Initial Move

Using method 7 the initial move will be positive if home input is low and reverse after home input
low-high transition, or move negative if home input is high. Reverse also if the positive limit switch
is reached. Stop at first index pulse after home switch active region ends (high-low transition). In
all cases after high-low home switch transition the motor speed will be slow.
Using method 8 the initial move will be positive if home input is low, or negative if home input is
high and reverse after home input high-low transition. Reverse also if the positive limit switch is
reached. Stop at first index pulse after home switch active region starts (low-high transition). In all
cases after low-high home switch transition the motor speed will be slow.
Using method 9 the initial move will be positive and reverse(slow speed) after home input high-
low transition. Reverse also if the positive limit switch is reached. Stop at first index pulse after
home switch active region starts (low-high transition).
Using method 10 the initial move will be positive. Reverse if the positive limit switch is reached,
then reverse once again after home input low-high transition. Stop at first index pulse after home
switch active region ends (high-low transition). In all cases after high-low home switch transition
the motor speed will be slow.

© Technosoft 2010 100 CANopen programming

 Figure 6.8 Homing on the Home Switch and Index Pulse – Positive Initial Move

Using method 11 the initial move will be negative if home input is low and reverse after home
input low-high transition. Reverse also if the negative limit switch is reached. If home input is high
move positive. Stop at first index pulse after home switch active region ends (high-low transition).
In all cases after high-low home switch transition the motor speed will be slow.
Using method 12 the initial move will be negative if home input is low. If home input is high move
positive and reverse after home input high-low transition. Reverse also if the negative limit switch
is reached. Stop at first index pulse after home switch active region starts (low-high transition). In
all cases after low-high home switch transition the motor speed will be slow.
Using method 13 the initial move will be negative and reverse after home input high-low
transition. Reverse also if the negative limit switch is reached. Stop at first index pulse after home
switch active region starts (low-high transition). In all cases after high-low home switch transition
the motor speed will be slow.
Using method 14 the initial move will be negative. Reverse if the negative limit switch is reached,
then reverse once again after home input low-high transition. Stop at first index pulse after home
switch active region ends (high-low transition). In all cases after high-low home switch transition
the motor speed will be slow.

Methods 15 and 16: Reserved

Methods 17 to 30: Homing without an Index Pulse

These methods are similar to methods 1 to 14 except that the home position is not dependent on
the index pulse but only on the relevant home or limit switch transitions.
Using method 17 if the negative limit switch is inactive (low) the initial direction of movement is
leftward (negative sense). After negative limit switch reached the motor will reverse the motion,

© Technosoft 2010 101 CANopen programming

moving in the positive sense with slow speed. The home position is at the right of the position
where the negative limit switch becomes inactive.
Using method 18 if the positive limit switch is inactive (low) the initial direction of movement is
rightward (negative sense). After positive limit switch reached the motor will reverse the motion,
moving in the negative sense with slow speed. The home position is at the left of the position
where the positive limit switch becomes inactive.
For example methods 19 and 20 are similar to methods 3 and 4 as shown in the following
diagram.

Figure 6.9 Homing on the Positive Home Switch

Using method 19, if home input is high, the initial direction of movement will be negative, or
positive if home input is low, and reverse (with slow speed) after home input low-high transition.
The motor will stop right after home switch high-low transition.
Using method 20, if home input is low, the initial direction of movement will be positive, or
negative if home input is high, and reverse (with slow speed) after home input high-low transition.
The motor will stop after right home switch low-high transition.
Using method 21, if home input is high, the initial direction of movement will be positive, or
negative if home input is low, and reverse (with slow speed) after home input low-high transition.
The motor will stop right after home switch high-low transition.
Using method 22, if home input is low, the initial direction of movement will be negative, or
positive if home input is high, and reverse (with slow speed) after home input high-low transition.
The motor will stop right after home switch low-high transition.
Using method 23 the initial move will be positive if home input is low and reverse after home
input low-high transition, or move negative if home input is high. Reverse also if the positive limit
switch is reached. Stop right after home switch active region ends (high-low transition).
Using method 24 the initial move will be positive if home input is low, or negative if home input is
high and reverse after home input high-low transition. Reverse also if the positive limit switch is
reached. Stop right after home switch active region starts (low-high transition).
Using method 25 the initial move will be positive and reverse after home input high-low transition.
Reverse also if the positive limit switch is reached. Stop right after home switch active region
starts (low-high transition).

© Technosoft 2010 102 CANopen programming

Using method 26 the initial move will be positive. Reverse if the positive limit switch is reached,
then reverse once again after home input low-high transition. Stop right after home switch active
region ends (high-low transition).
Using method 27 the initial move will be negative if home input is low and reverse after home
input low-high transition. Reverse also if the negative limit switch is reached. If home input is high
move positive. Stop right after home switch active region ends (high-low transition).
Using method 28 the initial move will be negative if home input is low. If home input is high move
positive and reverse after home input high-low transition. Reverse also if the negative limit switch
is reached. Stop right after home switch active region starts (low-high transition).
Using method 29 the initial move will be negative and reverse after home input high-low
transition. Reverse also if the negative limit switch is reached. Stop right after home switch active
region starts (low-high transition).
Using method 30 the initial move will be negative. Reverse if the negative limit switch is reached,
then reverse once again after home input low-high transition. Stop right after home switch active
region ends (high-low transition).

Methods 31 and 32: Reserved

Methods 33 and 34: Homing on the Index Pulse

Using methods 33 or 34 the direction of homing is negative or positive respectively. During those
procedure the motor will move only at slow speed. The home position is at the index pulse found
in the selected direction.

33

34

Figure 6.10 Homing on the Index Pulse

Method 35: Homing on the Current Position

In method 35 the current position is taken as the home position.

6.2. Homing Mode Objects

This chapter describes the method by which the drive seeks the home position. There are 35
built-in homing methods, as described in paragraph 6.1. Using the EasyMotion Studio software,
one can alter each of these homing methods to create a custom homing method.
You can select which homing method to be used by writing the appropriate number in the object
6098h homing method.

© Technosoft 2010 103 CANopen programming

 The user can specify the speeds and acceleration to be used during the homing. There is a
further object homing offset that allows the user to displace zero in the user’s coordinate system
from the home position.
In the homing mode, the bits in control word and status word have the following meaning:
Control word in homing mode
MSB LSB
See 6040h Halt See 6040h Reserved Homing operation start See 6040h
15 9 8 7 6 5 4 3 0

Table 6.1 Control Word bits description for Homing Mode

Name Value Description

0 Homing mode inactive
Homing 0 -> 1 Start homing mode
operation
start 1 Homing mode active
1 -> 0 Interrupt homing mode
Halt 0 Execute the instruction of bit 4
1 Stop drive with homing acceleration
Status word in homing mode
MSB LSB
See 6041h Homing Homing See Target See 6041h
error attained 6041h reached
15 14 13 12 11 10 9 0

Table 6.2 Status Word bits description for Homing Mode

Name Value Description

0 Halt = 0: Home position not reached
Target Halt = 1: Drive decelerates
reached 1 Halt = 0: Home position reached
Halt = 1: Velocity of drive is 0
Homing 0 Homing mode not yet completed
attained 1 Homing mode carried out successfully
Homing error 0 No homing error
1 Homing error occurred; homing mode not carried out successfully.

© Technosoft 2010 104 CANopen programming

6.2.1. Object 607Ch: Home offset
The home offset is the difference between the zero position for the application and the machine
home position (found during homing), and it is given in position units. All subsequent absolute
moves after the homing is finished will be taken relative to this zero position.
Object description:
Index 607Ch
Name Home offset
Object code VAR
Data type INTEGER32
Entry description:
Access RW
PDO mapping Possible
Units PU
Value range INTEGER32
Default value 0

6.2.2. Object 6098h: Homing method

The homing method determines the method that will be used during homing.
Object description:
Index 6098h
Name Homing method
Object code VAR
Data type INTEGER8
Entry description:
Access RW
PDO mapping Possible
Value range INTEGER8
Default value 0
Data description:
Value Description
-128 … -1 Reserved
0 No homing operation required
1 … 35 Methods 1 to 35
36 … 127 reserved
There are 35 built-in homing methods, conforming to DSP402 device profile. Using the
EasyMotion Studio software, one can alter each of these homing methods to create a custom
one.

© Technosoft 2010 105 CANopen programming

6.2.3. Object 6099h: Homing speeds
This object defines the speeds used during homing. It is given in velocity units. There are 2
homing speeds; in a typical cycle the faster speed is used to find the home switch and the slower
speed is used to find the index pulse.
Object description:
Index 6099h
Name Homing speeds
Object code ARRAY
Data type UNSIGNED32
Entry description:
Sub-index 0
Description Number of entries
Access RO
PDO mapping No
Value range 2
Default value 2

Sub-index 1
Description Speed during search for switch
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value 0

Sub-index 2
Description Speed during search for zero
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value 0

6.2.4. Object 609Ah: Homing acceleration

The homing acceleration establishes the acceleration to be used for all the accelerations and
decelerations with the standard homing modes and is given in acceleration units.
Object description:
Index 609Ah

© Technosoft 2010 106 CANopen programming

 Name Homing acceleration
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping Possible
Units AU
Value range UNSIGNED32
Default value -

Example: Execute homing method number 18.

1. Start remote node. Send a NMT message to start the node id 6.
Send the following message:
COB-ID 0
Data 01 06
2. Ready to switch on. Change the node state from Switch on disabled to Ready to switch
on by sending the shutdown command via control word associated PDO.
Send the following message:
COB-ID 206
Data 06 00
3. Switch on. Change the node state from Ready to switch on to Switch on by sending the
switch on command via control word associated PDO.
Send the following message:
COB-ID 206
Data 07 00
4. Enable operation. Change the node state from Switch on to Operation enable by
sending the enable operation command via control word associated PDO.
Send the following message:
COB-ID 206
Data 0F 00
5. Homing speed during search for zero. Set the speed during search for zero to 150
rpm. By using and 500 lines incremental encoder and 1ms sample rate for position/speed
control the corresponding value of object 6099h sub-index 2 expressed in encoder counts
per sample is 50000h.

© Technosoft 2010 107 CANopen programming

Send the following message (SDO access to object 6099h sub-index 2, 32-bit value 00050000h):
COB-ID 606
Data 23 99 60 02 00 00 05 00
6. Homing speed during search for switch. Set the speed during search for switch to 600
rpm. By using and 500 lines incremental encoder and 1ms sample rate for position/speed
control the corresponding value of object 6099h sub-index 1 expressed in encoder counts
per sample is 140000h.
Send the following message (SDO access to object 6099h sub-index 1, 32-bit value 00140000h):
COB-ID 606
Data 23 99 60 01 00 00 14 00
7. Homing acceleration. The homing acceleration establishes the acceleration to be used
with the standard homing moves. Set this value at 5 rot/s2. By using and 500 lines
incremental encoder and 1ms sample rate for position/speed control the corresponding
value of object 609Ah expressed in encoder counts per square sample is 28Fh.
Send the following message (SDO access to object 609Ah, 32-bit value 0000028Fh):
COB-ID 606
Data 23 9A 60 00 8F 02 00 00
8. Home offset. Set the home offset to 1 rotation. By using and 500 lines incremental
encoder the corresponding value of object 607Ch expressed in encoder counts is 7D0h.
Send the following message (SDO access to object 607Ch, 32-bit value 000007D0h):
COB-ID 606
Data 23 7C 60 00 D0 07 00 00
9. Homing method. Select homing method number 18.
Send the following message (SDO access to object 6098h, 8-bit value 12h):
COB-ID 606
Data 2F 98 60 00 12 00 00 00
10. Mode of operation. Select homing mode.
Send the following message (SDO access to object 6060h, 8-bit value 6h):
COB-ID 606
Data 2F 60 60 00 06 00 00 00
11. Start the homing.

© Technosoft 2010 108 CANopen programming

Send the following message
COB-ID 206
Data 1F 00
12. Press for 5s the LSP button.
13. Wait for homing to end.
14. Check the value of motor actual position.
Send the following message (SDO access to object 6064h):
COB-ID 606
Data 40 64 60 00 00 00 00 00
The node will return the value of motor actual position that should be the same with the value of
home offset (plus or minus few encoder counts depending on your position tuning).

