CANopen Test Tool
User Manual
Kvaser, PEAK, ZLG Adapter Compatible
Rev. 1.1
Jul. 9th, 2013
©Copyright 2013 MOONS' All Right Reserved.
CANopen Test Tool User Manual
Contents
Getting Started ........................................................................................................................... 4
Introduction .........................................................................................................................4
Installation ........................................................................................................................... 4
Install Microsoft .NET Framework 2.0 ...........................................................................4
Install CANopen Test Tool ............................................................................................. 8
Main Screen ....................................................................................................................... 11
About................................................................................................................................. 11
Control Mode Configuration ......................................................................................................13
Initialize ............................................................................................................................. 13
Configure Node ID.............................................................................................................. 13
Command Buttons ............................................................................................................. 14
Position Mode.................................................................................................................... 15
Start Absolute Move ................................................................................................... 15
Stop Absolute Move ................................................................................................... 15
Start Relative Move .................................................................................................... 16
Stop Absolute Move ................................................................................................... 16
Velocity Mode .................................................................................................................... 16
Start Velocity Mode .................................................................................................... 16
Stop Velocity Mode .................................................................................................... 16
Torque Mode ..................................................................................................................... 16
Start Torque Mode ..................................................................................................... 17
Stop Torque Mode ..................................................................................................... 17
Homing .............................................................................................................................. 17
Start Homing .............................................................................................................. 17
Stop Homing............................................................................................................... 17
Q Mode.............................................................................................................................. 18
Start Homing .............................................................................................................. 18
Stop Homing............................................................................................................... 18
Send Command .........................................................................................................................19
Send Single Command........................................................................................................ 19
Send Command Sequence .................................................................................................. 19
Open .......................................................................................................................... 19
Save ........................................................................................................................... 19
Execute ...................................................................................................................... 19
Stop ........................................................................................................................... 20
Clear........................................................................................................................... 20
Delete ........................................................................................................................ 20
Endless ....................................................................................................................... 20
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Insert ......................................................................................................................... 20
Append ...................................................................................................................... 20
Copy........................................................................................................................... 20
Paste .......................................................................................................................... 20
Clear .......................................................................................................................... 20
Delete ........................................................................................................................ 20
Delay .......................................................................................................................... 20
PDO ........................................................................................................................................... 21
PDO Mapping (Firmware >= 2.00A) .................................................................................... 21
PDO Mapping (Firmware < 2.00A) ...................................................................................... 22
Stepper ...................................................................................................................... 22
Servo.......................................................................................................................... 22
TPDO Monitor.................................................................................................................... 23
RPDO ................................................................................................................................. 23
Monitor ..................................................................................................................................... 24
Status Monitor................................................................................................................... 24
Drive Status ................................................................................................................ 24
Alarm Code ................................................................................................................ 24
I/O Status ................................................................................................................... 25
Heart beat ......................................................................................................................... 25
CAN Bus Monitor ............................................................................................................... 25
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Getting Started
Introduction
Thank you for choosing MOONS' CANopen products. CANopen Test Tool is a software tool to
test MOONS' CANopen drive. MOONS' provides high performance CANopen series drives. So far
MOONS' CANopen series drives include:
Ø MSST5-C
Ø MSST10-C
Ø MSSTAC6-C-120
Ø MSSTAC6-C-220
Ø MSSTAC5-C-120
Ø MSSTAC5-C-220
Ø SV7-C
Ø SVAC3-C
Ø STM17-C, STM23-C, STM24-C
Ø SWM24-C
Ø SSM17-C, SSM23-C, SSM24-C
Ø TSM17-C, TSM23-C, TSM24-C
Ø TXM17-C, TXM23-C, TXM24-C
Ø SS05-C
Ø SS10-C
Installation
Install Microsoft .NET Framework 2.0
Microsoft .NET framework is free software. You can download from Microsoft’s website.
After download the .NET Framework 2.0, you need to install as an administrator account. The
installation of .NET Framework includes follow steps.
Step 1. Extracting Files
Figure 1.1
Step 2. Welcome Interface
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Figure 1.2
Click “Next” button.
Step 3. End-User License Agreement
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Figure 1.3
Read the End-User License Agreement as shown in Figure 3, and check on the “I accept the
terms of the License Agreement”. Then click “Install” button.
Step 4. Installing Components
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Figure 1.4
Step 5. Setup Complete
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Figure 1.5
Install CANopen Test Tool
You can download CANopen Test Tool from MOONS' website. After you download the software,
you need to install it. The installation includes follow steps:
Step 1. Welcome
Figure 1.6
Step 2. Select Installation folder
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Figure 1.7
Step 3. Ready to Install
Figure 1.8
Step 4. Start Install
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Figure 1.9
Step 5. Complete
Figure 1.10
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Main Screen
Click windows menu “Start” --> “Program” --> “MOONS'” --> “CANopen Test Tool” --> “CANopen
Test Tool” to launch CANopen Test Tool software. The main screen is as Figure 1.11.
