CANopen, a key factor in motor control systems for seeding - - PowerPoint PPT Presentation

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CANOPEN ELECTRONIC MOTOR

CANopen, a key factor in motor control systems for seeding applications

16th 16th iCC iCC - CiA CiA Nur Nurember emberg

by Jose A. Pulido

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CANOPEN ELECTRONIC MOTOR

 Company Profile  System Overview  Motor Communication  Motor Application Profile  Conclusion

AGENDA

CANOPEN MOTOR

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CANOPEN ELECTRONIC MOTOR

COMPANY PROFILE

CANOPEN MOTOR

R&D RESOURCES

WINDSHIELD WIPERS & WASHERS TANK SYSTEMS DRIVE SYSTEMS AIR SYSTEMS

PRODUCT LINE

GAS SPRINGS STAMPING ASSEMBLIES 2.3000 SQ M. TECHNICAL CENTER PRODUCT ENGINEERING PROTOTYPING LABORATORIES TESTING

DOGA HEADQUARTER (BARCELONA, SPAIN)

AGRICULTURAL MACHINERY SEED SPREADERS

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CANOPEN ELECTRONIC MOTOR

 Company Profile  System Overview  Motor Communication  Motor Application Profile  Conclusion

AGENDA

CANOPEN MOTOR

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CANOPEN ELECTRONIC MOTOR

SYSTEM OVERVIEW

CANOPEN 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)

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CANOPEN ELECTRONIC MOTOR

SYSTEM OVERVIEW

CANOPEN MOTOR

CANOPEN ELECTRONIC MOTOR  Electronic Brushed DC Motor

 Accurate speed & position control

based on HALL technology  CAN communications  Failure condition protections (current, voltage, temperature, etc)  High IP; up to IP69K

µC CAN Transceiver Hall sensor Voltage regulation Driver Current sensor H bridge

CA CAN CO COMMUNICA ICATIO TION PWM TO ADJUST THE SPEED

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CANOPEN ELECTRONIC MOTOR

 Company Profile  System Overview  Motor Communication  Motor Application Profile  Conclusion

AGENDA

CANOPEN MOTOR

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CANOPEN ELECTRONIC MOTOR

 CiA DSP 402, CANopen drive and motion

control profile  CiA DS 301, CANopen application layer and communication profile  CAN ISO 11898-1  CAN ISO 11898-2 MOTOR COMMUNICATION

CANOPEN MOTOR

CAN COMMUNICATION NORMATIVE CANopen High-Layer Protocol (HLP) Data Link Layer Physical Layer  Manufacturer-specific profile

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CANOPEN ELECTRONIC MOTOR

Terminal

CANopen

Row 1 ECU Row Control ECU Motor Node1 ECU Motor Node2

CANopen

Row N ECU Row Control ECU Motor Node1 ECU Motor Node2

 Unique CANopen node-IDs

(Node-1, Node-2)  Node-ID assignment via calibration data  Configuration/Control via SDO comms (polling mechanism)  PDO comms not required MOTOR COMMUNICATION

CANOPEN MOTOR

NETWORK CONFIGURATION

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CANOPEN ELECTRONIC MOTOR

 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
• peration

MOTOR COMMUNICATION

CANOPEN MOTOR

NETWORK INITIALIZATION

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CANOPEN ELECTRONIC MOTOR

 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

MOTOR COMMUNICATION

CANOPEN MOTOR

EMERGENCY STOP

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CANOPEN ELECTRONIC MOTOR

MOTOR COMMUNICATION

CANOPEN 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

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CANOPEN ELECTRONIC MOTOR

 Company Profile  System Overview  Motor Communication  Motor Application Profile  Conclusion

AGENDA

CANOPEN MOTOR

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CANOPEN ELECTRONIC MOTOR

MOTOR APPLICATION PROFILE

CANOPEN MOTOR

CiA-402 DRIVE PROFILE CiA-402 Standard Conformance Custom Design

vs

Pros:

• Standard solution
• Integration
• System flexibility
• Resources

Cons:

• Tailor-made solution
• Integration
• System flexibility
• Resources

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CANOPEN ELECTRONIC MOTOR

MOTOR APPLICATION PROFILE

CANOPEN 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

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CANOPEN ELECTRONIC MOTOR

MOTOR APPLICATION PROFILE

CANOPEN 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

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CANOPEN ELECTRONIC MOTOR

MOTOR APPLICATION PROFILE

CANOPEN 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

Disk 1 Disk 2 ROW 1 Disk 1 Disk 2 ROW N Radar Radar Disk 1 Disk 2 ROW 2 Disk 1 Disk 2 ROW 3 Disk 1 Disk 2 ROW n Increase Rotation Speed Decrease Rotation Speed

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CANOPEN ELECTRONIC MOTOR

MOTOR APPLICATION PROFILE

CANOPEN 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

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CANOPEN ELECTRONIC MOTOR

MOTOR APPLICATION PROFILE

CANOPEN MOTOR

RELATIVE POSITION CONTROLLER  Rotate seed disk to desired position in test modes

• Fill Disk Mode (1 revolution at velocity limit)
• Multiple Revolution Mode ( N revolutions at velocity limit)

 Same closed-loop PID controller as velocity mode  Extra physical signals in both controllers:

• Battery voltage
• Motor current
• Internal motor temperature

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CANOPEN ELECTRONIC MOTOR

MOTOR APPLICATION PROFILE

CANOPEN MOTOR

CALIBRATION DATA  Node-ID assignment process (node-1, node-2):

• Modify parameter in HEX file for programming
• DS-305 LSS (Layer Settings Service) -> not required
• Online calibration (CiA-301 store/restore objects)

 Online calibration by EEPROM emulation using flash memory  Other parameters: baud rate, PID constants, protection limits, etc  Unauthorized access not guaranteed by CiA-301 store/restore mechanism

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CANOPEN ELECTRONIC MOTOR

CONCLUSION

CANOPEN MOTOR

CONCLUSIONS  Succesful CANopen integration in commercial product (innovation)  CANopen stack based on CiA-301 & CiA-402 motor profile  CiA-402 velocity and position mode for seeding applications  Some manufacturer specific designs/decisions for final product

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CANOPEN ELECTRONIC MOTOR

www.doga.es

THANK YOU

Questions

Jose A. Pulido

(Lead SW Engineer)

josea.pulido@doga.es