© Technosoft 2010 109 CANopen programming

7. Position Profile Mode
7.1. Overview
In Position Profile Mode the drive controls the position.
The Position Profile Mode supports 2 motion modes:
• Trapezoidal profile. The built-in reference generator computes the position profile with a
trapezoidal shape of the speed, due to a limited acceleration. The CANopen master
specifies the absolute or relative Target Position (index 607Ah), the Profile Velocity
(index 6081h) and the Profile Acceleration (6083h)
In relative mode, the position to reach can be computed in 2 ways: standard (default) or
additive. In standard relative mode, the position to reach is computed by adding the
position increment to the instantaneous position in the moment when the command is
executed. In the additive relative mode, the position to reach is computed by adding the
position increment to the previous position to reach, independently of the moment when
the command was issued. Bit 11 of Control Word activates the additive relative mode.
• S-curve profile The built-in reference generator computes a position profile with an S-
curve shape of the speed. This shape is due to the jerk limitation, leading to a trapezoidal
or triangular profile for the acceleration and an S-curve profile for the speed. The
CANopen master specifies the absolute or relative Target Position (index 607Ah), the
Profile Velocity (index 6081h), the Profile Acceleration (6083h) and the jerk rate. The
jerk rate is set indirectly via the Jerk time (index 2023h), which represents the time
needed to reach the maximum acceleration starting from zero.
There are two different ways to apply target positions to a drive, controlled by the change set
immediately bit in Control Word:

7.1.1. Discrete motion profile (change set immediately = 0)

After reaching the target position the drive unit signals this status to a CANopen master and then
receives a new set-point. After reaching a target position the velocity normally is reduced to zero
before starting a move to the next set-point.
After the target position is sent to the drive, the CANopen master has to set the new set-point bit
in control word. The drive responds with bit set-point acknowledge set in status word. After that,
the master has to reset bit new set-point to 0. Following this action, the drive will signalize that it
can accept a new set-point by resetting set-point acknowledge bit in status word after the
reference generator has reached the designated demand position.

© Technosoft 2010 110 CANopen programming

 7.1.2. Continuous motion profile (change set immediately = 1)
The drive unit immediately processes the next target position, even if the actual movement is not
completed. The drive readapts the actual move to the new target position.
In this case, the handshake presented for change set immediately = 0 is not necessary. By setting
the new set-point bit, the master will trigger the immediate update of the target position. In this
case, if the target position is set as relative, also bit 11 is taken into consideration (with or without
additive movement).
Remark:
In case object 6086h (Motion Profile Type) is set to 3 (jerk-limited ramp = S-curve profile), then
change set immediately bit must be 0, else a command error is issued.

7.1.3. Control word and status word in Position Profile Mode

In the profile position mode, the bits in control word and status word will have the following
meaning:

Control word in profile position mode

MSB LSB
See Operation See Halt See Abs/rel Change set New set- See
6040h Mode 6040h 6040h immediately point 6040h
15 12 11 10 9 8 7 6 5 4 3 0

© Technosoft 2010 111 CANopen programming

Table 7.1 Control Word bits description for Position Profile Mode

Name Value Description

0 Trapezoidal profile - In case the movement is relative, do not add the
new target position to the old demand position
S-curve profile – Stop the motion with S-curve profile (jerk limited ramp)
Operation
Mode 1 Trapezoidal profile - In case the movement is relative, add the new
target position to the old demand position to obtain the new target
position
S-curve profile – Stop the motion with trapezoidal profile (linear ramp)
New set- 0 Do not assume target position
point 1 Assume target position (update the new motion parameters)
Change set 0 Finish the actual positioning and then start the next positioning
immediately 1 Interrupt the actual positioning and start the next positioning. Valid only
for linear ramp profile.
Abs / rel 0 Target position is an absolute value
1 Target position is a relative value
Halt 0 Execute positioning
1 Stop drive with profile acceleration

Status word in profile position mode

MSB LSB
See 6041h Following Set-point See Target See 6041h
error acknowledge 6041h reached
15 14 13 12 11 10 9 0

Table 7.2 Status Word bits description for Position Profile Mode

Name Value Description

0 Halt = 0: Target position not reached
Target Halt = 1: Drive decelerates
reached 1 Halt = 0: Target position reached
Halt = 1: Velocity of drive is 0
Set-point 0 Trajectory generator will accept a new set-point
acknowledge 1 Trajectory generator will not accept a new set-point.
Following 0 No following error
error 1 Following error

© Technosoft 2010 112 CANopen programming

7.2. Position Profile Mode Objects
7.2.1. Object 607Ah: Target position
The target position is the position that the drive should move to in position profile mode using the
current settings of motion control parameters such as velocity, acceleration, and motion profile
type etc. It is given in position units.
Depending on the drive family, the position units can be:
- User defined position units for the MotionChip III family. The value is converted to
position increments using the position factor (see Chapter 5 Factor group).
- Internal units (increments) for the MotionChip II family. No factor is applied.
If Control Word bit 6 = 0 (e.g. absolute positioning), represents the position to reach.
If Control Word bit 6 = 1 (e.g. relative positioning), represents the position displacement to do.
When Control Word bit 14 = 0, the new position to reach is computed as: motor actual position
(6064h) + displacement. When Control Word bit 14 = 1, the new position to reach is computed as:
actual demand position (6062h) + displacement.
Object description:
Index 607Ah
Name Target position
Object code VAR
Data type INTEGER32
Entry description:
Access RW
PDO mapping Yes
Value range -231 … 231-1
Default value No

7.2.2. Object 6081h: Profile velocity

In a position profile, it represents the maximum speed to reach at the end of the acceleration
ramp. The profile velocity is given in speed units.
Depending on the drive family, the speed units can be:
- User defined speed units for the MotionChip III family. The value is converted to
internal units using the velocity encoder factor (see Chapter 5 Factor group).
- Internal units for the MotionChip II family. No factor is applied.
65536 IU = 1 encoder increment / sample.
Object description:
Index 6081h
Name Profile velocity
Object code VAR
Data type UNSIGNED32

© Technosoft 2010 113 CANopen programming

Entry description:
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value -

7.2.3. Object 6083h: Profile acceleration

In position or speed profiles, represents the acceleration and deceleration rates used to change
the speed between 2 levels. The same rate is used when Quick Stop or Disable Operation
commands are received. The profile acceleration is given in acceleration units.
Depending on the drive family, the acceleration units can be:
- User defined acceleration units for the MotionChip III family. The value is
converted to internal units using the acceleration factor (see Chapter 5 Factor
group).
- Internal units for the MotionChip II family. No factor is applied.
65536 IU = 1 encoder increment / sample2.

Object description:
Index 6083h
Name Profile acceleration
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping Possible
Value range 0..(232-1)
Default value -

7.2.4. Object 6085h: Quick stop deceleration

The quick stop deceleration is the deceleration used to stop the motor if the Quick Stop command
is received. The quick stop deceleration is given in acceleration units.
Object description:
Index 6085h
Name Quick stop deceleration
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW

© Technosoft 2010 114 CANopen programming

 PDO mapping Possible
Value range 0..(232-1)
Default value -

7.2.5. Object 2023h: Jerk time

In this object you can set the time to use for S-curve profile (jerk-limited ramp set in Object 6086h
– Motion Profile Type)
Object description:
Index 2023h
Name Jerk time
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW
PDO mapping Possible
Value range 0 … 65535
Default value -

7.2.6. Object 6086h: Motion profile type

Object description:
Index 6086h
Name Motion profile type
Object code VAR
Data type INTEGER16
Entry description:
Access RW
PDO mapping Possible
Value range INTEGER16
Default value 0
Data description:
Profile code Profile type
-32768 … -1 Manufacturer specific (reserved)
0 Linear ramp (trapezoidal profile)
1,2 Reserved
3 Jerk-limited ramp (S-curve)
4 … 32767 Reserved

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7.2.7. Object 6062h: Position demand value
This object represents the output of the trajectory generation. The position demand values is
given in position units.
Object description:
Index 6062h
Name Position demand value
Object code VAR
Data type INTEGER32
Entry description:
Access RO
PDO mapping Possible
Value range -231 … 231-1
Default value -

32
7.2.8. Object 6063h: Position actual value*
This object represents the actual value of the position measurement device in increments. It can
be used as an alternative to position actual value (6064h) in order to save computation time.
Object description:
Index 6063h
Name Position actual value*
Object code VAR
Data type INTEGER32
Entry description:
Access RO
PDO mapping Possible
Units increments
Value range -231 … 231-1
Default value -

7.2.9. Object 6064h: Position actual value

This object represents the actual value of the position measurement device. The position actual
value is given in position units.
Object description:
Index 6064h

32
Only available for MotionChip III family

© Technosoft 2010 116 CANopen programming

 Name Position actual value
Object code VAR
Data type INTEGER32
Entry description:
Access RO
PDO mapping Yes
Value range -231 … 231-1
Default value -

7.2.10. Object 6065h: Following error window

This object defines a range of tolerated position values symmetrically to the position demand
value, expressed in position units. If the position actual value is above the following error window
for a period larger than the one defined in following error time out, a following error occurs. If the
value of the following error window is 232-1, the following control is switched off.
The maximum value allowed for the following error window parameter, expressed in increments,
is 32767. When this object is written with a higher corresponding value, the following error
window parameter will be set to its maximum value (32767)

Object description:
Index 6065h
Name Following error window
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value -

7.2.11. Object 6066h: Following error time out

See 6065h, following error window.
Object description:
Index 6066h
Name Following error time out
Object code VAR
Data type UNSIGNED16
Entry description:

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 Access RW
PDO mapping Possible
Units TU
Value range 0 … 65535
Default value -

7.2.12. Object 6067h: Position window

The position window defines a symmetrical range of accepted positions relative to the target
position. If the position actual value is within the position window for a time period defined inside
the position window time object, this target position is regarded as reached. The position window
is given in position units. If the value of the position window is 232-1, the position window control is
switched off.
The maximum value allowed for the position window parameter, expressed in increments, is
32767.

Object description:
Index 6067h
Name Position window
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping Possible
Value range UNSIGNED32
Default value -

7.2.13. Object 6068h: Position window time

See description of object 6067h, position window.
Object description:
Index 6068h
Name Position window time
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW
PDO mapping Possible
Units TU

© Technosoft 2010 118 CANopen programming

 Value range 0 … 65535
Default value -

7.2.14. Object 60F4h: Following error actual value 33

This object represents the actual value of the following error, given in position units.
Object description:
Index 60F4h
Name Following error actual value
Object code VAR
Data type INTEGER32
Entry description:
Access RO
PDO mapping Possible
Value range INTEGER32
Default value -

34
7.2.15. Object 60FCh: Position demand value*
This output of the trajectory generator in profile position mode is an internal value using
increments as unit. It can be used as an alternative to position demand value (6062h) in order to
save computation time.
Object description:
Index 60FCh
Name Position actual value
Object code VAR
Data type INTEGER32
Entry description:
Access RO
PDO mapping Possible
Units Increments
Value range -231 … 231-1
Default value -

33
Only available for the MotionChip III family
34
Only available for the MotionChip III family

© Technosoft 2010 119 CANopen programming

7.2.16. Object 2022h: Control effort
This object can be used to visualize the control effort of the drive (the reference for the current
controller). It is available in internal units.
Object description:
Index 2022h
Name Control effort
Object code VAR
Data type INTEGER16
Entry description:
Access RO
PDO mapping Possible
Value range INTEGER16
Default value -

Example: Execute an absolute trapezoidal profile with limited speed. First perform 4 rotations,
wait motion complete and then set the target position of 16 rotations.
1. Start remote node. Send a NMT message to start the node id 6.
Send the following message:
COB-ID 0
Data 01 06
2. Ready to switch on. Change the node state from Switch on disabled to Ready to switch
on by sending the shutdown command via control word associated PDO.
Send the following message:
COB-ID 206
Data 06 00
3. Switch on. Change the node state from Ready to switch on to Switch on by sending the
switch on command via control word associated PDO.
Send the following message:
COB-ID 206
Data 07 00
4. Enable operation. Change the node state from Switch on to Operation enable by
sending the enable operation command via control word associated PDO.
Send the following message:
COB-ID 206
Data 0F 00

