Festo SEC-AC-305-CO User manual

Manual
Commissioning of
the Servomotor−
Controller Type
SEC−AC−305−CO
SEC−AC−508−CO
Fieldbus protocol
CANopen
Manual
534 277
en 0802a
[715 651]
Smart Electromotor Controller

Contents and general instructions
I
Festo P.BE−SEC−AC−CO−EN en 0802a
Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 0802a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−SEC−AC−CO−EN. . . . . . . . . . . . . . . . . . . . . .
Order no. 534 277. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
© (Festo AG&Co.KG, D73726 Esslingen, Federal Republic of
Germany 2008)
Internet: http://www.festo.com
E−Mail: [e-mail]
The reproduction, distribution and utilisation of this docu
ment as well as the communication of its contents to others
without express authorisation is prohibited. Offenders will be
held liable for payment of damages. All rights reserved in
particular the right to register patents, utility models and
designs.

Contents and general instructions
II Festo P.BE−SEC−AC−CO−EN en 0802a

Contents and general instructions
III
Festo P.BE−SEC−AC−CO−EN en 0802a
Contents
Designated use VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on the use of this manual VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Trademarks IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Validity IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manuals on the SEC−AC IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Further documentation about CANopen X. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. Introduction 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 About this manual 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 How to use the CAN interface 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Cabling and pin assignment 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Description 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Pin assignment and setting of the node address 2−3. . . . . . . . . . . . . . . . . . . . . .
2.3 Absolute Maximum Ratings 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 General values 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 CAN−Bus 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 Function 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.2 Electrical features 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6 A−D converter 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.1 Function 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.2 Electrical features 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7 CAN bus cabling 2−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8 Cabling notes 2−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
IV Festo P.BE−SEC−AC−CO−EN en 0802a
3. Activation of CANopen 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Survey 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Activation by Terminal program 3−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Examples for the activation of CANopen communication 3−6. . . . . . . . . . . . . . .
3.4 Activation by Transfer window 3−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Access methods/SDO access 4−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Survey 4−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Access by SDO 4−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 SDO sequences to read or write parameters 4−6. . . . . . . . . . . . . . . . . .
4.2.2 SDO error messages 4−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3 Simulation of SDO accesses via RS232 4−8. . . . . . . . . . . . . . . . . . . . . .
4.3 PDO−Message 4−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1 Description of objects 4−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Objects for parametrizing PDOs 4−16. . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.3 Activation of PDOs 4−18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 SYNC−Message 4−19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 EMERGENCY message 4−20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Structure of an EMERGENCY message 4−20. . . . . . . . . . . . . . . . . . . . . . .
4.5.2 Objects 4−22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Node−Guarding 4−23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.1 Objects 4−24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7 Network management (NMT service) 4−27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Adjustment of parameters/Load and save set of parameters 5−1. . . . . . . . . .
5.1 Load and save set of parameters 5−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1 Survey 5−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.2 Objects 5−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Conversion factors (Factor Group) 5−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Survey 5−9
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Objects 5−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Power stage parameters 5−22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Survey 5−22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Objekte 5−23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
V
Festo P.BE−SEC−AC−CO−EN en 0802a
5.4 Current control and motor adaptation 5−32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.1 Survey 5−32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.2 Objects 5−33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Velocity controller and overspeed protection 5−43. . . . . . . . . . . . . . . . . . . . . . . . .
5.5.1 Survey 5−43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.2 Objects 5−43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Position Control Function 5−48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1 Survey 5−48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 Objects 5−51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7 Encoder settings 5−63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.1 Survey 5−63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.2 Objects 5−64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8 Sources for demand / actual value 5−78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.1 Survey 5−78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.2 Objects 5−78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9 Digital inputs and outputs 5−80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.1 Survey 5−80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.2 Objects 5−80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10 Homing switches (Limit / Reference switch) 5−84. . . . . . . . . . . . . . . . . . . . . . . . . .
5.10.1 Survey 5−84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10.2 Objects 5−84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Device Control/State diagram (State machine) 6−1. . . . . . . . . . . . . . . . . . . . . .
6.1 State diagram (State machine) 6−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.1 Survey 6−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.2 The state diagram of the servo controller (State machine) 6−4. . . . . . .
6.1.3 Controlword 6−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.4 Auslesen des Reglerzustands 6−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.5 Statusword 6−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.6 Objects 6−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
VI Festo P.BE−SEC−AC−CO−EN en 0802a
7. Operating modes/Adjustment of the Operating Mode 7−1. . . . . . . . . . . . . . . .
7.1 Adjustment of the Operating Mode 7−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.1 Survey 7−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.2 Objects 7−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Operating Mode "Homing mode" 7−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.1 Survey 7−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.2 Objects 7−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 Operating Mode (Profile Position Mode) 7−25. . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Survey 7−25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Objects 7−27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4 Profile Velocity Mode 7−42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.1 Survey 7−42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.2 Objects 7−44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5 Profile Torque Mode 7−56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.1 Survey 7−56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.2 Objects 7−59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Recommended components A−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Index B−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
VII
Festo P.BE−SEC−AC−CO−EN en 0802a
Designated use
The Controllers described in this manual are intended for
fitting into a machine or an automated system. You must
always observe the instructions in this manual concerning
safety and the designated use of the controllers.
The Controllers may only be used as follows:
inaccordance with designated use
inits original state
 without any modifications by the user
infaultless technical condition.
If additional commercially−available components such as sen
sors and actuators are connected, the specified limits for
pressures, temperatures, electrical data, torques, etc. must
not be exceeded.
Please observe the standards specified in the relevant
chapters and comply with technical regulations, as well as
with national and local regulations.

