Maxon EPOS4 Manual de uso y cuidado
Table of Contents
EPOS4 Communication Guide
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1 ABOUT THIS DOCUMENT 3
2 USB & RS232 COMMUNICATION 7
2.1 EPOS4 USB & RS232 Command Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Data Link Layer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3 Physical Layer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3 CAN COMMUNICATION 21
3.1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 CANopen Basics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3 CANopen Application Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4 Identifier Allocation Scheme . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.5 Layer Setting Services (LSS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4 ETHERCAT COMMUNICATION 41
4.1 Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.2 EtherCAT State Machine (ESM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.3 Integration of ESI Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.4 Error Code Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5 GATEWAY COMMUNICATION (USB OR RS232 TO CAN) 45
6 COMMUNICATION ERROR CODE DEFINITION 47
TABLE OF CONTENTS
READ THIS FIRST
These instructions are intended for qualified technical personnel. Prior commencing with any activities…
• you must carefully read and understand this manual and
• you must follow the instructions given therein.
EPOS4 positioning controllers are considered as partly completed machinery according to EU Directive 2006/42/EC, Article 2,
Clause (g) and are intended to be incorporated into or assembled with other machinery or other partly completed
machinery or equipment.
Therefore, you must not put the device into service,…
• unless you have made completely sure that the other machinery fully complies with the EU directive’s requirements!
• unless the other machinery fulfills all relevant health and safety aspects!
• unless all respective interfaces have been established and fulfill the herein stated requirements!
About this Document
EPOS4 Communication Guide
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1 ABOUT THIS DOCUMENT
The present document provides you with information on the EPOS4 communication interfaces.
Find the latest edition of the present document as well as additional documentation and software for EPOS4
positioning controllers also on the Internet: http://epos.maxongroup.com.
1.1 Intended Purpose
The purpose of the present document is to familiarize you with the described equipment and the tasks on
safe and adequate installation and/or commissioning. Follow the described instructions …
• to avoid dangerous situations,
• to keep installation and/or commissioning time at a minimum,
• to increase reliability and service life of the described equipment.
The present document is part of a documentation set and contains performance data and specifications,
information on fulfilled standards, details on connections and pin assignment, and wiring examples. The
below overview shows the documentation hierarchy and the interrelationship of its individual parts:
Figure 1-1 Documentation structure
About this Document
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1.2 Target Audience
The present document is intended for trained and skilled personnel. It conveys information on how to under-
stand and fulfill the respective work and duties.
The present document is a reference book. It does require particular knowledge and expertise specific to
the equipment described.
1.3 How to use
Take note of the following notations and codes which will be used throughout the document.
Table 1-1 Notations used in this document
1.3.1 Trademarks and Brand Names
For easier legibility, registered brand names are listed below and will not be further tagged with their respec-
tive trademark. It must be understood that the brands (the below list is not necessarily concluding) are pro-
tected by copyright and/or other intellectual property rights even if their legal trademarks are omitted in the
later course of this document.
Table 1-2 Brand names and trademark owners
Notation Explanation
EPOS4 stands for “EPOS4 Positioning Controller”
«Abcd» indicates a title or a name (such as of document, product, mode, etc.)
(n) refers to an item (such as part numbers, list items, etc.)
denotes “see”, “see also”, “take note of” or “go to”
Brand Name Trademark Owner
Adobe® Reader® © Adobe Systems Incorporated, USA-San Jose, CA
CANopen®
CiA® © CiA CAN in Automation e.V, DE-Nuremberg
EtherCAT® © EtherCAT Technology Group, DE-Nuremberg, licensed by Beckhoff Automation
GmbH, DE-Verl
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EPOS4 Communication Guide
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1.4 Sources for additional Information
For further details and additional information, please refer to below listed sources:
Table 1-3 Sources for additional information
1.5 Copyright
This document is protected by copyright. Any further use (including reproduction, translation, microfilming,
and other means of electronic data processing) without prior written approval is not permitted. The men-
tioned trademarks belong to their respective owners and are protected under intellectual property rights.
© 2019 maxon. All rights reserved. Subject to change without prior notice.
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Item Reference
[1] CAN in Automation's CAN Specification 2.0
www.can-cia.org
[2] CiA 301 CANopen application layer and communication profile
www.can-cia.org
[3] CiA 305 CANopen Layer setting services (LSS) and protocols
www.can-cia.org
[4] CiA 306 CANopen Electronic device description
www.can-cia.org
[5] CiA 402 CANopen Drives and motion control device profile
www.can-cia.org
[6] ETG.1000 EtherCAT Specification
www.ethercat.org
[7] ETG.1020 EtherCAT Protocol Enhancements Specification
www.ethercat.org
[8] ETG.2000 EtherCAT Slave Information (ESI) Specification
www.ethercat.org
[9] IEC 61158-x-12: Industrial communication networks – Fieldbus specifications
(CPF 12)
[10] IEC 61800-7: Adjustable speed electrical power drives systems (Profile type 1)
[11] EN 5325-4 Industrial communications subsystem based on ISO 11898 (CAN) for
controller device interfaces Part 4: CANopen
[12] USB Implementers Forum: Universal Serial Bus Revision 2.0 Specification:
www.usb.org/developers/docs/usb20_docs/
maxon motor ag
Brünigstrasse 220
CH-6072 Sachseln
+41 41 666 15 00
www.maxongroup.com
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EPOS4 Communication Guide
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USB & RS232 Communication
EPOS4 USB & RS232 Command Reference
EPOS4 Communication Guide
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2 USB & RS232 COMMUNICATION
2.1 EPOS4 USB & RS232 Command Reference
2.1.1 Read Functions
2.1.1.1 ReadObject
Read an object value from the Object Dictionary at the given Index and Subindex.
