Материал: InfranorCANdrive
SoftMotion: DriveInterface: InfranorCAN
SoftMotion: DriveInterface: InfranorCAN
Last update: 16.04.2007
Hardware interface |
CAN; must support 3S_CANdrv.lib |
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Supported drives |
Infranor CD1-k, BD1/k, BD2/k |
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Runtimes |
x86 |
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Author |
Hilmar Panzer |
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Components |
CopleyAccelnetDrive.lib; 3S_CanDrv.lib; SM_CAN.lib; |
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SysLibCallback.lib; SysLibFile.lib |
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Version |
1.9.3.0 |
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CONTENT |
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1 |
PARAMETERS IN PLC CONFIG |
2 |
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1.1 |
BusInterface ........................................................................................................................ |
2 |
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1.2 |
AxisGroup ........................................................................................................................... |
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1.3 |
supported Drive.wControlType.......................................................................................... |
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1.4 |
Additional structure InfranorCAN_AXIS_REF ................................................................... |
2 |
2 |
FEATURES |
3 |
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3 |
CAN-TRAFFIC |
4 |
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© 3S - Smart Software Solutions GmbH
InfranorCANdrive.doc |
Page 1 of 4 |
SoftMotion: DriveInterface: InfranorCAN
1 Parameters in PLC config
1.1BusInterface
wParam1 |
Not used |
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wParam2 |
Not used |
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dwParam1 |
Not used |
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dwParam2 |
Not used |
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1.2AxisGroup
wParam1 |
CAN channel No (typically 0) |
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wParam2 |
Baudrate in kBit (125, 250, 500, 1000) |
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wParam3 |
SYNC generator: |
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0: PLC generates SYNC (only possible if PLC is highly precise); |
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2: SYNC device generates SYNC (additional hardware needed) |
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wParam4 |
Not used |
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dwParam1 |
Reserved |
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dwParam2 |
Reserved |
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dwParam3 |
Not used |
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dwParam4 |
Not used |
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1.3supported Drive.wControlType
T / - no |
V/V no |
V/P no |
P/P yes |
PV/PV yes |
V/- no |
CONF yes |
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The cyclically sent data must consist of: fSetPosition and optionally fSetVelocity. The received data can consist of: fActPosition and/or fActVelocity.
1.4Additional structure InfranorCAN_AXIS_REF
name |
Type |
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byHomingCount |
BYTE |
internal use: cycles since homing is done |
bOldLimitActive |
BOOL |
internal use |
fVelocityAtLimit |
LREAL |
internal use |
siRegulatorOnCount |
SINT |
internal use |
bCaptureInput1FallEdge |
BOOL |
Trigger1 reacts on rising (TRUE) or falling (FALSE) edge |
bCaptureInput2FallEdge |
BOOL |
Trigger2 reacts on rising (TRUE) or falling (FALSE) edge |
strConfigFile |
STRING |
full name and path of config file |
acit |
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internal use |
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© 3S - Smart Software Solutions GmbH
InfranorCANdrive.doc |
Page 2 of 4 |
SoftMotion: DriveInterface: InfranorCAN
2 Features
o RegulatorOn, DriveStart
o Detecting and acknowledging errors
oreading/writing SoftMotion and drive parameters (to access index 0xaabb subindex 0xcc with length 0xdd in byte (only necessary for writing) use MC_Read/Write(Bool)Parameter with parameter number -16#ddaabbcc)
o any gearing factors (dwRatioTechUnitsDenom/iRatioTechUnitsNum)
o linear/rotary axes
o controlling modes: position
o drive internal homing (configure with object 0x6098 etc)
olatching: CAPTURE input (TriggerNumber = 1), INDEX input (TriggerNumber = 2). edge selection via InfranorCAN_AXIS_REF.bCaptureInput1/2FallEdge.
olimit switches should be connected to the drive. When the homing method is not active, an error is set if one of them gets FALSE.
o configuration from file
o configuration from dialogs in PLC config
osupported SYNC generators (to be set in PLC Configuration, AxisGroup) : PLC, SYNCDevice
© 3S - Smart Software Solutions GmbH
InfranorCANdrive.doc |
Page 3 of 4 |
SoftMotion: DriveInterface: InfranorCAN
3 CAN-Traffic
base load: |
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Telegram |
Data |
Bit length |
125 |
250 |
500 |
1 MBit/s |
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bytes |
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kBit/s |
kBit/s |
kBit/s |
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SYNC |
0 |
47 |
0,376 ms |
0,188 ms |
0,094 ms |
0,047 |
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ms |
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SDO |
8 |
111 |
0,888 ms |
0,444 ms |
0,222 ms |
0,111 |
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ms |
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overall |
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1,264 ms |
0,632 ms |
0,316 ms |
0,158ms |
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per drive :
Telegram |
Data |
Bit |
125 kBit/s |
250 kBit/s |
500 kBit/s |
1 MBit/s |
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bytes |
length |
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Control Word (6040), OpMode |
3 |
71 |
0,568 ms |
0,284 ms |
0,142 ms |
0,071 ms |
(6060) |
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Set data (60C1) without/with |
4/8 |
79/111 |
0,632 ms/ |
0,316 ms/ |
0,158 ms/ |
0,079 ms/ |
velocity |
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0,888 ms |
0,444 ms |
0,222 ms |
0,111ms |
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State Word (6041), capture |
4 |
79 |
0,632 ms |
0,316 ms |
0,158 ms |
0,079 ms |
inputs (3381) |
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Actual position (6063), |
4/8 |
79/111 |
0,632 ms/ |
0,316 ms/ |
0,158 ms/ |
0,079 ms/ |
optional:actual velocity (606C) |
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0,888 ms |
0,444 ms |
0,222 ms |
0,111ms |
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overall (no velocity) |
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2,464 ms |
1,232 ms |
0,616 ms |
0,308 ms |
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overall (set or act. velocity) |
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2,720 ms |
1,360 ms |
0,680 ms |
0,340 ms |
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overall (set and act. velocity) |
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2,976 ms |
1,488 ms |
0,744 ms |
0,372 ms |
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A cycle between 2 and 20 ms is supported.
max. number of |
125 |
250 |
500 |
1 MBit/s |
drives |
kBit/s |
kBit/s |
kBit/s |
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2 ms |
0/0/0 |
1/0/0 |
2/2/2 |
6/5/5 |
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3 ms |
0/0/0 |
1/1/1 |
4/3/3 |
9/8/7 |
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4 ms |
1/0/0 |
2/2/2 |
6/5/5 |
12/11/10 |
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5 ms |
1/1/1 |
3/3/2 |
7/6/6 |
15/14/13 |
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6 ms |
1/1/1 |
4/3/3 |
9/8/7 |
18/17/15 |
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8 ms |
2/2/2 |
6/5/5 |
12/11/10 |
25/23/21 |
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10 ms |
3/3/2 |
7/6/6 |
15/14/13 |
31/28/26 |
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12 ms |
4/3/3 |
9/8/7 |
18/17/15 |
38/34/31 |
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© 3S - Smart Software Solutions GmbH
InfranorCANdrive.doc |
Page 4 of 4 |