【EtherCAT】CiA402简介

目录

1、CiA402是CANopen协议的子协议

2、CiA402是 用于驱动和运动控制的CANopen设备配置文件

3、 CiA402主要由三部分组成

4、CiA介绍

4.1、操作模式

4.2、对象字典

5、一般对象字定义

6、详细对象字定义

7、Profile position mode

8、Homing mode

9、 Position control function

10、 Interpolated position mode

11、Profile velocity mode

12、Profile torque mode

13、Velocity mode

14、Cyclic synchronous position mode

15、Cyclic synchronous velocity mode

16、Cyclic synchronous torque mode

17、Optional application FE

        注：本文主要摘自CiA-402-2-version-3.0.0.pdf

1、CiA402是CANopen协议的子协议

        CANopen 协议是在 20 世纪 90 年代末，由总部位于德国纽伦堡的 CiA 组织—— CAN-in-Automation，（http://www.can-cia.org ）在 CAL（CAN Application Layer）的基础上发展而来。

                             

        目前 CANopen 协议已经在运动控制、车辆工业、轨道交通、电机驱动、工程机械、船舶海运等行业得到广泛的应用。CANopen子协议举例如下：

【中文译文】
用于通用I/O模块的CANopen设备配置文件(CiA 401)
用于驱动和运动控制的CANopen设备配置文件(CiA 402)
用于测量设备和闭环控制器的CANopen设备配置文件(CiA 404)
用于IEC 61131-3可编程控制器的CANopen接口和设备配置文件(CiA 405)
用于线性和旋转编码器的CANopen设备配置文件(CiA 406)
CANopen设备配置文件流体动力技术(CiA 408)
CANopen设备配置文件用于倾角计(CiA 410)
CANopen设备配置文件用于医疗设备(CiA 410)
412)卡车网关CANopen设备概要(CiA 413)
织布机CANopen设备概要(CiA 414)
移动机器CANopen传感器概要(CiA 415)
建筑门控制CANopen应用概要(CiA 416)
电梯控制系统CANopen应用概要(CiA 417)
电池和充电器CANopen设备概要(CiA 418/419)
挤压机下游设备CANopen应用概要(CiA 420)
火车车辆控制系统CANopen应用概要(CiA 421)
CANopen应用概要市政车辆的CANopen应用概要(CiA 422)
柴油发动机控制的CANopen应用概要(CiA 423/430)
轨道车辆车门控制系统的CANopen应用概要(CiA 424)
医疗诊断附加模块的CANopen应用概要(CiA 425)
轨道车辆外部照明的CANopen应用概要(CiA 426)
内部照明的CANopen应用概要(CiA 433)
实验室自动化系统的CANopen应用概要(CiA 434
工程机械(ci436)
基于电网的光伏系统CANopen应用概要(ci437) 
SIIS 2级设备CANopen应用概要
(ci443)起重机附加设备CANopen设备概要(ci444) 
as接口网关CANopen设备概要(ci446)
专用汽车附加设备CANopen应用概要(ci447)
泵CANopen设备概要(ci450)
CANopen设备概要PLCopen运动控制(ci452)
CANopen设备概要电源(ci453)
CANopen钻床应用概要(CiA 455)
能源测量CANopen设备概要(CiA 458)
车载称重设备CANopen设备概要(CiA 459)
称重设备CANopen设备概要(CiA 461)
物品检测设备CANopen设备概要(CiA 462)【英文原文】
CANopen device profile for generic I/O modules (CiA 401)
CANopen device profile for drives and motion control (CiA 402)
CANopen device profile for measuring devices and closed-loop controllers (CiA 404)
CANopen interface and device profile for IEC 61131-3 programmable controllers (CiA 405)
CANopen device profile for linear and rotary encoders (CiA 406)
CANopen device profile fluid power technology (CiA 408)
CANopen device profile for inclinometer (CiA 410)
CANopen profiles for medical devices (CiA 412)
CANopen device profile for truck gateways (CiA 413)
CANopen device profiles for weaving machines (CiA 414)
CANopen sensor profile for mobile machines (CiA 415)
CANopen application profile for building door control (CiA 416)
CANopen application profile for lift control systems (CiA 417)
CANopen device profiles for battery and charger (CiA 418/419)
CANopen profile for extruder down-stream devices (CiA 420)
CANopen application profile for train vehicle control systems (CiA 421)
CANopen application profile for municipal vehicles (CiA 422)
CANopen application profiles for diesel engine control (CiA 423/430)
CANopen application profile for rail vehicle door control systems (CiA 424)
CANopen application profile for medical diagnostic add-on modules (CiA 425)
CANopen application profile for exterior rail vehicle lighting (CiA 426)
CAnopen application profile for interior rail vehicle lighting (CiA 433)
CANopen profiles for laboratory automation systems (CiA 434)
CANopen application profile for construction machineries (CiA 436)
CANopen application profile for grid-based photovoltaic systems (CiA 437)
CANopen profile for SIIS level-2 devices (CiA 443)
CANopen device profile for crane add-on devices (CiA 444)
CANopen device profile for AS-Interface gateways (CiA 446)
CANopen application profile for special-purpose car add-on devices (CiA 447)
CANopen device profile for pumps (CiA 450)
CANopen device profile PLCopen motion control (CiA 452)
CANopen device profile power supply (CiA 453)
CANopen application profile for drilling machines (CiA 455)
CANopen device profile for energy measurements (CiA 458)
CANopen profile for on-board weighing devices (CiA 459)
CANopen profile for weighing devices (CiA 461)
CANopen device profile for item detection devices (CiA 462)