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 5. Mode of operation. Select position mode.
Send the following message (SDO access to object 6060h, 8-bit value 1h):
COB-ID 606
Data 2F 60 60 00 01 00 00 00
6. Target position. Set the target position to 4 rotations. By using and 500 lines incremental
encoder the corresponding value of object 607Ah expressed in encoder counts is 1F40h.
Send the following message (SDO access to object 607Ah 32-bit value 00001F40h):
COB-ID 606
Data 23 7A 60 00 40 1F 00 00
7. Target speed. Set the target speed normally attained at the end of acceleration ramp to
500 rpm. By using and 500 lines incremental encoder and 1ms sample rate for
position/speed control the corresponding value of object 6081h expressed in encoder
counts per sample is 10AAACh.
Send the following message (SDO access to object 6081h, 32-bit value 0010AAACh):
COB-ID 606
Data 23 81 60 00 AC AA 10 00
8. Start the profile.
Send the following message
COB-ID 206
Data 1F 00
9. Wait movement to finish.
10. Reset the set point.
Send the following message
COB-ID 206
Data 0F 00
11. Target position. Set the target position to 16 rotations. By using and 500 lines
incremental encoder the corresponding value of object 607Ah expressed in encoder
counts is 7D00h.
Send the following message (SDO access to object 607Ah 32-bit value 00007D00h):
COB-ID 606
Data 23 7A 60 00 00 7D 00 00

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 12. Start the profile.
Send the following message
COB-ID 206
Data 1F 00
13. Wait movement to finish.
14. Check the value of motor actual position.
Send the following message (SDO access to object 6064h):
COB-ID 606
Data 40 64 60 00 00 00 00 00
15. Check the value of position demand value.
Send the following message (SDO access to object 6062h):
COB-ID 606
Data 40 62 60 00 00 00 00 00
At the end of movement the motor position actual value should be equal with position demand
value (plus or minus few encoder counts depending on your position tuning) and the motor should
rotate 16 times.

Example: Execute an absolute Jerk-limited ramp profile.

1. Start remote node. Send a NMT message to start the node id 6.
Send the following message:
COB-ID 0
Data 01 06
2. Ready to switch on. Change the node state from Switch on disabled to Ready to switch
on by sending the shutdown command via control word associated PDO.
Send the following message:
COB-ID 206
Data 06 00
3. Switch on. Change the node state from Ready to switch on to Switch on by sending the
switch on command via control word associated PDO.
Send the following message:
COB-ID 206
Data 07 00

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 4. Enable operation. Change the node state from Switch on to Operation enable by
sending the enable operation command via control word associated PDO.
Send the following message:
COB-ID 206
Data 0F 00
5. Mode of operation. Select position mode.
Send the following message (SDO access to object 6060h, 8-bit value 1h):
COB-ID 606
Data 2F 60 60 00 01 00 00 00
6. Motion profile type. Select Jerk-limited ramp.
Send the following message (SDO access to object 6086h, 16-bit value 3h):
COB-ID 606
Data 2B 86 60 00 03 00 00 00
7. Target position. Set the target position to 5 rotations. By using and 500 lines incremental
encoder the corresponding value of object 607Ah expressed in encoder counts is 2710h.
Send the following message (SDO access to object 607Ah 32-bit value 00002710h):
COB-ID 606
Data 23 7A 60 00 10 27 00 00
8. Target speed. Set the target speed to 150 rpm. By using and 500 lines incremental
encoder and 1ms sample rate for position/speed control the corresponding value of
object 6081h expressed in encoder counts per sample is 00050000h.
Send the following message (SDO access to object 6081h, 32-bit value 00050000h):
COB-ID 606
Data 23 81 60 00 00 00 05 00
9. Jerk time. Set the time to use for Jerk-limited ramp. For more information related to this
parameter, see the ESM help
Send the following message (SDO access to object 2023h, 16-bit value 13Bh):
COB-ID 606
Data 2B 23 20 00 3B 01 00 00
10. Start the profile.
Send the following message
COB-ID 206
Data 1F 00

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 11. Wait movement to finish.
12. Check the value of motor actual position.
Send the following message (SDO access to object 6064h):
COB-ID 606
Data 40 64 60 00 00 00 00 00
13. Check the value of position demand value.
Send the following message (SDO access to object 6062h):
COB-ID 606
Data 40 62 60 00 00 00 00 00
At the end of movement the motor position actual value should be equal with position demand
value (plus or minus few encoder counts depending on your position tuning).

© Technosoft 2010 124 CANopen programming

8. Interpolated Position Mode
8.1. Overview
The interpolated Position Mode is used to control multiple coordinated axles or a single axle with
the need for time-interpolation of set-point data. The Interpolated Position Mode can use the time
synchronization mechanism for a time coordination of the related drive units, based on the SYNC
and the High Resolution Time Stamp messages (see object 1013 for details).
The Interpolated Position Mode allows a host controller to transmit a stream of interpolation data
to a drive unit. The interpolation data is better sent in bursts because the drive supports an input
buffer. The buffer size is the number of interpolation data records that may be sent to the drive to
fill the input buffer.
The interpolation algorithm can be defined in the interpolation sub mode select. Linear (PT –
Position Time) interpolation is the default interpolation method.

8.1.1. Internal States

Figure 8.1 Internal States for the Interpolated Position Mode

1)
See state machine

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 Interpolation inactive: This state is entered when the device is in state Operation enabled and
the Interpolated Position Mode is selected. The drive will accept input data and will buffer it for
interpolation calculations, but it does not move the motor.
Interpolation active: This state is entered when a device is in state Operation enabled and the
Interpolation Position Mode is selected and enabled. The drive will accept input data and will
move the motor.

State Transitions of the Internal States

State Transition 1: NO IP-MODE SELECTED => IP-MODE INACTIVE
Event: Select ip-mode with modes of operations while inside Operation enable
State Transition 2: IP-MODE INACTIVE => NO IP-MODE SELECTED
Event: Select any other mode while inside Operation enable
State Transition 3: IP-MODE INACTIVE => IP-MODE ACTIVE
Event: Set bit enable ip mode (bit4) of the control word while in ip-mode and Operation
enable
State Transition 4: IP-MODE ACTIVE => IP-MODE INACTIVE
Event: Reset bit enable ip mode (bit4) of the control word while in ip-mode and Operation
enable

Control word in interpolated position mode

MSB LSB
See Stop option See Halt See Abs / rel Reserved Enable ip See
6040h 6040h 6040h mode 6040h
15 12 11 10 9 8 7 6 5 4 3 0

Table 8.1 Control Word bits description for Interpolated Position Mode

Name Value Description

Enable ip 0 Interpolated position mode inactive
mode 1 Interpolated position mode active
0 Set position is an absolute value
Abs / rel
1 Set position is a relative value
0 Execute the instruction of bit 4
Halt
1 Stop drive with (profile acceleration)
On transition to inactive mode, stop drive immediately using profile
0
acceleration
Stop option
On transition to inactive mode, stop drive after finishing the current
1
segment.

Status word in interpolated position mode

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MSB LSB
See 6041h Reserved ip mode See Target See 6041h
active 6041h reached
15 14 13 12 11 10 9 0

Table 8.2 Status Word bits description for Interpolated Position Mode

Name Value Description

Halt = 0: Final position not reached
0
Target Halt = 1: Drive decelerates
reached Halt = 0: Final position reached
1
Halt = 1: Velocity of drive is 0
ip mode 0 Interpolated position mode inactive
active 1 Interpolated position mode active

8.2. Interpolated Position Objects

8.2.1. Object 60C0h: Interpolation sub mode select
In the Interpolated Position Mode the drive supports two interpolation modes: PT (Position –
Time) linear interpolation and PVT (Position – Velocity – Time) cubic interpolation. The
interpolation mode is selected with Interpolation sub-mode select object. The sub-mode can be
changed only when the drive is in Interpolation inactive state.
Each change of the interpolation mode will trigger the reset of the buffer associated with the
interpolated position mode (because the physical memory available is the same for both the sub-
modes, size of each data record is different).
Object description:
Index 60C0h
Name Interpolation sub mode select
Object code VAR
Data type INTEGER16
Entry description:
Access RW
PDO mapping Possible
Value range -215 … 215-1
Default value 0
Data description:
Profile code Profile type
-32768 … -2 Manufacturer specific (reserved)
-1 PVT (Position – Velocity – Time)

© Technosoft 2010 127 CANopen programming

 cubic interpolation
0 PT (Position – Time) Linear
Interpolation
+1…+32767 Reserved

8.2.2. Object 60C1h: Interpolation data record

The Interpolation Data Record contains the data words that are necessary to perform the
interpolation algorithm. The number of data words in the record is defined by the interpolation
data configuration.
Object description:
Index 60C1h
Name Interpolation data record
Object code ARRAY
Number of elements 2
Data Type Interpolated Mode dependent
Entry description
Sub-index 01h
Description X1: the first parameter of ip
function
Access RW
PDO mapping Possible
Value range Interpolated Mode dependent
Default value -

Sub-index 02h
Description X2: the second parameter of ip
function
Access RW
PDO mapping Possible
Value range Interpolated Mode dependent
Default value -

Description of the sub-indexes:

X1 and X2 form a 64-bit data structure as defined below:
a) For PVT (Position – Velocity – Time) cubic interpolation:
There are 4 parameters in this mode:
Position – a 24-bit long integer value representing the target position (relative or absolute). Unit -
position increments.

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Velocity – a 24-bit fixed value representing the end point velocity (16 MSB integer part and 8 LSB
fractional part). Unit - increments / sampling
Time – a 9-bit unsigned integer value representing the time of a PVT segment. Unit - position /
speed loop samplings.
Counter – a 7-bit unsigned integer value representing an integrity counter. It can be used in order
to have a feedback of the last point sent to the drive and detect errors in transmission.
In the example below Position[7…0] represents bits 0..7 of the position value.

Byte 0 Position [7...0]

Byte 1 Position [15...8]
Byte 2 Velocity [15...8]
Byte 3 Position [23...16]
Byte 4 Velocity [23...16]
Byte 5 Velocity [31...24]
Byte 6 Time [7...0]
Byte 7 Counter[6…0] Time[8]

b) For PT (Position –Time) linear interpolation:

There are 3 parameters in this mode:
Position – a 32-bit long integer value representing the target position (relative or absolute). Unit -
position increments.
Time – a 16-bit unsigned integer value representing the time of a PT segment. Unit - position /
speed loop samplings.
Counter – a 7-bit unsigned integer value representing an integrity counter. It can be used in order
to have a feedback of the last point sent to the drive and detect errors in transmission.
In the example below Position[7…0] represents bits 0..7 of the position value.

