Bizerba Lely Extensions - Anantak Mods

• Extends Lely Core coapp C++ CANOpen framework with the ability to configure CANOpen devices with textual DCF files.
• Adds a CiA-402 motor driver (tested with AuxInd and Servotronix)
• The functionality was developed for and with Bizerba SE & Co KG Balingen.
• Copyright 2019-2020 Bizerba SE & Co KG, Balingen - Germany.

Prequesites

• To get this working, Lely Core master, at least this revision is needed
• You have to apply patches/0001-Add-flag-to-determine-which-parameters-were-set-expl.patch to Lely-Core.
  • This patch is needed for the textual DCF configuration to determine which DCFs were configured with ParameterValue= in the .dcf file.
  • Only those DCFs are transferred to the slaves.
• As build system, cmake is used
• configure include-lely-core.cmake according to your system setup.

Overview on the code

• This [UML diagram](doc/Classes Public.png) gives an overview on the classes provided by this project
• For the MotorDriver, we designed a state machine which is described [here](doc/MotorDriver State Machine.png)
• The static library LelyIntegration contains our DCF loader and CiA-402 motor driver.
• The executable project LelyTest is an example how to use the motor driver and textual configuration.

The Demo Application

• Since the classes in LelyIntegration are highly configurable through dependency injection, a bit configuration is needed before they can be used.
  • The main goal of the demo application is to provide useful code snippets as starting point for your own application.
• LelyTest expects 3 motors (tested with AuxInd FD1) on the IDs 2, 3 and 4
• The master itself, provided by Lely-Core, runs on ID 16
• The system can either be configured through the YAML file LelyTest/demo.yml. Read here for a reference.
  • the corresponding master.dcf and node_x.bin files are placed in the subfolder demo
  • they are built by LelyTest/CMakeLists.txt
• Or through textual DCF files (LelyTest/master.dcf, LelyTest/motor.dcf and LelyTest/motor_4.dcf)
• It contains three initialisation functions for the three ways to contol the motors:
  • initializeMasterForPdoControl(): Used together with the YAML configuration. Uses the remote PDO mapping feature of Lely Core
  • initializeMasterForPdoControlWithManualMapping(): Uses the texual DCF configuration + manual mapping of the PDO configuration to SDOs on the master.
  • initializeMasterForSdoControl(): Uses the texual DCF configuration + control of the motor's movements through SDO communication. The the status word (SDO 0x6041) updates from the motor to the driver, a PDO is still needed.

The Pseudo Machine for the Demo Application

• Imagine a machine with the following drive setup:
• The motor with ID 2 runs independant and is equipped with a homing sensor.
• Motors 3 and 4 drive together one feeding unit, each motor drives a belt which hold one side of the material to feed.
  • The have to run 100% synchronous, else the material gets damaged.
  • Both motors react on the same PDOs
  • The motor with the lower node ID is the main unit to control from the application side.
  • The motor with the higher node ID is the follower which does exactly the same as the main motor.
  • This is used to explain the follower relationship in the MotorDriver.
  • It is automatically determined from the PDO configuration.