Stober SD6 Series User manual

Manual
ID 442637.0006/2015en

ID 442637.00 2WE KEEP THINGS MOVING
Table of contents
Manual CANopen
Table of contents
1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .4
1.1 Further documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1.1 CiA specifications .. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1.2 Website downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Technical support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 Instructions for use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4 Abbreviations, symbols, indexes . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.5 Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .7
2.1 Operation in accordance with its intended use . . . . . . . . . . . . . . 7
2.2 Component part of the product . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.5 Working on the machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.6 Disposal .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.7 Presentation of notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . 8
3 Communication Module CA6 . . . . . . . . . . . . . . . . . . . . . . .. . . . .9
3.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .10
4.1 CAN bus - Network structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.2 Connection .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.2.1 Selection of suitable lines .. . . . . . . . . . . . . . . . . . . . . 10
4.2.2 SD6 - Terminal X200 . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.2.3 MC6 - CANopen interface . . . . . . . . . . . . . . . . . . . . . 12
4.2.4 States of the bus communication . . . . . . . . . . . . . . . . 12
5 Commissioning - SD6 and MC6 with CANopen . . . . . . . . . .14
5.1 DS6: Configure drive controller . . . . . . . . . . . . . . . . . . . . . . . . . 14
5.1.1 Activate CA6 and CiA402 .. . . . . . . . . . . . . . . . . . . . . 14
5.1.2 Configure global CANopen settings . . . . . . . . . . . . . . 15
5.1.3 Check PDO communication . . . . . . . . . . . . . . . . . . . . 16
5.1.4 Transfer project configuration .. . . . . . . . . . . . . . . . . . 17
5.1.5 Save project configuration . . . . . . . . . . . . . . . . . . . . . 18
5.2 CODESYS: set up CAN network . . . . . . . . . . . . . . . . . . . . . . . . 18
5.2.1 Install EDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.2.2 Map CAN bus system .. . . . . . . . . . . . . . . . . . . . . . . . 19
5.2.3 Map CANopen Manager .. . . . . . . . . . . . . . . . . . . . . . 19
5.2.4 Map drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.3 Configure data exchange .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3.1 Configure CAN bus system . . . . . . . . . . . . . . . . . . . . 20
5.3.2 Configure CANopen Manager . . . . . . . . . . . . . . . . . . 20

ID 442637.00 3WE KEEP THINGS MOVING
Table of contents
Manual CANopen
5.3.3 Configure drive controller . . . . . . . . . . . . . . . . . . . . . . 22
5.4 Compile project configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.5 Transfer project configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6 More about CANopen? . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .26
6.1 CAN bus and CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.1.1 CANopen – Communication .. . . . . . . . . . . . . . . . . . . 26
6.1.2 Object directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.1.3 Network structure .. . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.2 CAN message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.2.1 COB-ID .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.3 Communication objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.3.1 Process Data Object - PDO . . . . . . . . . . . . . . . . . . . . 31
6.3.2 Service Data Object - SDO . . . . . . . . . . . . . . . . . . . . 33
6.3.3 Network Management Object - NMT . . . . . . . . . . . . . 39
6.3.4 Error Control Objects - ERROR . . . . . . . . . . . . . . . . 40
6.3.5 Synchronization Object - SYNC .. . . . . . . . . . . . . . . . 42
6.3.6 Emergency Objects - EMCY .. . . . . . . . . . . . . . . . . . . 42
7 Object directory - References .. . . . . . . . . . . . . . . . . . . . . . . . . .46
7.1 Communication objects - CiA DS 301 . . . . . . . . . . . . . . . . . . . 46
7.2 Communication objects - CiA DS 402 . . . . . . . . . . . . . . . . . . . 50
7.3 Communication objects - 
STOBER-specific parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 53