2.1.1.2 InitiateSegmentedRead
Start reading an object value from the Object Dictionary at the given Index and Subindex.
Request Frame
OpCode BYTE 0x60
Len BYTE 2 (number of words)
Parameters
BYTE Node-ID
WORD Index of Object
BYTE Subindex of Object
Response Frame
OpCode BYTE 0x00
Len BYTE 4 (number of words)
Parameters DWORD “Communication Error Code Definition” on page 6-47
BYTE [4] Data Bytes Read
Request Frame
OpCode BYTE 0x81
Len BYTE 2 (number of words)
Parameters
BYTE Node-ID
WORD Index of Object
BYTE Subindex of Object
Response Frame
OpCode BYTE 0x00
Len BYTE 5…132 (number of words)
Parameters
DWORD “Communication Error Code Definition” on page 6-47
DWORD Object Data Length (total number of bytes)
BYTE Length (max. 255 bytes)
BYTE [0…254] Data Bytes Read
USB & RS232 Communication
EPOS4 USB & RS232 Command Reference
EPOS4 Communication Guide
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2.1.1.3 SegmentRead
Read a data segment of the object initiated with the command «InitiateSegmentedRead».
Request Frame
OpCode BYTE 0x62
Len BYTE 1 (number of words)
Parameters BYTE [Bit 0]
[Bit 1…7]
ControlByte Toggle Bit
Not used
BYTE Dummy Byte without meaning
Response Frame
OpCode BYTE 0x00
Len BYTE 3…131 (number of words)
Parameters
DWORD “Communication Error Code Definition” on page 6-47
BYTE Length (max. 255 bytes)
BYTE
[Bit 0]
[Bit 1]
[Bit 2…7]
ControlByte Toggle Bit
Last Data Segment
Not used
BYTE [0…254] Data Bytes Read
BYTE Dummy Byte when length odd
USB & RS232 Communication
EPOS4 USB & RS232 Command Reference
EPOS4 Communication Guide
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2.1.2 Write Functions
2.1.2.1 WriteObject
Write an object value to the Object Dictionary at the given Index and Subindex.
2.1.2.2 InitiateSegmentedWrite
Start writing an object value to the Object Dictionary at the given Index and Subindex. Use the command
«SegmentWrite» to write the data.
Note that gateway communication is not supported.
Request Frame
OpCode BYTE 0x68
Len BYTE 4 (number of words)
Parameters
BYTE Node-ID
WORD Index of Object
BYTE Subindex of Object
BYTE [4] Data Bytes to write
Response Frame
OpCode BYTE 0x00
Len BYTE 2 (number of words)
Parameters DWORD “Communication Error Code Definition” on page 6-47
Request Frame
OpCode BYTE 0x69
Len BYTE 4 (number of words)
Parameters
BYTE Node-ID
WORD Index of Object
BYTE Subindex of Object
DWORD Object Data Length (total number of bytes)
Response Frame
OpCode BYTE 0x00
Len BYTE 2 (number of words)
Parameters DWORD “Communication Error Code Definition” on page 6-47
USB & RS232 Communication
EPOS4 USB & RS232 Command Reference
EPOS4 Communication Guide
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2.1.2.3 SegmentWrite
Write a data segment to the object initiated with the command «InitiateSegmentedWrite».
Note that gateway communication is not supported.
2.1.2.4 SendNMTService
Send a NMT service. For example, change the NMT state or reset the device.
Request Frame
OpCode BYTE 0x6A
Len BYTE 1…129 (number of words)
Parameters
BYTE Length (max. 255 bytes)
BYTE
[Bit 0]
[Bit 1]
[Bit 2…7]
ControlByte Toggle Bit
Last Data Segment
Not used
BYTE [0…254] Data Bytes to write
BYTE Dummy Byte when length odd
Response Frame
OpCode BYTE 0x00
Len BYTE 3 (number of words)
Parameters
DWORD “Communication Error Code Definition” on page 6-47
BYTE Length written (max. 255 bytes)
BYTE [Bit 0]
[Bit 1…7]
ControlByte Toggle Bit
Not used
Request Frame
OpCode BYTE 0x70
Len BYTE 2
Parameters
WORD Node-ID
WORD CmdSpecifier
1
2
128
129
130
Start Remote Node
Stop Remote Node
Enter Pre-Operational
Reset Node
Reset Communication
Response Frame
OpCode BYTE 0x00
Len BYTE 2 (number of words)
Parameters DWORD “Communication Error Code Definition” on page 6-47
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