Contents and general instructions
VIII Festo P.BE−SEC−AC−CO−EN en 0802a
Target group
This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
installing, commissioning, programming and diagnosing posi
tioning systems and servo controllers.
Service
Please consult your local Festo repair service if you have any
technical problems.
Notes on the use of this manual
The information and data contained in this document have
been composed to the best of our knowledge. However, devi
ations between this document and the product cannot be
excluded entirely. The manufacturer does not accept liability
for any resulting errors or consequential damage. Neither will
any liability be accepted for damage resulting from the use of
the device or applications or from damaged circuits in the
device. The manufacturer reserves the right to modify, amend
or improve the document or the product without prior noti
fication. This document may not, neither entirely nor in part,
be reproduced, translated into any other natural or machine−
readable language or transferred to data carriers, neither
electronically, mechanically, optically nor any other way −
without expressive authorisation by the author.

Contents and general instructions
IX
Festo P.BE−SEC−AC−CO−EN en 0802a
Trademarks
Any product names in this document may be registered
trademarks. The sole purpose of any trademarks in this docu
ment is the identification of the corresponding products.
Validity
The publication of this version renders all previous versions
of this manual invalid.
Manuals on the SEC−AC
Type Title Description
Fitting and
installation
manual
Fitting and installation",
typeP.BE−SEC−AC−HW−...
Information on fitting and installing the motor
controller SEC−AC.
Commis
sioning
manual
CommisioningSEC−AC"
type P.BE−SEC−AC−SW−...
Information on commissioning and diagnosing
the motor controller SEC−AC.
Field bus
coupling
manual
CommissioningSEC−AC
with field bus coupling
CANopen"
type P.BE−SEC−AC−CO−...
Supplementary information on commissioning
and diagnosing the motor controller SEC−AC
with CANopen field bus coupling.
CommissioningSEC−AC
with field bus coupling
Profibus DP"
type P.BE−SEC−AC−PB−...
Supplementary information on commissioning
and diagnosing the motor controller SEC−AC
with CANopen field bus coupling.
Software WMEMOC",
type WMEMOC−3.3
Parametrizing program for the SEC−AC.
Fig.0/1: Manuals on the SEC−AC

Contents and general instructions
XFesto P.BE−SEC−AC−CO−EN en 0802a
Further documentation about CANopen
CANopen is a standard established by the association "CAN
in Automation" . A great number of device manufacturers are
organised in this association. Therefore we may suppose that
this standard will gradually replace all manufacturer−specific
CAN protocols in use and a manufacturer independent com
munication interface will be soon available for the user:
 CiA Draft Standard 201...207: In this book the general
network administration and the transfer of objects are
determined. This book is rather comprehensive. The rel
evant aspects are treated in the Technical Documentation
CANopen in hand so that it is not necessary in general to
acquire the DS201..207.
 CiA Draft Standard 301: In this book the basic structure of
the object dictionary of a CANopen device and the access
to this directory are described. Besides this the state
ments made in the DS201..207 are described in detail.
The elements needed for the servo controller families ARS
and IMD−F of the object directory and the access methods
which belong to them are described in the present man
ual. It is advisable to acquire the DS301 but not necess
ary.
 CiA Draft Standard 402: This book describes the concrete
implementation of CANopen in servo controllers. Though
all implemented objects are also briefly documented and
described in this Technical Documentation CANopen the
user should own this book.
Order address
CAN in Automation (CiA) International Headquarter
Am Weichselgarten 26
91058 Erlangen / Germany
Tel. +49−(0)9131−601091
Fax:+49−(0)9131−601092