ID 442637.00 4WE KEEP THINGS MOVING
General Information
1
Manual CANopen
1 General Information
The new SD6 drive controller offers maximum precision and productivity for
automation technology and machine manufacturing despite ever more
complex functions. Highly dynamic drives ensure the shortest recovery times
from fast changes in reference value and load jumps. You also have the option
of connecting the drive controllers in a DC intermediate circuit, which improves
the energy footprint of the entire system.
Properties
• Large power range using 4 sizes
• Quick DC-Link: Innovative installation concept for the DC link connection
• Very good control performance
• Easy to service
• Isochronous system bus (in preparation)
• Modular safety technology (in preparation)
• Free, graphical programming in accordance with IEC 61131-3 CFC (in
preparation)
1.1 Further documentation
The documentation listed in the following table provides relevant information on
the SD6 drive controller. 
You can find the latest document versions at www.stoeber.de.
Device/software Documentation Contents ID
SD6 drive controllers Manual Technical data,
installation,
connection, setup,
commissioning and
customer service
442426
SD6 drive controllers Commissioning
instructions
Installation and
functional test
442537
Controller Based Mode
(CBM) application
Manual Operation and
setup,
commissioning
442454
MC6 Motion Controller Manual Projecting,
installation,
connection, setup,
customer service
and maintenance
442461

ID 442637.00 5WE KEEP THINGS MOVING
General Information
1
Manual CANopen
1.1.1 CiA specifications
• CANopen communication profile; this specification describes the important
services and protocols under CANopen: 
CiA DS 301 V4.02 – CANopen application layer and communication profile
• CANopen Framework for programmable devices: 
CiA DSP 302 V3.0 – CANopen application layer and communication profile
• CANopen device profiles; these specifications describe the behavior of
many device classes:
CiA DS 402 V2.0 – CANopen device profile drives and motion control,
CiA DS 40x
• Recommendations for cable and plug connector: 
CiA DRP 303-1, ISO 11898-2
• CANopen – Standardization as European Norm: 
EN 50325-4 2002 Part 4: CANopen
1.1.2 Website downloads
Information about CANopen
You can find further general information about CAN and CANopen on the CiA
website "CAN in Automation" (www.can-cia.org).
Different CiA specifications as well as a dictionary covering CAN terminology
is available in the CAN download area (see www.can-cia.org/index.php?id=6).
SD6 – Device description
You can get an EDS file for simple integration of the drive controller SD6 in
CODESYS at www.stoeber.de.
CODESYS programing and project planning software
A current version of the CODESYS software as well as detailed software
documentation is available in the CODESYS download area at 
http://de.codesys.com/.
1.2 Technical support
If you have technical questions that are not answered by this document, please
contact:
• Phone: [phone]
• E-mail: [e-mail]
If you have questions about training sessions, please contact:
• E-mail: [e-mail]

ID 442637.00 6WE KEEP THINGS MOVING
General Information
1
Manual CANopen
1.3 Instructions for use
This documentation supports you with the installation and connection of the
CA6 communication module for connecting the SD6 drive controller to the
CANopen bus system.
Special knowledge
To be able to put the SD6 communication module into operation with the
STOBER MC6 controller, you should know the basics of CANopen. Intensive
training on the CiA specifications concerned is not necessary.
Technical requirements
Before putting the CA6 communication module into operation, you have to wire
the SD6 drive controller and initially check its correct function. To do this, follow
the instructions in the commissioning instructions of the SD6 drive controller.
1.4 Abbreviations, symbols, indexes 1.5 Trademarks
The following names that are used in conjunction with the device, its optional
equipment and its accessories are trademarks or registered trademarks of
other companies:
All other trademarks that are not listed here are the property of their respective
owners.
Abbreviations
CAN Controller Area Network
CBM Controller Based Mode
CiA CAN in Automation
COB-ID Communication Object Identification
DBT Distributor
I/O Input/Output
EMCY Emergency Message
GND Ground
IGB Integrated Bus
LSB Least Significant Byte
LSW Least Significant Word
MSB Most Significant Byte
MSW Most Significant Word
NMT Network Management
PDO Process Data Object
RxD Received Data
R T R R e m o t e T r a n s m i t R e q u e s t
SDO Service Data Object
PLC Programmable logic controller
SYNC Synchronization Message
TxD Transmitted Data
Trademarks
CANopen,
CiA
CANopen and CiA are registered Community trademarks
of CAN in Automation e.V., Nuremberg, Germany.
CODESYS CODESYS is a registered trademark of 3S-Smart
Software Solutions GmbH, Kempten, Germany.
Microsoft,
Windows,
Windows XP,
Windows 7
Microsoft, Windows, Windows XP and the Windows logo
are registered trademarks of Microsoft Corporation in the
USA and/or other countries.
Abbreviations