Byte 0 Position [7...0]

Byte 1 Position [15...8]
Byte 2 Position [23...16]
Byte 3 Position [31...24]
Byte 4 Time [7...0]
Byte 5 Time [15...8]
Byte 6 Reserved
Byte 7 Counter[6…0] Reserved

© Technosoft 2010 129 CANopen programming

8.2.3. Object 2072h: Interpolated position mode status
The object provides additional status information for the interpolated position mode.
Object description:
Index 2072h
Name Interpolated position mode status
Object code VAR
Data type UNSIGNED16
Entry description:
Access RO
PDO mapping Possible
Value range UNSIGNED16
Default value -

Table 8.3 Interpolated position mode status bit description

Bit Value Description

0 Buffer is not empty
15
1 Buffer is empty – there is no point in the buffer.
0 Buffer is not low
14 Buffer is low – the number of points from the buffer is equal or less than the
1
low limit set using object 2074h.
0 Buffer is not full
13 Buffer is full – the number of points in the buffer is equal with the buffer
1
dimension.
0 No integrity counter error
12 Integrity counter error. If integrity counter error checking is enabled and the
1 integrity counter sent by the master does not match the integrity counter of
the drive.
Valid only for PVT (cubic interpolation): Drive has maintained interpolated
0 position mode after a buffer empty condition (the velocity of the last point was
0).
11
Valid only for PVT (cubic interpolation): Drive has performed a quick stop after
1 a buffer empty condition because the velocity of the last point was different
from 0
10 … 7 Reserved
6…0 Current integrity counter value

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8.2.4. Object 2073h: Interpolated position buffer length
Through Interpolated position buffer length object you can change the default buffer length.
When writing in this object, the buffer will automatically reset its contents and then re-initialize with
the new length. The length of the buffer is the maximum number of interpolation data that can be
queued, and does not mean the number of data locations physically available.
Remark: It is NOT allowed to write a “0” into this object.
Object description:
Index 2073h
Name Interpolated position buffer length
Object code VAR
Data type UNSIGNED16
Entry description:
Access WO
PDO mapping No
Value range UNSIGNED16
Default value 7

8.2.5. Object 2074h: Interpolated position buffer configuration

Through this object you can control more in detail the behavior of the buffer.
Object description:
Index 2074h
Name Interpolated position buffer
configuration
Object code VAR
Data type UNSIGNED16
Entry description:
Access WO
PDO mapping No
Value range UNSIGNED16
Default value -

Table 8.4 Interpolated position buffer configuration

Bit Value Description

0 Nothing
15
1 Clear buffer and reinitialize buffer internal variables
14 0 Enable the integrity counter error checking
1 Disable the integrity counter error checking

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13 0 No change in the integral integrity counter
1 Change internal integrity counter with the value specified in bits 0 to 6
12 0 If absolute positioning is set (bit 6 of control word is 0), the initial position is
read from object 2079h. It is used to compute the distance to move up to the
first PVT point.
1 If absolute positioning is set (bit 6 of control word is 0), the initial position is
the current position demand value. It is used to compute the distance to move
up to the first PVT point.
11 ... 8 New parameter for buffer low signaling. When the number of entries in the
buffer is equal or less than buffer low value, bit 14 of object 2072h will set.
7 0 No change in the buffer low parameter
1 Change the buffer low parameter with the value specified in bits 8 to 11
6…0 New integrity counter value

8.2.6. Object 2079h: Interpolated position initial position

Through this object you can set an initial position for absolute positioning in order to be used to
compute the distance to move up to the first point. It is given in position units.
Object description:
Index 2079h
Name Interpolated position initial
position
Object code VAR
Data type INTEGER32
Entry description:
Access RW
PDO mapping No
Value range INTEGER32
Default value 0

Example: Execute a PVT movement. Because this is a demo for a single axis the
synchronization mechanism is not used here.
1. Start remote node. Send a NMT message to start the node id 6.
Send the following message:
COB-ID 0
Data 01 06

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 2. Ready to switch on. Change the node state from Switch on disabled to Ready to switch
on by sending the shutdown command via control word associated PDO.
Send the following message:
COB-ID 206
Data 06 00
3. Switch on. Change the node state from Ready to switch on to Switch on by sending the
switch on command via control word associated PDO.
Send the following message:
COB-ID 206
Data 07 00
4. Enable operation. Change the node state from Switch on to Operation enable by
sending the enable operation command via control word associated PDO.
Send the following message:
COB-ID 206
Data 0F 00
5. Disable the RPDO2. Write zero in object 1601h sub-index 0, this will disable the PDO.
Send the following message (SDO access to object 1601h sub-index 0, 8-bit value 0):
COB-ID 606
Data 2F 01 16 00 00 00 00 00
6. Map the new objects.
a. Write in object 1601h sub-index 1 the description of the interpolated data record
sub-index 1:
Send the following message (SDO access to object 1601h sub-index 1, 32-bit value 60C10120h):

COB-ID 606
Data 23 01 16 01 20 01 C1 60
b. Write in object 1601h sub-index 2 the description of the interpolated data record
sub-index 2:

Send the following message (SDO access to object 1601h sub-index 2, 32-bit value 60C10220h):
COB-ID 606
Data 23 01 16 02 20 02 C1 60

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 7. Enable the RPDO2. Set the object 1601h sub-index 0 with the value 2.
Send the following message (SDO access to object 1601h sub-index 0, 8-bit value 2):
COB-ID 606
Data 2F 01 16 00 02 00 00 00
8. Mode of operation. Select interpolation position mode.
Send the following message (SDO access to object 6060h, 8-bit value 7h):
COB-ID 606
Data 2F 60 60 00 07 00 00 00
9. Interpolation sub mode select. Select interpolation position mode.
Send the following message (SDO access to object 60C0h, 16-bit value FFFFh):
COB-ID 606
Data 2E C0 60 00 FF FF 00 00
10. Interpolated position buffer length.
Send the following message (SDO access to object 2074h, 16-bit value Ch):
COB-ID 606
Data 2B 74 20 00 00 0C 00 00
11. Interpolated position initial position. Set the initial position to 0.5 rotations. By using
and 500 lines incremental encoder the corresponding value of object 2079h expressed in
encoder counts is 3E8h
Send the following message (SDO access to object 2079h, 32-bit value 3E8h):
COB-ID 606
Data 23 79 20 00 E8 03 00 00
12. Send the 1st PVT point.
Send the following message:
COB-ID 306
Data 10 27 55 00 03 00 F4 01
13. Send the 2nt PVT point.
Send the following message:
COB-ID 306
Data 10 27 55 00 03 00 F4 01

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 14. Send the 3nt PVT point.
Send the following message:
COB-ID 306
Data 10 27 55 00 03 00 F4 01
15. Send the last PVT point.
Send the following message:
COB-ID 306
Data E0 B1 00 FF 00 00 F4 01
16. Start a relative motion.
Send the following message:
COB-ID 206
Data 5F 00

After the sequences before are executed the motor should execute a movement as the one
shown below.

© Technosoft 2010 135 CANopen programming

9. Velocity Profile Mode
9.1. Overview
In the Velocity Profile Mode the drive performs speed control. The built-in reference generator
computes a speed profile with a trapezoidal shape, due to a limited acceleration. The Target
Velocity object (index 60FFh) specifies the jog speed (speed sign specifies the direction) and the
Profile Acceleration object (index 6083h) the acceleration/deceleration rate. While the mode is
active, any change of the Target Velocity object by the CANopen master will update the drive’s
demand velocity enabling you to change on the fly the slew speed and/or the
acceleration/deceleration rate. The motion will continue until the Halt bit from the Control Word is
set. An alternate way to stop the motion is to set the jog speed to zero.
While the mode is active (profile velocity mode is selected in modes of operation), every time a
write access is performed inside the object target velocity, the demand velocity of the drive is
updated.

Control word in profile velocity mode

MSB LSB
See 6040h Halt See 6040h reserved See 6040h
15 9 8 7 6 4 3 0

Table 9.1 Control Word bits for Velocity Profile Mode

Name Value Description

0 Execute the motion
Halt
1 Stop drive with profile acceleration

Status word in profile velocity mode

MSB LSB
See 6041h Max slippage Speed See Target See 6041h
error 6041h reached
15 14 13 12 11 10 9 0

Table 9.2 Status word bits for Velocity Profile

Name Value Description

0 Halt = 0: Target velocity not (yet) reached
Target Halt = 1: Drive decelerates
reached 1 Halt = 0: Target velocity reached
Halt = 1: Velocity of drive is 0
Speed 0 Speed is not equal to 0

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 1 Speed is equal to 0
Max slippage 0 Maximum slippage not reached
error 1 Maximum slippage reached

Remark: In case of the MotionChip III family, in order to set / reset bit 12 (speed), the object
606Fh, velocity threshold is used. If the actual velocity of the drive / motor is below the velocity
threshold, then bit 12 will be set, else it will be reset.

9.2. Velocity Mode Objects

9.2.1. Object 6069h: Velocity sensor actual value
This object describes the value read from the velocity encoder in increments.
Depending on the drive family, the velocity units can be:
- User defined speed units for the MotionChip III family. The value is converted to
internal units using the velocity factor
- Internal units for the MotionChip II family. No factor is applied.
65536 IU = 1 encoder increment / sample.

Object description:
Index 6069h
Name Velocity sensor actual value
Object code VAR
Data type INTEGER32
Entry description:
Access RO
PDO mapping Possible
Value range INTEGER32
Default value -

9.2.2. Object 606Bh: Velocity demand value

This object provides the output of the trajectory generator and is provided as an input for the
velocity controller. It is given in velocity units.
Object description:
Index 606Bh
Name Velocity demand value
Object code VAR
Data type INTEGER32
Entry description:

© Technosoft 2010 137 CANopen programming

 Access RO
PDO mapping Possible
Value range INTEGER32
Default value -

9.2.3. Object 606Ch: Velocity actual value

The velocity actual value is given in velocity units and is read from the velocity sensor.
Object description:
Index 606Ch
Name Velocity actual value
Object code VAR
Data type INTEGER32
Entry description:
Access RO
PDO mapping Yes
Value range INTEGER32
Default value -

9.2.4. Object 606Fh: Velocity threshold 35

The velocity threshold is given in velocity units and it represents the threshold for velocity at which
it is regarded as zero velocity. Based on its value, bit 12 of status word (speed) will be set or
reset.
Object description:
Index 606Fh
Name Velocity threshold
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW
PDO mapping Possible
Value range UNSIGNED16
Default value -

35
Only available for MotionChip III family

© Technosoft 2010 138 CANopen programming

9.2.5. Object 60FFh: Target velocity
The target velocity is the input for the trajectory generator and the value is given in velocity units.
Object description:
Index 60FFh
Name Target velocity
Object code VAR
Data type INTEGER32
Entry description:
Access RW
PDO mapping possible
Value range INTEGER32
Default value -

9.2.6. Object 60F8h: Max slippage 36

The max slippage monitors whether the maximal slippage has actually been reached. The value
is given in velocity units. When the max slippage has been reached, the corresponding bit 13 max
slippage error in the status word is set.
Object description:
Index 60F8h
Name Max slippage
Object code VAR
Data type INTEGER32
Entry description:
Access RW
PDO mapping possible
Value range INTEGER32
Default value -

9.2.7. Object 2005h: Max slippage time out 37

Time interval for max slippage.
Object description:
Index 2005h
Name Max slippage time out

36
Only available for MotionChip III family. In case of MotionChip II family, the corresponding
parameter can be set via the set-up or via indirect memory accesses.
37
Same as note 31.

© Technosoft 2010 139 CANopen programming

 Object code VAR
Data type UNSIGNED16
Entry description:
Access RW
PDO mapping Possible
Value range UNSIGNED16
Default value -

Example: Execute a speed control with 600 rpm target speed.

1. Start remote node. Send a NMT message to start the node id 6.
Send the following message:
COB-ID 0
Data 01 06
2. Ready to switch on. Change the node state from Switch on disabled to Ready to switch
on by sending the shutdown command via control word associated PDO.
Send the following message:
COB-ID 206
Data 06 00
3. Switch on. Change the node state from Ready to switch on to Switch on by sending the
switch on command via control word associated PDO.
Send the following message:
COB-ID 206
Data 07 00
4. Enable operation. Change the node state from Switch on to Operation enable by
sending the enable operation command via control word associated PDO.
Send the following message:
COB-ID 206
Data 0F 00
5. Mode of operation. Select speed mode.
Send the following message (SDO access to object 6060h, 8-bit value 3h):
COB-ID 606
Data 2F 60 60 00 03 00 00 00

© Technosoft 2010 140 CANopen programming

 6. Target velocity. Set the target velocity to 600 rpm. By using and 500 lines incremental
encoder and 1ms sample rate for position/speed control the corresponding value of
object 60FFh expressed in encoder counts per sample is 140000h.
Send the following message (SDO access to object 60FFh 32-bit value 00140000h):
COB-ID 606
Data 23 FF 60 00 00 00 14 00
7. Check the motor actual speed. It should rotate with 600 rpm.