2、CiA402是 用于驱动和运动控制的CANopen设备配置文件

        目前最新CiA402协议，需要会员才可在canopen官网下载（http://www.can-cia.org ）。

        

3、 CiA402主要由三部分组成

        Part 1: General definitions，一般定义

        Part 2: Operation modes and application data，操作模式和应用数据

        Part 3: PDO mapping，PDO映射

4、CiA介绍

4.1、操作模式

        设备配置文件定义了几种操作模式。它们包括轮廓位置模式、自导模式、插补位置模式、轮廓速度模式、轮廓转矩模式、速度模式、循环同步位置模式、循环同步速度模式和循环同步转矩模式。

4.2、对象字典

        参考：【EtherCAT】ＣＯＥ对象字典与PDO映射简介-CSDN博客

        本规范中描述的所有应用程序对象都分组在对象字典中，并且由/CiA301/中定义的属性定义。所有对象应可通过网络访问，通过SDO实现有序的预定义样式。字典中的每个对象应该是通过使用16位索引和8位子索引唯一寻址。与通信相关的对象定义在/CiA301/和/CiA402-3/中。
指标6000h至9FFFh的标准化设备外形区域应包含所有此设备配置文件规范共有的应用程序对象。以下对象索引6045h、6047h、604Dh、604Eh、604Fh、6052h、6053h、
6054h、6055h、6056h、6057h、6058h、6059h、6089h、608Ah、608Bh、608Ch、608Dh、608Eh、6093h、6094h、6095h、6096h、6097h、60A0h、60A1h、60A2h、60F6h、60F7h、60F9h、60FBh、6410h、6504h、和6510 h。
对象可以通过网络分别读取和写入。在这个范围内的物体向上可实现到8轴。此外，还可以实现其他设备配置文件(例如。通用I/O模块或编码器)在CANopen驱动设备。这些可以打开设备配置文件可以实现，而不是一个或几个轴。

对于多轴设备，对象范围6000h ~ 67FFh的位移如下:
•6000h至67FFh:轴0
•6800h至6FFFh:轴1
•7000h至77FFh:轴2
•7800h至7FFFh:轴3
•8000h至87FFh:轴4
•8800h至8FFFh:轴5
•9000h至97FFh:轴6
•9800h至9FFFh:轴7
对象的类别和条目类别属性表明该对象是否应该是已实现(必选)或可能实现(可选)。

5、一般对象字定义

Device type object 1000h

 Error register object 1001h

 Identity object 1018h
 

Object 6402h: Motor type
Object 6403h: Motor catalogue number
Object 6404h: Motor manufacturer
Object 6405h: http motor catalogue address
Object 6406h: Motor calibration date
Object 6407h: Motor service period
Object 6503h: Drive catalogue number
Object 6505h: http drive catalogue address
 

Error codes
        They are defined in detail in the /CiA402-3/. They shall contain the 16-bit error code. Error codes from xx00 h to xx7Fh are defined in /CiA301/ or in Table 24. Error codes between xx80 h and xxFFh are used manufacturer-specific.