ID 442637.00 7WE KEEP THINGS MOVING
Notes on safety
2
Manual CANopen
2 Notes on safety
The devices can represent a source of danger. Therefore observe
• the safety guidelines
• technical rules and regulations given in the following sections and points.
STOBER shall assume no liability for damage resulting from failure to comply
with the instruction manual or relevant regulations. We reserve the right to
make technical changes for the purpose of improving the devices.
2.1 Operation in accordance with its intended
use
As defined by DIN EN 50178 (previously VDE 0160), the drive controllers are
electrical equipment operating as power electronics to control the flow of
energy in high voltage systems. They are designed exclusively for installation
in switching cabinets, protection class at least IP54, and for supplying
• synchronous servo motors and
• asynchronous motors.
Designated use does not include connecting other electrical loads!
2.2 Component part of the product
The technical documentation is a component part of a product.
• Since the technical documentation contains important information, always
keep it handy in the vicinity of the device until the machine is disposed of.
• If the product is sold, disposed of, or rented out, always include the
technical documentation with the product.
2.3 Risk assessment
Before the manufacturer may bring a machine onto the market, he must
conduct a risk assessment according to Machine Directive 06/42/EC. As a
result, the risks associated with the use of the machine are determined. The
risk assessment is a multi-stage and iterative process. On no account can
sufficient insight into the Machine Directive be given as part of this
documentation. For this reason, seek detailed information about the norms and
legal position. When installing the drive controller in machines, commissioning
is forbidden until it has been determined that the machine meets the
requirements of EC Directive 06/42/EC.
2.4 Qualified personnel
Devices may cause residual risks. For this reason, all work on the devices as
well as operation and disposal must only be performed by qualified personnel
who are aware of the possible dangers.
Qualified personnel are persons who have acquired the authorisation to
perform these activities by
• Training from specialists and/or
• Instruction from specialists
In addition, they must have
• read,
• understood and
• observed the applicable regulations, legal provisions, rules and standards
and existing technical documentation including the safety information
contained in it.

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Notes on safety
2
Manual CANopen
2.5 Working on the machine
Apply the 5 safety rules in the order stated before performing any work on the
machine:
1. Disconnect.
Also ensure that the auxiliary circuits are disconnected.
2. Protect against being turned on again.
3. Check that voltage is not present.
4. Ground and short circuit.
5. Cover or block off adjacent live parts.
2.6 Disposal
Please comply with the latest national and regional regulations! Dispose of the
individual parts separately depending on their nature and currently valid
regulations such as, for example:
• Electronic scrap (PCBs)
• Plastic
• Sheet metal
• Copper
•Aluminum
2.7 Presentation of notes on safety
NOTICE
Notice
means that property damage may occur
if the stated precautionary measures are not taken.
CAUTION!
Caution
with warning triangle means that minor injury may occur
if the stated precautionary measures are not taken.
WARNING!
Warning
means that there may be a serious danger of death
if the stated precautionary measures are not taken.
DANGER!
Danger
means that serious danger of death exists
if the stated precautionary measures are not taken.
Information
Note that the discharge time of the DC link capacitors is up to 5
minutes. You can only determine the absence of voltage after this
time period.
Information
refers to important information about the product or serves to
emphasize a section in the documentation to which the reader
should pay special attention.