© Technosoft 2010 141 CANopen programming

10. Electronic Gearing Position (EGEAR) Mode 38
10.1. Overview
In Electronic Gearing Position Mode the drive follows the position of an electronic gearing master
with a programmable gear ratio.
The electronic gearing slave can get the position information from the electronic camming master
in two ways:
Via CANbus communication channel, from another IDM680 drive set as electronic gearing master
with object Master Settings (index 2010h). The position is sent using TechnoCAN, an extension
of the CANopen protocol, developed by Technosoft.
Via an external digital reference of type pulse & direction or quadrature encoder. Both options
have dedicated inputs. The pulse & direction signals are usually provided by an indexer and must
be connected to the pulse & direction inputs of the drive/motor. The quadrature encoder signals
are usually provided by an encoder on the master and must be connected to the 2nd encoder
inputs.
The reference type, i.e. the selection between the online reference received via communication
channel and the digital reference read from dedicated inputs is done with object External
Reference Type (index 201Dh). The source of the digital reference (pulse & direction or second
encoder inputs) is set during drive commissioning.
The drive set as slave in electronic gearing mode performs a position control. At each slow loop
sampling period, the slave computes the master position increment and multiplies it with its
programmed gear ratio. The result is the slave position reference increment, which added to the
previous slave position reference gives the new slave position reference.
Remark: The slave executes a relative move, which starts from its actual position
The gear ratio is specified via EGEAR multiplication factor object (index 2013h). EGEAR ratio
numerator (sub-index 1) is a signed integer, while EGEAR ratio denominator (sub-index 2) is an
unsigned integer. The EGEAR ratio numerator sign indicates the direction of movement: positive
– same as the master, negative – reversed to the master. The result of the division between
EGEAR ratio numerator and EGEAR ratio denominator is used to compute the slave reference
increment.
The Master Resolution object (index 2012h) provides the master resolution, which is needed to
compute correctly the master position and speed (i.e. the position increment). If master position is
not cyclic (i.e. the resolution is equal with the whole 32-bit range of position), set master
resolution to 0x80000001.
You can smooth the slave coupling with the master, by limiting the maximum acceleration of the
slave drive. This is particularly useful when the slave has to couple with a master running at high
speed, in order to minimize the shocks in the slave. The feature is activated by setting
ControlWord.5=1 and the maximum acceleration value in Profile Acceleration object (index
6083h).

38
Only available for MotionChip III family. Available also on request for MotionChip II family

© Technosoft 2010 142 CANopen programming

 Control word in electronic gearing position mode (slave axis)
MSB LSB
Activate
See Enable Electronic
See 6040h Halt Reserved Acceleration See 6040h
6040h Gearing Mode
Limitation
15 9 8 7 6 5 4 3 0
Table 10.1 Control Word bits for Electronic Gearing Position Mode

Name Value Description

Enable Electronic 0 Electronic gearing mode inactive
Gearing Mode 1 Electronic gearing mode active
Activate 0 Do not limit acceleration when entering electronic gear mode
Acceleration 1 Limit acceleration when entering electronic gear mode to the value set in
Limitation profile acceleration (object 6083h)
0 Execute the instruction of bit 4
Halt
1 Stop drive with profile acceleration

Status word in electronic gearing position mode

MSB LSB
See 6041h Following Reserved See Target See 6041h
error 6041h reached
15 14 13 12 11 10 9 0
Table 10.2 Status Word bits for Electronic Gearing Position Mode

Name Value Description

0 Halt = 0: Always 0
Target Halt = 1: Drive decelerates
reached 1 Halt = 0: Always 0
Halt = 1: Velocity of drive is 0
Following 0 No following error
error 1 Following error occurred

10.2. Gearing Position Mode Objects

10.2.1. Object 2010h: Master settings
This object contains key settings for the master of EGEAR / ECAM mode. A master in EGEAR /
ECAM mode is any IDM680 drive that controls a motor (irrespective of the control mode) and that
will be designated to send the information about its position (demanded position or actual
position) via communication to one or more slaves (programmed accordingly).

© Technosoft 2010 143 CANopen programming

This object also allows setting the address of the slave to which the master will send its position,
or, if there are more slaves to receive simultaneously the position from the master, the Group ID
of these slaves.
Object description:
Index 2010h
Name Master settings
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW
PDO mapping Possible
Units -
Value range 0 … 65535
Default value 0

Table 10.3 Master Settings bits description

Bit Value Description

15 0 Master is not active – the master drive does not send any position values
1 Master is active – the master drive starts sending its position to the slave
axis
14 … 10 0 Reserved
0 The master sends its feedback (the position actual value)
9
1 The master sends the demand position
0 Address is an axis ID
8
1 Address is a group ID
7…0 x Address of the slave drive(s)

10.2.2. Object 2012h: Master resolution

This object is used in order to set the master resolution in increments per revolution. This object is
valid for the slave axis.
Object description:
Index 2012h
Name Master resolution
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW

© Technosoft 2010 144 CANopen programming

 PDO mapping Possible
Units Increments
Value range 0 … 231-1
Default value 80000001h (full range)

10.2.3. Object 2013h: EGEAR multiplication factor

In digital external mode, this object sets the gear ratio, or gear multiplication factor for the slaves.
The sign indicates the direction of movement: positive – same as the master, negative – reversed
to the master. The slave demand position is computed as the master position increment multiplied
by the gear multiplication factor.
Example: if the gear ratio is Slave/Master = 1/3, the following values must be set: 1 in EGEAR
ratio numerator (sub-index 1) and 3 in EGEAR ratio denominator (sub-index 2)
Object description:
Index 2013h
Name EGEAR multiplication factor
Object code RECORD
Number of elements 2
Entry description:
Sub-index 1
Description EGEAR ratio numerator (slave)
Object code VAR
Data type INTEGER16
Access RW
PDO mapping Possible
Value range -32768 … 32767
Default value 1

Sub-index 2
Description EGEAR ratio denominator
(master)
Object code VAR
Data type UNSIGNED16
Access RW
PDO mapping Possible
Value range 0 … 65535
Default value 1

© Technosoft 2010 145 CANopen programming

10.2.4. Object 2017h: Master actual position
The actual position of the master can be monitored through this object, regardless of the way the
master actual position is delivered to the drive (on-line through a communication channel or from
the digital inputs of the drive). The units are increments.
Object description:
Index 2017h
Name Master actual position
Object code VAR
Data type INTEGER32
Entry description:
Access RO
PDO mapping Possible
Value range -231 … 231-1
Default value 0

10.2.5. Object 2018h: Master actual speed

This object is used to inform the user of the actual value of the speed of the master, regardless of
the way the master actual position is delivered to the drive (on-line through a communication
channel or from the digital inputs of the drive). The units are increments / sampling.
Object description:
Index 2018h
Name Master actual speed
Object code VAR
Data type INTEGER16
Entry description:
Access RO
PDO mapping Possible
Value range -32768 … 32767
Default value 0

10.2.6. Object 201Dh: External Reference Type

This object is used to set the type of external reference for use with electronic gearing position,
electronic camming position, position external, speed external and torque external modes.
Object description:
Index 201Dh
Name External Reference Type
Object code VAR

© Technosoft 2010 146 CANopen programming

 Data type UNSIGNED16

Entry description:
Access RW
PDO mapping No
Value range UNSIGNED16
Default value -

Table 10.4 External Reference Type bit description

Value Description
0 Reserved
On-line.
In case of External Reference Position / Speed / Torque Modes, select
this option in order to read the reference from the object 201C, External
1 Online Reference
In case of Electronic Gearing and Camming Position Modes, select this
option in order to read the master position received from a master drive
via communication
Analogue.
2 In case of External Reference Position / Speed / Torque Modes, select
this option in order to read the reference from the dedicated analogue
input.
Digital.
In case of External Reference Position Modes, select this option in order
to read the reference from the dedicated digital inputs as set in the setup
made using EasySetup / EasyMotion Studio (either 2nd encoder or pulse &
3 direction)
In case of Electronic Gearing and Camming Position Modes, select this
option in order to read master position from the dedicated digital inputs as
set in the setup made using EasySetup / EasyMotion Studio (either 2nd
encoder or pulse & direction)
4 … 65535 Reserved

© Technosoft 2010 147 CANopen programming

11. Electronic Camming Position (ECAM) Mode 39
11.1. Overview
In Electronic Camming Position the drive executes a cam profile function of the position of an
electronic camming master. The cam profile is defined by a cam table – a set of (X, Y) points,
where X is cam table input i.e. the position of the electronic camming master and Y is the cam
table output i.e. the corresponding slave position. Between the points the drive performs a linear
interpolation.
The electronic camming slave can get the position information from the electronic camming
master in two ways:
1. Via CANbus communication channel, from another IDM680 drive set as electronic
camming master with object Master Settings (index 2010h). The position is sent using
TechnoCAN, an extension of the CANopen protocol, developed by Technosoft.
2. Via an external digital reference of type pulse & direction or quadrature encoder. Both
options have dedicated inputs. The pulse & direction signals are usually provided by an
indexer and must be connected to the pulse & direction inputs of the drive. The
quadrature encoder signals are usually provided by an encoder on the master and must
be connected to the 2nd encoder inputs.
The reference type, i.e. the selection between the online reference received via communication
channel and the digital reference read from dedicated inputs is done with object External
Reference Type (index 201Dh). The source of the digital reference (pulse & direction or second
encoder inputs) is set during drive commissioning.
The electronic camming position mode can be: relative (if ControlWord.6 = 0) or absolute (if
ControlWord.6 = 1).
In the relative mode, the output of the cam table is added to the slave actual position. At each
slow loop sampling period the slave computes a position increment dY = Y – Yold. This is the
difference between the actual cam table output Y and the previous one Yold. The position
increment dY is added to the old demand position to get a new demand position. The slave
detects when the master position rolls over, from 360 degrees to 0 or vice-versa and
automatically compensates in dY the difference between Ymax and Ymin. Therefore, in relative
mode, you can continuously run the master in one direction and the slaves will execute the cam
profile once at each 360 degrees with a glitch-free transition when the cam profile is restarted.
When electronic camming is activated in relative mode, the slave initializes Yold with the first cam
output computed: Yold = Y = f(X). The slave will keep its position until the master starts to move
and then it will execute the remaining part of the cam. For example if the master moves from X to
Xmax, the slave moves with Ymax – Y.
In the absolute mode, the output of the cam table Y is the demand position to reach.

Remark: The absolute mode must be used with great care because it may generate abrupt
variations on the slave demand position if:
• Slave position is different from Y at entry in the camming mode

39
Only available for MotionChip III family. Available also on request for MotionChip II family

© Technosoft 2010 148 CANopen programming

 • Master rolls over and Ymax < Ymin
In the absolute mode, you can introduce a maximum speed limit to protect against accidental
sudden changes of the positions to reach. The feature is activated by setting ControlWord.5=1
and the maximum speed value in object Profile Velocity (index 6081h).
Typically, the cam tables are first downloaded into the EEPROM memory of the drive by the
CANopen master or with EasyMotion Studio. Then using the object CAM table load address
(index 2019h) they are copied in the RAM address set in object CAM table run address (index
201Ah). It is possible to copy more than one cam table in the drive/motor RAM memory. When the
ECAM mode is activated it uses the CAM table found at the RAM address contained in CAM
table run address.
A CAM table can be shifted, stretched or compressed.