Figure 1.11 Main Screen
About
Click the logo picture as Figure 1.12 in the main screen, the software will pop up an about box.
See Figure 1.13.
Figure 1.12 Logo
Figure 1.13
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If you have any doubt, please contact MOONS'. Our experienced Engineer will provide satisfied
technical support.
TEL: +86-400-820-9661
FAX: +86-21-6296-8682
Website: www.moons.com.cn
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Control Mode Configuration
Initialize
Figure 2.1
The CANopen Test Tool support Kvaser, PEAK and ZLG adapter. In the Init Parameter group box,
select the adapter, bit rate and click “Open” button. If the initialize is unsuccessful, the software
will pop up a Message Box.
After the initialize completed, the control button in the main screen will be enabled.
Configure Node ID
To configure drive’s Node ID, change the Node ID number in the Operation group box. The Node
ID range is 0 to 0x7F. We recommend you use a Node ID number from 1 to 0x7F. The Node ID
you configured must match with the drive’s Node ID. The Node ID has two parts. The Low 4 bit is
configured by the 16-bit Rotary Switch. To configure the high 4 bit, you need to use Conifugrator
tool such as ST Configurator, STAC Configurator or SSM Quick Tuner. These software can be
downloaded from our website.
Figure 2.2
If the Node ID is correct and the drive is connected correctly, the CANopen Test Tool will detect
the drive and display drive model and firmware revision.
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Figure 2.3
Once the drive model is recognized, you can enable or disable the drive; also you can set the
drive in Pre-Operational mode or Operational mode.
Command Buttons
STOP
Stop all motion, no matter what the drive’s Control Mode is. See Figure 2.4.
Figure2.4
Enable
Enable the drive.
Disable
Disable the drive.
Alarm Reset
Clear the alarm(s).
Print
Print mappable parameters data, it will compare the default value and drive's value.
Pre-Op Mode
Set the drive to Pre-operational mode.
OP Mode
Set the drive to Operational mode.
NMT Reset
Reset Network Management (NMT).
NMT Stop
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Stop Network Management (NMT).
Position Mode
In Position Mode, you can configure the velocity, acceleration, deceleration and position counts.
See Figure 2.5.
Figure 2.5
Start Absolute Move
After configure absolute position, you can click “Abs. Move” button to start Absolute Move. Click
“>” button after the “Abs. Move” button, the command list for absolute move will display in the
“Command Review”. See Figure 2.6. Every command in control mode has a “Review” command
after it. Click the preview command the command list will copy to the Command Review. It is
very useful to know the command detail.
Figure 2.6
Stop Absolute Move
To stop absolute move, click “Stop” button.
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Start Relative Move
After configure the relative position, you can click “Rel. Move CW” button to start Relative Move
in CW direction and click “Rel. Move CCW” button to start Relative Move in CCW direction.
Stop Absolute Move
To stop absolute move, click “Stop” button.
Velocity Mode
In Velocity Mode, you can configure the velocity, acceleration, and deceleration. See Figure 2.7.
Figure 2.7
Start Velocity Mode
After configure the Velocity, Acceleration and Deceleration, you can “Start” button to start
Velocity Mode.
Stop Velocity Mode
To stop Velocity Mode, click “Stop” button.
Torque Mode
In Position Mode, you can configure the Torque Constant, Target Torque and Torque Slope. See
Figure 2.8.
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Figure 2.8
Start Torque Mode
After configure the torque mode parameters, you can “Start” button to start Torque Mode.
Stop Torque Mode
To stop Torque Mode, click “Stop” button.
Homing
In Homing Mode, you can configure the Home Method, Homing Velocity, Index Velocity,
Acceleration, Home Offset and Home Switch. See Figure 2.9.
Figure 2.9
Start Homing
After configure the Homing parameters, you can “Start” button to start Torque Mode.
Stop Homing
To stop Torque Mode, click “Stop” button.
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Q Mode
Every MOONS' CANopen drive support Q program mode. You can download Q Program via Q
Programmer. You can download Q Programmer software from our website.
Q Programmer needs a RS232 connector to connect the drive and PC. To download Q Program
In Homing Mode, you can configure the Home Method, Homing Velocity, Index Velocity,
Acceleration, Home Offset and Home Switch. See Figure 2.10.
Figure 2.10
Start Homing
After configure the Homing parameters, you can “Start” button to start Torque Mode.
Stop Homing
To stop Torque Mode, click “Stop” button.
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Send Command
Send Single Command
In Single Command group box, you can input ID, Data Length, Flag and Data bytes. Click
“Execute” command, the software will execute the CANopen command immediately.
Figure 3.1
Send Command Sequence
In Command Sequence group box, you can edit a complicated command sequence. See figure
3.2.
Figure 3.2
Open
Click “Open” button you can open a file from your disk that you saved before. The file suffix
is .txt.