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Communication Module CA6
3
Manual CANopen
3 Communication Module CA6
With the CA6 communication module, SD6 provides a universal fieldbus
interface for a connection of the drive controller to higher-level control systems
via CANopen.
CA6 fully complies with the CANopen standard and allows direct access to all
relevant drive parameters and functions.
SD6 itself is parameterized via Service Data Objects (SDO) and controlled via
fast cyclic Process Data Objects (PDO) that assign target positions, travel
speeds or acceleration specifications, for example.
3.1 Installation
Installation work is only admissible when no voltage is present. Observe the 5
safety rules.
Remove the additional covers before commissioning so that the device will not
overheat.
Note the minimum open areas specified in the technical data during installation
to prevent the drive controller from overheating.
Protect the device against falling parts (bits or strands of wire, pieces of metal,
etc.) during installation or other work in the control cabinet. Parts with
conductive properties may result in a short circuit or device failure within the
drive controller.
WARNING!
Danger of personal injury and material damage due to electric shock!
Always switch off all power supply voltage before working on the drive
controller! Note that the discharge time of the DC link capacitors is up to 5
minutes. You can only determine the absence of voltage after this time
period.
CAUTION!
Danger of material damage due for example to electrostatic discharge!
Take suitable protective measures when handling open printed circuit
boards, for example clothing appropriate for ESD and an environment free
of dirt and grease.
Do not touch the contact surfaces.
CA6 is installed on the upper slot of the drive controller.
You need:
• A Torx screwdriver TX10.
• The cover and screw included with the communication module.
Installation of the communication module
1. Loosen the fastening screw for the dummy cover on the top of the drive
controller.
2. Push the communication module into the drive controller on the guide
rails.
3. Push the module in so that the pin contacts are pushed into the female
connector strip.
4. Insert the tips of the cover included with the communication module into
the recess in the front at an angle.
5. Set the cover down on the drive controller so that the tips are resting under
the edge.
6. Fasten the cover with the two screws.

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Electrical installation
4
Manual CANopen
4 Electrical installation
4.1 CAN bus - Network structure
CAN operates as standard with a linear topology where all subscribers
(masters and slaves) are connected to each other via three shielded lines:
CAN-High and CAN-Low; a line for the reference ground between the
subscribers is also provided.
To prevent superimposed data due to signal reflections at both bus ends and
so significantly reduce failure susceptibility, termination resistors of 120 Ωare
connected between CAN-H and CAN-L.
The following figure abstracts a CANopen network consisting of a MC6
controller as master as well as several SD6 drive controllers as bus
subscribers, i.e. slaves.
One of the two necessary termination resistors is integrated in the MC6
CANopen interface and permanently activated; the second must be connected
to the last subscribing SD6 (X200: sliding switch set to "On"). Connecting the
termination resistors is also necessary for very short lines.
4.2 Connection
To be able to connect individual drive controllers to each other or to the MC6
controller, CA6 and MC6 each have their own interfaces in the form of 9-pin
Sub-D connectors for connecting to the CAN bus system.
4.2.1 Selection of suitable lines
4.2.1.1 CAN cable and plug connector
CAN cable
CAN bus lines are available with different sheath materials for different
application scenarios and environmental conditions.
For the transfer of CAN signals, at least a 3-pin cable with CAN-High, CAN-Low
and a reference ground is required.
To ensure correct operation – particularly at high transfer rates – we
recommend using bus lines that meet the requirements stated in ISO 11898-2,
for example:
• Ripple resistance: 95 – 140 Ω
• Maximum mutual capacitance: 60 nF/km
• Conductor resistance: 70 mΩ/m
Plug connector
9-pin Sub-D connectors with metal housings or housings made of metalized
plastic are suitable as plug connectors at the start and at the end of a CAN bus
line; plug connectors with two cable inlets are advantageous for looping
through.