CANOPEN ELECTRONIC MOTOR 16th 16th iCC iCC - CiA CiA Nur Nurember emberg CANopen, a key factor in motor control systems for seeding applications by Jose A. Pulido CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
AGENDA CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR Company Profile System Overview Motor Communication Motor Application Profile Conclusion CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
COMPANY PROFILE CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR PRODUCT LINE AGRICULTURAL MACHINERY WINDSHIELD WIPERS & WASHERS TANK SYSTEMS SEED SPREADERS DRIVE SYSTEMS AIR SYSTEMS GAS SPRINGS STAMPING ASSEMBLIES R&D RESOURCES 2.3000 SQ M. TECHNICAL CENTER PRODUCT ENGINEERING PROTOTYPING LABORATORIES TESTING DOGA HEADQUARTER (BARCELONA, SPAIN) CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
AGENDA CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR Company Profile System Overview Motor Communication Motor Application Profile Conclusion CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
SYSTEM OVERVIEW CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR SEEDING APPLICATION Seeding machine capabilities are up to 48 motors Each row unit controls individually 2 motors Seed disk mounted to motor shaft Direct Drive Motor Based on CANopen Communications (new feature) CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
SYSTEM OVERVIEW CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR CANOPEN ELECTRONIC MOTOR Electronic Brushed DC Motor H bridge Driver Accurate speed & position control Hall sensor based on HALL technology Current sensor CAN communications Voltage Failure condition protections regulation (current, voltage, temperature, etc) PWM TO ADJUST THE SPEED High IP; up to IP69K µC CA CAN CO COMMUNICA ICATIO TION CAN Transceiver CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
AGENDA CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR Company Profile System Overview Motor Communication Motor Application Profile Conclusion CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
MOTOR COMMUNICATION CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR CAN COMMUNICATION NORMATIVE Manufacturer-specific profile CiA DSP 402, CANopen drive and motion CANopen control profile High-Layer Protocol (HLP) CiA DS 301, CANopen application layer and communication profile CAN ISO 11898-1 Data Link Layer CAN ISO 11898-2 Physical Layer CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
MOTOR COMMUNICATION CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR NETWORK CONFIGURATION Unique CANopen node-IDs Terminal (Node-1, Node-2) Node-ID assignment via calibration data ECU ECU Row Control Row Control Configuration/Control via SDO comms CANopen CANopen (polling mechanism) ECU ECU PDO comms not required ECU Motor ECU Motor Motor Motor Node2 Node2 Row N Row 1 Node1 Node1 CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
MOTOR COMMUNICATION CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR NETWORK INITIALIZATION Initialization (Master&Slave) from CiA-301 not supported by master The Resolution: Motor sends a boot-up message Master will configure/start motor operation If loss comms, same process to recover operation CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
MOTOR COMMUNICATION CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR EMERGENCY STOP Feature: Motor stops in case of any hazard/failure Physical line not available ->CANopen heartbeat service (solution) Process: Set heartbeat consumer time Master produces a heartbeat message If any hazard/failure is detected or loss of comms, motor will stop When heartbeat fault is clear, motor resumes operation CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
MOTOR COMMUNICATION CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR MEMORY RESOURCES Analysis of CANopen integration on memory resources: ROM usage: Read/write access functions in OD SDO/PDO comms functions RAM usage: Mandatory objects with write access Manufacturer objects with write access (calibration) Memory resources not impacted by CANopen integration Other features like flash bootloader / calibration could impact memory CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
AGENDA CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR Company Profile System Overview Motor Communication Motor Application Profile Conclusion CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
MOTOR APPLICATION PROFILE CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR CiA-402 DRIVE PROFILE CiA-402 Custom vs Standard Design Conformance Pros: Cons: Standard solution Tailor-made solution Integration Integration System flexibility System flexibility Resources Resources CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
MOTOR APPLICATION PROFILE CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR SIMPLIFIED MOTOR CONTROL Simplified CiA-402 FSM with automatic local transitions Custom design based on control mode (off, velocity, position) and target Control/Statusword become very generic when simplified version is implemented CiA-402 Motor Control Simplified Motor Control CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
MOTOR APPLICATION PROFILE CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR MOTOR ERROR MANAGEMENT CANopen emergency service not supported by master Error management via SDO comms: error status and command (clear error) Process: Controller stops motor when: Overload protection Blocked / stall protection Short-circuit protection HALL sensor error Heartbeat error When error condition is clear, motor resumes operation CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
MOTOR APPLICATION PROFILE CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR VELOCITY MODE CONTROLLER (I) Regulate motor speed to assure high seed spacing accuracy High accuracy from 20 RPM to 30 RPM for nominal torque Individual control to perform curve compensation Increase Decrease Rotation Rotation Disk 1 Disk 1 Disk 1 Disk 1 Disk 1 Speed Speed Radar Radar Disk 2 Disk 2 Disk 2 Disk 2 Disk 2 ROW 1 ROW 2 ROW 3 ROW n ROW N CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
MOTOR APPLICATION PROFILE CANOPEN MOTOR CANOPEN ELECTRONIC MOTOR VELOCITY MODE CONTROLLER (II) Closed-loop PID algorithm with an integral anti-windup circuit Acc / Dec linear ramps of 60 RPM /sec , max. speed of 60 RPM Clockwise rotation (CW), if viewed from shaft end CONFIDENTIAL INFORMATION - The contents of this presentation are property of DOGA, S.A. - The use of the contents, entire or partial, of this presentation is prohibited unless with previous consent of DOGA, S.A.
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