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57
REFERENCE 6
C
ONFIGURATION
D
ATA
F
ORMAT
CoE Registers
The SD17060E-K and SD31045E-K units use the Service Data Objects (SDO) of the CANopen protocol to
configure the unit. Typically, this configuration is specified in the system software and is written down to the
Networked Driver when communications is established. The TwinCAT system also allows you to program-
matically read or change these values using the FB_EcCoeSdoRead and FB_EcCoeSdoWrite instructions.
Output Data Format
The correct format for the Network Output Data is shown below.
Table R6.1 Network Output Data Format: Configuration Data
CFG_Word_0 Format
Figure R6.1 Configuration Word 0 Format
Bit 15: Reserved –
State ignored.
Bit 14: Disable_Antiresonance –
“1” disables the antiresonance feature. “0” enables the anti-resonance
feature of the Networked Driver. The Anti-resonance feature will provide smoother operation in
most cases. If you are still experiencing resonance problems with this feature enabled, disable this
feature and test the machine again.
Bit 13: Enable_Stall_Detection –
“0” disables motor stall detection. “1” enables motor stall detection.
Only valid when an encoder is used and it is attached to the motor. The Encoder_Resolution parame-
ter must also be programmed and must be four times the line count of your encoder.
This chapter covers the format of the configuration data for an AMCI Networked
Driver. Configuration data is stored in registers available through the CANopen
over Ethernet (CoE) interface.
CANopen
Index:SubIndex
Data Size
Configuration Data
Range
8010:01
UINT
CFG_Word_0
See below
8010:02
UINT
CFG_Word_1
See below
8010:03
UDINT
Starting_Speed
1 to 1,999,999 steps/sec.
8010:04
UINT
Motor_Resolution
200 to 32,767
8010:05
UINT
Reserved
0
8010:06
UINT
Encoder_Resolution
0 to 32,767
8010:07
UINT
Idle_current_reduction
0 to 100%
8010:08
UINT
Motor_Current (X10)
10 to 60.
Represents 1.0 to 6.0 Arms
8010:09
UINT
Current Loop Gain
1 to 40
Configuration Word 0
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
Dis
_
AR
En_
St
al
l
Us
e_E
nc
0/
1
IGNORED: Bit can equal either value.
RESERVED: Bit must equal zero.