Control word in electronic camming position mode

MSB LSB
See 6040h Halt See Abs / Rel Activate Speed Enable Electronic See 6040h
6040h Limitation Camming Mode
15 9 8 7 6 5 4 3 0
Table 11.1 Control word bits for electronic camming position mode

Name Value Description

Enable Electronic 0 Electronic camming mode inactive
Camming Mode 1 Electronic camming mode active
0 Do not limit speed when entering absolute electronic camming mode
Activate Speed
Limitation Limit speed when entering absolute electronic camming mode at the
1
value set in profile velocity (ONLY for absolute mode)
Perform relative camming mode – when entering the camming mode,
0
the slave will compute the cam table relative to the starting moment.
Abs / Rel
Perform absolute camming mode – when entering the camming mode,
1
the slave will go to the absolute position on the cam table
0 Execute the instruction of bit 4
Halt
1 Stop drive with profile acceleration

Status word in electronic camming position mode

MSB LSB
See 6041h Following Reserved See Target See 6041h
error 6041h reached
15 14 13 12 11 10 9 0
Table 11.2 Status word bits for electronic camming position mode

Name Value Description

Target Halt = 0: Always 0
0
reached Halt = 1: Drive decelerates

© Technosoft 2010 149 CANopen programming

 Halt = 0: Always 0
1
Halt = 1: Velocity of drive is 0
Following 0 No following error
error 1 Following error occurred

11.2. Electronic Camming Position Mode Objects

11.2.1. Object 2019h: CAM table load address
This is the load address of the CAM table. The CAM table is stored in EEPROM memory of the
drive starting from the load address. The initialization of the electronic camming mode requires
the CAM table to be copied from the EEPROM memory to the RAM memory of the drive, starting
from the run address, set in object 201Ah, for faster processing. The copy is made every time
object 2019h is written by SDO access.
Remark: The CAM table run address object must be set before writing the object CAM table
load address to assure a proper copy operation from EEPROM to RAM memory.
Object description:
Index 2019h
Name CAM table load address
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW
PDO mapping No
Units -
Value range UNSIGNED16
Default value 4500h

11.2.2. Object 201Ah: CAM table run address

This is the run address of the CAM table e.g. the RAM address starting from which the CAM table
is copied into the RAM during initialization of the electronic camming mode. (see also 2019h).
Object description:
Index 201Ah
Name CAM table run address
Object code VAR
Data type UNSIGNED16
Entry description:
Access RW

© Technosoft 2010 150 CANopen programming

 PDO mapping No
Units -
Value range UNSIGNED16
Default value E500h

11.2.3. Object 201Bh: CAM offset

This object may be used to shift the master position in electronic camming mode. The position
actually used as X input in the cam table is not the master actual position (2017h) but (master
actual position – CAM offset) computed as modulo of master resolution (2012h) The CAM offset
must be set before enabling the electronic camming mode. The CAM offset is expressed in
increments.
Object description:
Index 201Bh
Name CAM offset
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping No
Value range 0 … 232-1
Default value 0

11.2.4. Object 206Bh: CAM: input scaling factor

You can use this scaling factor in order to achieve a scaling of the input values of a CAM table. Its
default value of 00010000h corresponds to a scaling factor of 1.0.
Object description:
Index 206Bh
Name CAM input scaling factor
Object code VAR
Data type FIXED32
Entry description:
Access RW
PDO mapping No
Units -
Value range FIXED32
Default value 00010000h

© Technosoft 2010 151 CANopen programming

11.2.5. Object 206Ch: CAM: output scaling factor
You can use this scaling factor in order to achieve a scaling of the output values of a CAM table.
Its default value of 00010000h corresponds to a scaling factor of 1.0.
Object description:
Index 206Ch
Name CAM output scaling factor
Object code VAR
Data type FIXED32
Entry description:
Access RW
PDO mapping No
Units -
Value range FIXED32
Default value 00010000h

© Technosoft 2010 152 CANopen programming

 12. External Reference Position Mode 40
12.1. Overview
In this operating mode the drive performs position control with the demand position read from the
external reference provided by another device.
There are 3 types of external references:
• Analogue – read by the drive via a dedicated analogue input (12-bit resolution)
• Digital – computed by the drive from:
o Pulse & direction signals
o Quadrature signals like A, B signals of an incremental encoder
• Online – received online via the CAN bus communication channel from the CANopen
master in object External On-line Reference (index 201Ch)
The reference type is selected with object External Reference Type (index 201Dh). When the
external reference is digital, the option for the input signals: pulse & direction or quadrature
encoder is established during drive commissioning.
In external reference position mode with analogue or online reference, you can limit the maximum
speed at sudden changes of the position reference and thus to reduce the mechanical shocks.
This feature is activated by setting ControlWord.6=1 and the maximum speed value in object
Profile Velocity (index 6081h).

Control word in external reference position mode

MSB LSB
See 6040h Halt See Reserved Activate Speed Enable External See 6040h
6040h Limitation Position Mode
15 9 8 7 6 5 4 3 0
Table 12.1 Control Word bit description for External Reference Position mode

Name Value Description

0 External position mode inactive
Enable External Position Mode
1 External position mode active
Do not limit speed on the inactive to active mode
0
Activate Speed Limitation transition
1 Limit speed when enabling the External Position mode
0 Execute the instruction of bit 4
Halt
1 Stop drive with profile acceleration

40
Only available for MotionChip III family. Available also on request for MotionChip II family

© Technosoft 2010 153 CANopen programming

In order to correctly set an external reference position mode, you have to set the way the
reference is received (either on-line, analogue or digital), using the object 201Dh, External
Reference Type.

Status word in external reference position mode

MSB LSB
See 6041h Following Reserved See Target See 6041h
error 6041h reached
15 14 13 12 11 10 9 0
Table 12.2 Status Word bit description for External Reference Position mode

Name Value Description

Halt = 0: Always 0
0
Target Halt = 1: Drive decelerates
reached Halt = 0: Always 0
1
Halt = 1: Velocity of drive is 0
Following 0 No following error
error 1 Following error occurred

12.2. External Reference Position Mode Objects

12.2.1. Object 201Ch: External On-line Reference
This is used to set the reference in case the External Reference Type (Object 201Dh) is set for
online. The unit for this object is the internal unit defined for each drive mode (position / speed /
torque).
Object description:
Index 201Ch
Name External online reference
Object code VAR
Data type INTEGER32
Entry description:
Access RW
PDO mapping Possible
Units Internal, operating mode
dependant
Value range INTEGER32
Default value 0

© Technosoft 2010 154 CANopen programming

 13. External Reference Speed Mode 41
13.1. Overview
In this mode, the drive performs speed control with demand velocity read from the external
reference provided by other devices.
There are 2 types of external references:
• Analogue – read by the drive via a dedicated analogue input (12-bit resolution)
• Online – received online via the CAN bus communication channel from the CANopen
master in object External On-line Reference (index 201Ch)
The reference type is selected with object External Reference Type (index 201Dh). The option
digital is not allowed in external reference speed mode.
In external reference speed mode, you can limit the maximum acceleration at sudden changes of
the speed reference and thus to get a smoother transition. This feature is activated by setting
ControlWord.5=1 and the maximum acceleration value in object Profile Acceleration (6083h).

Control word in external reference speed mode

MSB LSB
See 6040h Halt See Reserved Activate Enable External See 6040h
6040h Acceleration Speed Mode
Limitation
15 9 8 7 6 5 4 3 0

Table 13.1 Control Word bit description for External Reference Speed Mode

Name Value Description

Enable External 0 External speed mode inactive
Speed Mode 1 External speed mode active
Activate Speed 0 Do not limit acceleration on the inactive to active mode transition
Limitation 1 Limit acceleration when enabling the External Speed mode
Halt 0 Execute the instruction of bit 4
1 Stop drive with profile acceleration

Status word in external reference speed mode

MSB LSB
See 6041h Max slippage Speed See Target See 6041h
error 6041h reached
15 14 13 12 11 10 9 0

41
Only available for MotionChip III family. Available also on request for MotionChip II family

© Technosoft 2010 155 CANopen programming

Table 13.2 Status Word bit description for External Reference Speed Mode

Name Value Description

0 Halt = 0: Always 0
Target Halt = 1: Drive decelerates
reached 1 Halt = 0: Always 0
Halt = 1: Velocity of drive is 0
Speed 0 Speed is not equal to 0
1 Speed is equal to 0
Max slippage 0 Maximum slippage not reached
error 1 Maximum slippage reached
Remark: In order to set / reset bit 12, the object from index 606Fh, velocity threshold from profile
velocity mode will be used. If the actual velocity of the drive / motor is below the velocity
threshold, then bit 12 will be set, else it will be reset.

© Technosoft 2010 156 CANopen programming

 14. External Reference Torque Mode 42
14.1. Overview
In this mode, the drive is controlled in torque mode and the external reference is interpreted as
torque/current reference.
There are 2 types of external references:
• Analogue – read by the drive via a dedicated analogue input (12-bit resolution)
• Online – received online via the CAN bus communication channel from the CANopen
master in object External On-line Reference (index 201Ch)
The reference type is selected with object External Reference Type (index 201Dh). The option
digital is not allowed in external reference speed mode.

Control word in external reference torque mode

MSB LSB
See 6040h Halt See Reserved Reserved Enable External See 6040h
6040h Torque Mode
15 9 8 7 6 5 4 3 0
Table 14.1 Control Word bit description for External Reference Torque Mode

Name Value Description

Enable External 0 External torque mode inactive
Torque Mode 1 External torque mode active
0 Execute the instruction of bit 4
Halt
1 Stop drive – set torque reference to 0

Status word in external reference torque mode

MSB LSB
Target
See 6041h Reserved Reserved See 6041h See 6041h
reached
15 14 13 12 11 10 9 0
Table 14.2 Status Word bit description for External Reference Torque Mode

Name Value Description

Target
Always 0
reached

42
Only available for MotionChip III family. Available also on request for MotionChip II family

© Technosoft 2010 157 CANopen programming

15. Data Exchange between CANopen master and drives
15.1. Checking Setup Data Consistency
During the configuration phase, a CANopen master can quickly verify using the checksum objects
and a reference .sw file whether the non-volatile EEPROM memory of the IDM680 drive contains
the right information. If the checksum reported by the drive doesn’t match the one computed from
the .sw file, the CANopen master can download the entire .sw file into the drive EEPROM using
the communication objects for writing data into the drive EEPROM.
In order to be able to inspect or to program any memory location of the drive, as well as for
downloading of a new TML program (application software), three manufacturer specific objects
were defined: Object 2064h – Read/Write Configuration Register, 2065h – Write Data at address
specified in 2064h, 2066h – Read Data from address specified in 2064h, 2067h – Write data at
specified address.

15.2. Image Files Format and Creation

An image file (with extension .sw) is a text file that can be read with any text editor. It contains
blocks of data separated by an empty line. Each block of data starts with the block start address,
followed by data values to place in ascending order at consecutive addresses: first data – to write
at start address, second data – to write at start address + 1, etc. All the data are hexadecimal 16-
bit values (maximum 4 hexadecimal digits). Each line contains a single data value. When less
then 4 hexadecimal digits are shown, the value must be right justified. For example 92 represent
0x0092.
The .sw software files can be generated either from EasySetUp or from EasyMotion Studio.
In EasySetUp you create a .sw file with the command Setup | EEPROM Programmer File… The
software file generated, includes the setup data and the drive/motor configuration ID with the user
programmable application ID.
In EasyMotion Studio you create a .sw file with one of the commands: Application | EEPROM
Programmer File | Motion and Setup or Setup Only. The option Motion and Setup creates a
.sw file with complete information including setup data, TML programs, cam tables (if present)
and the drive/motor configuration ID. The option Setup Only produces a .sw file identical with
that produced by EasySetUp i.e. having only the setup data and the configuration ID.
The .sw file can be programmed into a drive:
ƒ from a CANopen master, using the communication objects for writing data into the drive
EEPROM
ƒ using the EEPROM Programmer tool, which comes with EasySetUp but may also be
installed separately. The EEPROM Programmer was specifically designed for repetitive
fast and easy programming of .sw files into the Technosoft drives during production.