6、详细对象字定义

        Object 608Fh: Position encoder resolution
        Object 6090h: Velocity encoder resolution
        Object 6091h: Gear ratio
        Object 6092h: Feed constant
        Object 607Eh: Polarity

7、Profile position mode

        Object 607Ah: Target position
        Object 607Bh: Position range limit
        Object 607Dh: Software position limit
        Object 607Fh: Max profile velocity

        Object 6080h: Max motor speed
        Object 6081h: Profile velocity
        Object 6082h: End velocity
        Object 6083h: Profile acceleration
        Object 6084h: Profile deceleration
        Object 6085h: Quick stop deceleration
        Object 6086h: Motion profile type
        Object 60A3h: Profile jerk use
        Object 60A4h: Profile jerk
        Object 60C5h: Max acceleration
        Object 60C6h: Max deceleration

8、Homing mode

        （36种回零方式略）

        Object 607Ch: Home offset
        Object 6098h: Homing method
        Object 6099h: Homing speeds
        Object 609Ah: Homing acceleration
        Object 60B8h: Touch probe function
        Object 60B9h: Touch probe status
        Object 60BAh: Touch probe pos1 pos value
        Object 60BBh: Touch probe pos1 neg
        Object 60BCh：Touch probe 2 positive edge
        Object 60BDh: Touch probe 2 negative edge

9、 Position control function

        Object 6062h: Position demand value
        Object 6063h: Position actual internal value
        Object 6064h: Position actual value
        Object 6065h: Following error window
        Object 6066h: Following error time out
        Object 6067h: Position window
        Object 6068h: Position window time
        Object 60F4h: Following error actual value
        Object 60FAh: Control effort
        Object 60FCh: Position demand internal value
        Object 60F2h: Positioning option code
 

10、 Interpolated position mode

        Object 60C0h: Interpolation sub mode select
        Object 60C1h: Interpolation data record
        Object 60C2h: Interpolation time period
        Object 60C4h: Interpolation data configuration

11、Profile velocity mode

        Object 6069h: Velocity sensor actual value
        Object 606Ah: Sensor selection code
        Object 606Bh: Velocity demand value
        Object 606Ch: Velocity actual value
        Object 606Dh: Velocity window
        Object 606Eh: Velocity window time
        Object 606Fh: Velocity threshold
        Object 6070h: Velocity threshold time
        Object 60FFh: Target velocity
        Object 60F8h: Max slippage

12、Profile torque mode

        Object 6071h: Target torque
        Object 6072h: Max torque
        Object 6073h: Max current
        Object 6074h: Torque demand
        Object 6075h: Motor rated current
        Object 6076h: Motor rated torque
        Object 6077h: Torque actual value
        Object 6078h: Current actual value
        Object 6079h: DC link circuit voltage
        Object 6087h: Torque slope
        Object 6088h: Torque profile type

13、Velocity mode

        Object 6042h: vl target velocity
        Object 6043h: vl velocity demand
        Object 6044h: vl velocity actual value
        Object 6046h: vl velocity min max amount
        Object 6049h: vl velocity deceleration
        Object 6048h: vl velocity acceleration
        Object 604Ah: vl velocity quick stop
        Object 604Bh: vl set-point factor
        Object 604Ch: vl dimension factor

14、Cyclic synchronous position mode

        Object 60B0h: Position offset
        Object 60B1h: Velocity offset
        Object 60B2h: Torque offset

15、Cyclic synchronous velocity mode

16、Cyclic synchronous torque mode

17、Optional application FE

        Object 60FDh: Digital inputs
        Object 60FEh: Digital outputs