Contents and general instructions
XI
Festo P.BE−SEC−AC−CO−EN en 0802a
Important user instructions
Danger categories
This manual contains instructions on the possible dangers
which may occur if the product is not used correctly. These
instructions are marked (Warning, Caution, etc), printed on a
shaded background andmarked additionally with a picto
gram. A distinction is made between the following danger
warnings:
Warning
... This means that failure to observe this instruction may
result in serious personal injury or damage to property.
Caution
... This means that failure to observe this instruction may
result in personal injury or damage to property.
Please note
... This means that failure to observe this instruction may
result in damage to property.
The following pictogram marks passages in the text which
describe activities with electrostatically sensitive compo
nents.
Electrostatically sensitive components may be damaged if
they are not handled correctly.

Contents and general instructions
XII Festo P.BE−SEC−AC−CO−EN en 0802a
Marking special information
The following pictograms mark passages in the text contain
ing special information.
Pictograms
Information:
Recommendations, tips and references to other information
sources.
The parameters thus marked affect the internal controller
structure and must be used with caution.
Accessories:
Information on necessary or sensible accessories for the
Festo product.
Text markings
·The bullet indicates activites which may be carried out in
any order.
1. Figures denote activities which must be carried out in the
numerical order specified.
 Hyphens indicate general activities.

Contents and general instructions
XIII
Festo P.BE−SEC−AC−CO−EN en 0802a
Safety instructions
Pay attention to the safety notes!
Warning
Noncompliance of the safety notes may cause personal or
property damage.
Inside the SEC−AC and on its connections there are high
voltages which can be extremely dangerous.
Switch off the power supply of the SEC−AC, the PC and the
motor, therefore, and wait for at least 5 minutes in order
that the intermediate circuit can discharge before you con
nect or disconnect any plugs.
Warning
During installation, commissioning and maintenance you
must observe the safety and accident prevention regula
tions valid for the specific application.
The following regulations apply but are not guaranteed to
be complete:
 VDE 0100: Regulations for the installation of
high voltage (up to 1000 V) devices
EN60 204−1: Electric systems with electronic
operating media
EN50 178: Equipment for high voltage systems
with electronic operating media
EN61 800−3: Electric drives with adjustable speed
EN292
EN954

Contents and general instructions
XIV Festo P.BE−SEC−AC−CO−EN en 0802a

Introduction
1−1Festo P.BE−SEC−AC−CO−EN en 0802a
Chapter 1

1. Introduction
1−2 Festo P.BE−SEC−AC−CO−EN en 0802a
Contents
1.1 About this manual 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 How to use the CAN interface 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Introduction
1−3
Festo P.BE−SEC−AC−CO−EN en 0802a
1.1 About this manual
This manual describes how to parametrize and control the
servo controller of the family SEC−AC−... by using the standar
dised protocol CANopen. The adjustment of the physical
parameters, the activation of the CANopen protocol, the
embedding into a CAN network and the communication with
the controller will be explained.
1.2 How to use the CAN interface
The CAN interface is a unit of components which can be ac
quired as a plug−in module for the servo controllers of the
family SEC−AC−...
The plug−in unit is delivered already installed in the servo
controller SEC−AC−...−CO.
Once a CAN unit is plugged into the controller it is automati
cally identified by the controller but not activated.
The standard firmware of the servo controllers from version 6
onwards contains the features of CANopen.
If a CAN module is plugged into the controller the features of
CANopen have to be activated once via RS232.
Preferably this should be done via the parameter set−up pro
gram.

1. Introduction
1−4 Festo P.BE−SEC−AC−CO−EN en 0802a