© Technosoft 2010 158 CANopen programming

15.3. Data Exchange Objects
15.3.1. Object 2064h: Read/Write Configuration Register
Object Read/Write Configuration Register 2064h is used to control the read from drive memory
and write to drive memory functions. This object contains the current memory address that will be
used for a read/write operation. It can also be specified through this object the type of memory
used (EEPROM, data or program) and the data type the next read/write operation refers to.
Additionally, it can be specified whether an increment of the memory address should be
performed or not after the read or write operation. The auto-increment of the memory address is
particularly important in saving valuable time in case of a program download to the drive as well
when a large data block should be read from the device.
Object description:
Index 2064h
Name Read/Write configuration register
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping Possible
Units -
Value range 0 … 232-1
Default value 0x84
Table 15.1 Read/Write Configuration Register bit description

Bit Value Description

31…16 x 16-bit memory address for the next read/write operation
15…8 0 Reserved (always 0)
0 Auto-increment the address after the read/write operation
7
1 Do not auto-increment the address after the read/write operation
6…4 0 Reserved (always 0)
00 Memory type is program memory
01 Memory type is data memory
3,2
10 Memory type is EEPROM memory
11 Reserved
1 0 Reserved (always 0)
0 Next read/write operation is with a 16-bit data
0
1 Next read/write operation is with a 32-bit data

© Technosoft 2010 159 CANopen programming

15.3.2. Object 2065h: Write 16/32 bits data at address set in Read/Write
Configuration Register
The object is used to write 16 or 32-bit values using the parameters specified in object 2064h –
Read/Write Configuration Register. After the successful write operation, the memory address in
object 2064h, bits 31…16 will be auto-incremented or not, as defined in the same register. The
auto-incrementing of the address is particularly useful in downloading a program (software
application) in the drives memory.
Object description:
Index 2065h
Name Write data at address set in 2064h
(16/32 bits)
Object code VAR
Data type UNSIGNED32
Entry description:
Access WO
PDO mapping Possible
Units -
Value range 0 … 232-1
Default value No

The structure of the parameter is the following:

Bit Value Description
0 Reserved if bit 0 of object 2064h is 0 (operation on 16 bit variables)
31…16 16-bit MSB of data if bit 0 of object 2064h is 1 (operation on 32 bit
X
variables)
15…0 X 16 bit LSB of data

15.3.3. Object 2066h: Read 16/32 bits data from address set in Read/Write
Configuration Register
This object is used to read 16 or 32-bit values with parameters that are specified in object 2064h –
Read/Write Configuration Register. After the successful read operation, the memory address in
object 2064h, bits 31…16, will be auto-incremented or not, as defined in the same register.
Object description:
Index 2066h
Read data from address set in
Name
2064h (16/32 bits)
Object code VAR
Data type UNSIGNED32

© Technosoft 2010 160 CANopen programming

Entry description:
Access RO
PDO mapping No
Units -
Value range UNSIGNED32
Default value No

The structure of the parameter is the following:

Bit Value Description
0 Reserved if bit 0 of object 2064h is 0 (operation on 16 bit variables)
31…16 16-bit MSB of data if bit 0 of object 2064h is 1 (operation on 32 bit
X
variables)
15…0 X 16 bit LSB of data

15.3.4. Object 2067h: Write data at specified address

This object is used to write a single 16-bit value at a specified address in the memory type defined
in object 2064h – Read/Write Configuration Register. The rest of the bits in object 2064h do not
count in this case, e.g. the memory address stored in the Read/Write Control Register is
disregarded and also the control bits 0 and 7. The object may be used to write only 16-bit data.
Once the type of memory in the Read/Write Control Register is set, the object can be used
independently. If mapped on a PDO, it offers quick access to any drive internal variable.
Object description:
Index 2067h
Name Write data at specified address
Object code VAR
Data type UNSIGNED32
Entry description:
Access WO
PDO mapping Possible
Units -
Value range UNSIGNED32
Default value No

Bit Value Description

31…16 x 16-bit memory address
15…0 X 16 bit data value to be written

© Technosoft 2010 161 CANopen programming

15.3.5. Object 2069h: Checksum configuration register
This object is used to specify a start address and an end address for the drive to execute a
checksum of the E2ROM memory contents. The 16 LSB of this object are used for the start
address of the checksum, and the 16 MSB for the end address of the checksum.
Note: The end address of the checksum must be computed as the start address to which you add
the length of the section to be checked. The drive will actually compute the checksum for the
memory locations between start address and end address.
The checksum is computed as a 16 bit unsigned addition of the values in the memory locations to
be checked. When the object is written through SDO access, the checksum will be computed and
stored in the read-only object 206Ah.
Object description:
Index 2069h
Name Checksum configuration register
Object code VAR
Data type UNSIGNED32
Entry description:
Access RW
PDO mapping No
Units -
Value range UNSIGNED32
Default value No

The structure of the parameter is the following:

Bit Value Description
31…16 X 16-bit end address of the checksum
15…0 X 16 bit start address of the checksum

15.3.6. Object 206Ah: Checksum read register

This object stores the latest computed checksum.
Object description:
Index 206Ah
Name Checksum read register
Object code VAR
Data type UNSIGNED16
Entry description:
Access RO
PDO mapping No
Units -

© Technosoft 2010 162 CANopen programming

 Value range UNSIGNED16
Default value No

15.4. Usage example for the data exchange objects

Check the integrity of the setup data on a drive and update it if needed.

Let’s suppose that the setup data of an IDM680 drive is located at EEPROM addresses between
0x5E06 and 0x5EFF. Here are the steps to be taken in order to check the setup data integrity and
to re-program the drive if necessary:
1. Compute the checksum in the sw file. Let’s suppose that the computed checksum is
0x1234.
2. Access object 2069h in order to compute the checksum of the setup table located
on the drive. Write the value 0x5EFF5E06
Send the following message (SDO write to object 2069h sub-index 0, 32-bit value 5EFF5E06h):
COB-ID 60A
Data 23 69 20 00 06 5E FF 5E
Following the reception of this message, the drive will compute the checksum of the
EEPROM locations 0x5E06 to 0x5EFF. The result is stored in the object 206Ah.
3. Read the computed checksum from object 206Ah.
Send the following message (SDO read from object 206Ah sub-index 0):
COB-ID 60A
Data 40 6A 20 00 00 00 00 00
The drive returns the following message (Object 206Ah = 0x2345):
COB-ID 58A
Data 4B 6A 20 00 45 23 00 00

As the returned checksum (0x2345) does not match the checksum computed from the .sw file,
the setup table has to be configured from the .sw file.
4. Prepare the Read/Write Configuration Register for EEPROM write. Write the value
0x5E060009 into the object 2064h (write 32-bit data at EEPROM address 0x5E06 and
auto-increment the address after the write operation).
Send the following message (SDO write to object 2064h sub-index 0, 32-bit value 5E060009h):
COB-ID 60A
Data 23 64 20 00 09 00 06 5E

© Technosoft 2010 163 CANopen programming

 5. Write the sw file data 32 bits at a time. Supposing that the first 2 entries in the .sw file
are 0x9876 and 0x3456, you have to write the value 0x34569876 into the object 2065h.
Send the following message (SDO write to object 2065h sub-index 0, 32-bit value 34569876h):
COB-ID 60A
Data 23 65 20 00 76 98 56 34
6. Repeat step 5 until all the setup data is written
7. Re-check the checksum (repeat steps 2 and 3). If ok, go to step 8
8. Reset the drive in order to activate the new setup.
Send the following message (NMT message for reset node to drive with NodeID 10):
COB-ID 0
Data 81 0A

© Technosoft 2010 164 CANopen programming

16. Advanced features
16.1. Overview
Due to its embedded motion controller, a Technosoft intelligent drive/motor offers many
programming solutions that may simplify a lot the task of a CANopen master. This paragraph
overviews a set of advanced programming features which can be used when combining TML
programming at drive level with CANopen master control. All features presented below require
usage of EasyMotion Studio as TML programming tool
Remark: If you don’t use the advanced features presented below you don’t need EasyMotion
Studio.

16.2. Using TML Functions to Split Motion between Master and Drives
With Technosoft intelligent drives you can really distribute the intelligence between a CANopen
master and the drives in complex multi-axis applications. Instead of trying to command each step
of an axis movement, you can program the drives using TML to execute complex tasks and
inform the master when these are done. Thus for each axis, the master task may be reduced at:
calling TML functions (with possibility to abort their execution) stored in the drives EEPROM and
waiting for a message, which confirms the finalization of the TML functions execution.

16.2.1. Build TML functions within EasyMotion Studio

The following steps describes how to create TML functions with EasyMotion Studio
1. Define the TML functions. Open the EasyMotion Studio project and select the
Functions entry from the project tree. On the right side of the project panel add
the TML functions executed by the drive. You may also remove, rename and
change the functions download order.
Remark: You can call up to 10 TML functions using the CANopen objects.
2. Add the TML code. The added functions are listed in the project tree under the
Functions entry. Select each function from the list and add the TML code that
will be executed by the function.
3. Download the TML functions into the drive memory. Use the menu command
Application | Motion | Build to create the executable code and the menu
command Application | Motion | Download Program to download the TML
code into the drive memory.

© Technosoft 2010 165 CANopen programming

 Figure 16.1 EasyMotion Studio project window – functions edit view

16.2.2. TML Function Objects

16.2.2.1. Object 2006h: Call TML Function
The object allows the execution of a previously downloaded TML function. When a write is
performed to this object, the TML function with the index specified in the value provided is called.
The TML function body is defined using EasyMotion Studio and saved in the EEPROM memory of
the drive. The function index represents an offset in a predefined table of TML callable functions.
It is not possible to call another TML function, while the previous one is still running. In this case
bits 7 (warning) from the Status Word and 14 (command error) from Motion Error Register are
set, and the function call is ignored. The execution of any called TML function can be aborted by
setting bit 13 in Control Word.
There are 10 TML functions that can be called through this mechanism (the first 10 TML functions
defined using the EasyMotion Studio advanced programming environment). Any attempt to call
another function (writing a number different from 1..10 in this object) will be signaled with an SDO
abort code 0609 0030h (Value range of parameter exceeded). If a valid value is entered, but no
TML function is defined in that position, an SDO abort code will be issued: 0800 0020h (Data
cannot be transferred or stored to the application).

© Technosoft 2010 166 CANopen programming

Object description:
Index 2006h
Name Call TML function
Object code VAR
Data type UNSIGNED16
Entry description:
Access WO
PDO mapping No
Units -
Value range 1...10
Default value -

16.3. Executing TML programs

The distributed control concept can go on step further. You may prepare and download into a
drive a complete TML program including functions, homing procedures, etc. The TML program
execution can be started simply by writing a value in the dedicated object.

16.3.1. Object 2077h: Execute TML program

This object is used in order to execute the TML program from either EEPROM or RAM memory.
The TML program is downloaded using the EasyMotion Studio software or by the CANopen
master using the .sw file created in EasyMotion Studio.
Writing any value in this object (through the SDO protocol) will trigger the execution of the TML
program in the drive. If no TML program is found on the drive, an SDO abort code will be issued:
0800 0020h (Data cannot be transferred or stored to the application).
Object description:
Index 2077h
Name Execute TML program
Object code VAR
Data type UNSIGNED16
Entry description:
Access WO
PDO mapping No
Value range UNSIGNED16
Default value -

© Technosoft 2010 167 CANopen programming

16.4. Loading Automatically Cam Tables Defined in EasyMotion Studio 43
Apart from the standard modes of operation of DSP-402, the Technosoft IDM680 drives offer
others like: electronic gearing, electronic camming, external modes with analogue or digital
reference etc. When electronic camming is used, the cam tables can be loaded in the following
ways:
a) The master downloads the cam points into the drive active RAM memory after each power
on;
b) The cam points are stored in the drive EEPROM and the master commands their copy into
the active RAM memory
c) The cam points are stored in the drive EEPROM and during the drive initialization (transition
to Ready to Switch ON status) are automatically copied from EEPROM to the active RAM

For the last 2 options the cam table(s) are defined in EasyMotion Studio and are included in the
information stored in the EEPROM together with the setup data and the TML programs/functions.
Remark: The cam tables are included in the .sw file generated with EasyMotion Studio.
Therefore, the master can check the cam presence in the drive EEPROM using the same
procedure as for testing of the setup data.