Save
Click “Save” button you can save current command sequence to disk for later use.
Execute
Once you edit a completed command sequence, you can click “Execute” button to test.
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Stop
Click “Stop” button to stop the executing.
Clear
Click “Clear” button to clear the whole command sequence data.
Delete
Click “Delete” button to delete all command lines.
Endless
When you executing the command sequence, you can check “Endless” to run it repeat, until you
click “Stop” button.
For the program edit region, you can click right mouse to pop up content menu. There are 6
menus in the content menu.
Insert
Insert an empty command line before current command line.
Append
Append an empty command line in the end.
Copy
Copy command line(s) you select to clipboard.
Paste
Paste command line(s) form clipboard.
Clear
Clear command sequence data you selected.
Delete
Delete command sequence you selected.
Delay
In the command sequence, you can input % to delay. For example, %100 for 100 millisecond
delay.
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PDO
To enable PDO use, you must set the drive to Operational Mode. You can click “Operational”
button to set the drive to Operational Mode. For Operational Mode, the heart
beat should return as 5.
For old CANopen firmware less than 2.00A, the PDO mapping is fixed thus you cann't edit the
mapping parameters. For 2.00 and later firmware, the PDO mapping is dymamic so that you can
freely assign the mapping parameter
PDO Mapping (Firmware >= 2.00A)
The PDO Mapping has 2 tabs: RPDO Mapping and TPDO Mapping. Once you connected to the
drive, you can read PDO Mapping from the drive, see figure below.
Figure 4.1
You can click "Edit" button to edit the PDO Mapping parameters, see figure below.
Figure 4.2
You can set up to 4 PDO Mapping parameters. Please notice each parameter cann't exeed 8
bytes.
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Figure 4.3
Figure 4.4
PDO Mapping (Firmware < 2.00A)
Stepper
PDO First Mapped OD Entry # Bytes Second Mapped OD Entry # Bytes # Bytes
Name Parameter Parameter Total
TDPO1 Statusword 6041H 2 2
TDPO2 Statusword 6041H 2 Target Position 6064H 4 6
TDPO3 Statusword 6041H 2 Target Velocity 606CH 2 4
TDPO4 Input Status 7003H 1 1
RDPO1 Controlword 6040H 2 2
RDPO2 Controlword 6040H 2 Target Distance 607AH 4 6
RDPO3 Controlword 6040H 2 Target Velocity 60FFH 2 4
RDPO4 Output Status 60FEH 1 1
Servo
PDO First Mapped OD Entry # Bytes Second Mapped OD Entry # Bytes # Bytes
Name Parameter Parameter Total
TDPO1 Statusword 6041H 2 2
TDPO2 Statusword 6041H 2 Actual Position 6064H 4 6
TDPO3 Statusword 6041H 2 Actual Velocity 606CH 2 4
TDPO4 Input Status 7003H 1 1
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RDPO1 Controlword 6040H 2 2
RDPO2 Controlword 6040H 2 Target Distance 607AH 4 6
RDPO3 Controlword 6040H 2 Target Velocity 60FFH 2 4
RDPO4 Output Status 60FEH 1 1
TPDO Monitor
Figure 4.5
Once the software detected TPDO data, it will refresh the Monitor data.
For Stepper Drive, the Position and Velocity is Target Position and Target Velocity.
For Servo Drive, the Position and Velocity is Actual Position and Actual Velocity.
RPDO
Figure 4.6
To Write RPDO data, set the RPDO Parameters and click RPDO1, RPDO2, RPDO3, RPDO4 button.
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Monitor
Status Monitor
In Status Monitor you can watch the Drive Status, Alarm Code and I/O Status. Check or uncheck
“Monitor” check box to enable or disable the monitor. Also you can set the timer interval from
50 ms to 60000ms.
Drive Status
Figure 5.1
Alarm Code
Figure 5.2
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I/O Status
Figure 5.3
Heart beat
In Heart beat group box, you can watch all the received heart beat from the CAN bus, see Figure
5.4. Check or uncheck “Monitor” check box to enable or disable the heart beat. The Time Stamp
is in ms, from the software launched.
Figure 5.4
CAN Bus Monitor
In CAN bus Monitor you can watch the whole data from the CAN bus, see fig. 5.5. You can check
or uncheck “Show PC -> Drive” or “Show Drive -> PC” to watch the bus data you want. If the
“Auto Save Log” is checked, the software will save all CAN bus data as a Log file. The Log file
included all data transmitted and received, even you did not monitored. Click “Clear” button to
clear the Monitor data.
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Figure 5.5
You can find the Log file in the installation folder, see Figure 5.6.
Figure 5.6
No. 168 Mingjia Road Tel: 86-21-52634688
Industrial Park North Minhang District Fax: 86-21-62968682
Shanghai 201107, P.R., China Web: www.moons.com.cn
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