16.4.1. CAM table structure

The cam tables are arrays of X, Y points, where X is the cam input i.e. the master position and Y
is the cam output i.e. the slave position. The X points are expressed in the master internal
position units, while the Y points are expressed in the slave internal position units. Both X and Y
points 32-bit long integer values. The X points must be positive (including 0) and equally spaced
at: 1, 2, 4, 8, 16, 32, 64 or 128 i.e. having the interpolation step a power of 2 between 0 and 7.
The maximum number of points for one cam table is 8192.
As cam table X points are equally spaced, they are completely defined by two data: the Master
start value or the first X point and the Interpolation step providing the distance between the X
points. This offers the possibility to minimize the cam size, which is saved in the drive/motor in the
following format:
• 1st word (1 word = 16-bit data):
o Bits 15-13 – the power of 2 of the interpolation step. For example, if these bits
have the binary value 010 (2), the interpolation step is 22 = 4, hence the master X
values are spaced from 4 to 4: 0, 4, 8, 12, etc.
o Bits 12-0 – the length -1 of the table. The length represents the number of points
(one point occupies 2 words)
• 2nd and 3rd words: the Master start value (long), expressed in master position units. 2nd
word contains the low part, 3rd word the high part
• 4th and 5th words: Reserved. Must be set to 0

43
Only available for the MotionChip III family. Available also upon request for MotionChip II
family.

© Technosoft 2010 168 CANopen programming

 • Next pairs of 2 words: the slave Y positions (long), expressed in position units. The 1st
word from the pair contains the low part and the 2nd word from the pair the high part
Last word: the cam table checksum, representing the sum modulo 65536 of all the cam table data
except the checksum word itself.

16.5. Customizing the Homing Procedures 44

The homing methods defined by the DSP-402 are highly modifiable to accommodate your
application. If needed, any of these homing modes can be customized. In order to do this you
need to select the Homing Modes from your EasyMotion Studio application and in the right side to
set as “User defined” one of the Homing procedures. Following this operation the selected
procedure will occur under Homing Modes in a sub tree, with the name HomeX where X is the
number of the selected homing.

If you click on the HomeX procedure, on the right side you’ll see the TML function implementing it.
The homing routine can be customized according to your application needs. Its calling name and
method remain unchanged.

44
Only available for MotionChip III family.

© Technosoft 2010 169 CANopen programming

16.6. Customizing the Drive Reaction to Fault Conditions 45
Similarly to the homing modes, the default service routines for the TML interrupts can be
customized according to your application needs. However, as most of these routines handle the
drive reaction to fault conditions, it is mandatory to keep the existent functionality while adding
your application needs, in order to preserve the correct protection level of the drive. The
procedure for modifying the TML interrupts is similar with that for the homing modes.

45
Only available for MotionChip III family.

© Technosoft 2010 170 CANopen programming

Appendix A Object Dictionary by Index

Sub- Available for Available for

Index index Description MotionChip MotionChip II
III family? family?
1000h 00h Device type YES YES
1001h 00h Error register YES YES
1002h 00h Manufacturer status register YES YES
1003h Predefined error field YES YES
00h Number of errors in history YES YES
01h Standard error field (history 1) YES YES
02h Standard error field (history 2) YES YES
03h Standard error field (history 3) YES YES
04h Standard error field (history 4) YES YES
05h Standard error field (history 5) YES YES
1005h 00h COB-ID of the SYNC message YES YES
1006h 00h Communication cycle period YES YES
1008h 00h Manufacturer device name YES NO
100Ah 00h Manufacturer software version YES NO
100Ch 00h Guard time YES YES
100Dh 00h Lifetime factor YES YES
1013h 00h High resolution time stamp YES YES
1014h 00h COB-ID Emergency object YES YES
1017h 00h Producer heartbeat time YES YES
1018h Identity Object YES YES
00h Number of entries YES YES
01h Vendor ID YES YES
1200h Server SDO parameter YES YES
00h Number of entries YES YES
01h COB-ID Client -> Server (rx) YES YES
00h Server SDO parameter YES YES
1400h Receive PDO1 communication parameters YES YES
00h Number of entries YES YES
01h COB-ID RPDO1 YES YES
02h Transmission type YES YES
1401h Receive PDO2 communication parameters YES YES

© Technosoft 2010 171 CANopen programming

 00h Number of entries YES YES
01h COB-ID RPDO2 YES YES
02h Transmission type YES YES
1402h Receive PDO3 communication parameters YES YES
00h Number of entries YES YES
01h COB-ID RPDO3 YES YES
02h Transmission type YES YES
1403h Receive PDO4 communication parameters YES YES
00h Number of entries YES YES
01h COB-ID RPDO4 YES YES
02h Transmission type YES YES
1600h RPDO1 mapping parameters YES YES
00h Number of entries YES YES
01h 1st mapped object – 6040h – control word YES YES
1601h RPDO2 mapping parameters YES YES
00h Number of entries YES YES
01h 1st mapped object – 6040h – control word YES YES
02h 2nd mapped object – 6060h – modes of YES YES
operation
1602h RPDO3 mapping parameters YES YES
00h Number of entries YES YES
01h 1st mapped object – 6040h – control word YES YES
02h 2nd mapped object – 607Ah – target position YES YES
1603h RPDO4 mapping parameters YES YES
00h Number of entries YES YES
01h 1st mapped object – 6040h – control word YES YES
02h 2nd mapped object – 60FFh – target velocity YES YES
1800h TPDO1 communication parameters YES YES
00h Number of entries YES YES
01h COB-ID TPDO1 YES YES
02h Transmission type YES YES
03h Reserved YES YES
04h Reserved YES YES
05h Event timer YES YES
1801h TPDO2 communication parameters YES YES
00h Number of entries YES YES

© Technosoft 2010 172 CANopen programming

 01h COB-ID TPDO2 YES YES
02h Transmission type YES YES
03h Reserved YES YES
04h Reserved YES YES
05h Event timer YES YES
1802h TPDO3 communication parameters YES YES
00h Number of entries YES YES
01h COB-ID TPDO3 YES YES
02h Transmission type YES YES
03h Reserved YES YES
04h Reserved YES YES
05h Event timer YES YES
1803h TPDO4 communication parameters YES YES
00h Number of entries YES YES
01h COB-ID TPDO4 YES YES
02h Transmission type YES YES
03h Reserved YES YES
04h Reserved YES YES
05h Event timer YES YES
1A00h TPDO1 mapping parameters YES YES
00h Number of entries YES YES
01h 1st mapped object – 6041h – status word YES YES
1A01h TPDO2 mapping parameters YES YES
00h Number of entries YES YES
01h 1st mapped object – 6041h – status word YES YES
02h 2nd mapped object – 6061h – modes of YES YES
operation display
1A02h TPDO3 mapping parameters YES YES
00h Number of entries YES YES
01h 1st mapped object – 6041h – status word YES YES
02h 2nd mapped object – 6064h – position actual YES YES
value
1A03h TPDO4 mapping parameters YES YES
00h Number of entries YES YES
01h 1st mapped object – 606Bh – velocity YES YES
demand value

© Technosoft 2010 173 CANopen programming

 02h 2nd mapped object – 606Ch – velocity actual YES YES
value
2000h 00h Motion Error Register YES YES
2001h 00h Motion Error Register mask YES YES
2002h 00h Drive status mask YES YES
2004h 00h COB-ID High resolution time stamp YES YES
2005h 00h Max slippage time out YES NO
2006h 00h Call TML function YES YES
2010h 00h Master settings YES NO
2012h 00h Master resolution YES NO
2013h EGEAR multiplication factor YES NO
00h Number of entries YES NO
01h EGEAR ratio numerator (slave) YES NO
02h EGEAR ratio denominator (master) YES NO
2017h 00h Master actual position YES NO
2018h 00h Master actual speed YES NO
2019h 00h CAM table load address YES NO
201Ah 00h CAM table run address YES NO
201Bh 00h CAM offset YES NO
201Ch 00h External on-line reference YES NO
201Dh 00h External reference type YES NO
2022h 00h Control effort YES YES
2023h 00h Jerk time YES YES
2025h 00h Stepper current in open loop operation YES YES
2026h 00h Stand-by current for stepper in open loop YES YES
operation
2027h 00h Timeout for stepper stand-by current YES YES
2040h 00h Digital inputs status NO YES
2042h 00h Digital inputs mask YES NO
2043h 00h Digital outputs command NO YES
2045h 00h Digital outputs status YES NO
2046h 00h Analogue input: Reference YES NO
2047h 00h Analogue input: Feedback YES NO
2050h 00h Over current protection level YES YES
2051h 00h Over current time out YES YES
2052h 00h Motor nominal current YES YES
2053h 00h I2t protection integrator limit YES YES

© Technosoft 2010 174 CANopen programming

2054h 00h I2t protection scaling factor YES YES
2055h 00h DC-link voltage YES NO
2058h 00h Drive temperature YES NO
2060h 00h Software version of the TML application YES NO
2064h 00h Read/Write configuration register YES YES
2065h 00h Write data at address set in object 2064h YES YES
(16/32 bits)
2066h 00h Read data from address set in object 2064h YES YES
(16/32 bits)
2067h 00h Write data at specified address YES YES
2069h 00h Checksum configuration register YES YES
206Ah 00h Checksum read register YES YES
206Bh 00h CAM input scaling factor YES NO
206Ch 00h CAM output scaling factor YES NO
206Fh 00h Time notation index YES NO
2070h 00h Time dimension index YES NO
2071h Time factor YES NO
00h Number of entries YES NO
01h Numerator YES NO
02h Divisor YES NO
2072h 00h Interpolated position mode status YES YES
2073h 00h Interpolated position buffer length YES YES
2074h 00h Interpolated position buffer configuration YES YES
2075h Position triggers YES NO
00h Number of entries YES NO
01h Position trigger 1 YES NO
02h Position trigger 2 YES NO
03h Position trigger 3 YES NO
04h Position trigger 4 YES NO
2076h 00h Save current configuration YES YES
2077h 00h Execute TML program YES YES
2078h 00h Execute auto-tuning for Linear Halls config YES NO
2079h 00h Interpolated position initial position YES YES
6007h 00h Abort connection option code YES NO
6040h 00h Control word YES YES
6041h 00h Status word YES YES
605Eh 00h Fault reaction option code YES NO

© Technosoft 2010 175 CANopen programming

6060h 00h Modes of operation YES YES
6061h 00h Modes of operation display YES YES
6062h 00h Position demand value YES YES
6063h 00h Position actual value* YES NO
6064h 00h Position actual value YES YES
6065h 00h Following error window YES YES
6066h 00h Following error time out YES YES
6067h 00h Position window YES YES
6068h 00h Position window time YES YES
6069h 00h Velocity sensor actual value YES YES
606Bh 00h Velocity demand value YES YES
606Ch 00h Velocity actual value YES YES
606Fh 00h Velocity threshold YES NO
607Ah 00h Target position YES YES
607Ch 00h Home offset YES YES
6081h 00h Profile velocity YES YES
6083h 00h Profile acceleration YES YES
6085h 00h Quick stop deceleration YES YES
6086h 00h Motion profile type YES YES
6089h 00h Position notation index YES NO
608Ah 00h Position dimension index YES NO
608Bh 00h Velocity notation index YES NO
608Ch 00h Velocity dimension index YES NO
608Dh 00h Acceleration notation index YES NO
608Eh 00h Acceleration dimension index YES NO
6093h Position factor YES NO
00h Number of entries YES NO
01h Numerator YES NO
02h Divisor YES NO
6095h Velocity encoder factor YES NO
00h Number of entries YES NO
01h Numerator YES NO
02h Divisor YES NO
6097h Acceleration factor YES NO
00h Number of entries YES NO
01h Numerator YES NO
02h Divisor YES NO

© Technosoft 2010 176 CANopen programming

6098h 00h Homing method YES YES
6099h 00h Homing speeds YES YES
609Ah 00h Homing acceleration YES YES
60C0h 00h Interpolation sub mode select YES YES
60C1h Interpolation Data Record YES YES
00h Number of entries YES YES
01h The first parameter YES YES
0nh The n-th parameter YES YES
60F4h 00h Following error actual value YES NO
60F8h 00h Max slippage YES NO
60FCh 00h Position demand value* YES NO
60FDh 00h Digital inputs YES NO
60FEh 00h Digital outputs YES NO
60FFh 00h Target velocity YES YES
6502h 00h Supported drive modes YES YES

© Technosoft 2010 177 CANopen programming