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5. Access Procedure

Festo P.BE-CMMP-CO-SW-EN 0708NH

Sub-index

Description

inhibit_time_tpdo1

Data Type

UINT16

Access

PDO Mapping

Units

100 µs (i.e. 10 = 1 ms)

Value Range

Default Value

Index

1A00

Name

transmit_pdo_mapping_tpdo1

Object code

RECORD

No. of Elements 4

Sub-index

Description

number_of_mapped_objects_tpdo1

Data Type

UINT8

Access

PDO Mapping

Units

Value Range

0 … 4

Default Value

see table

Sub-index

Description

first_mapped_object_tpdo1

Data Type

UINT32

Access

PDO Mapping

Units

Value Range

Default Value

see table

Summary of Contents for CMMP Series

Page 1: ...Beschneiden Oben 61 5 mm Unten 61 5 mm Links 43 5 mm Rechts 43 5 mm CANopen for Motor Controller CMMP Manual CANopen CMMP Manual 557 344 de 0708NH 723 757 ...

Page 2: ......

Page 3: ..._________ 557 344 Festo AG Co KG D 73726 Esslingen 2008 Internet http www festo com Mail service_international festo com The copying distribution and utilization of this document as well as the communication of its contents to others without expressed authorization is prohibited Offenders will be held liable for the payment of damages All rights reserved in particular the right to carry out patent...

Page 4: ...me CANopen for Motor controller CMMP File name File location Serial No Manual Revision index Date of change 001 Creation 0708NH 24 04 2008 Trade names Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries ...

Page 5: ...ardous Movements 19 2 3 6 Protection against Contact with Hot Parts 20 2 3 7 Protection when Handling and Installing 20 3 Cabling and Plug Assignment 22 3 1 Pin Allocations 22 3 2 Cabling Note 23 4 Activation of CANopen 24 4 1 Overview 24 5 Access Procedure 25 5 1 Introduction 25 5 2 SDO Access 26 5 2 1 SDO Sequences for Reading and Writing 26 5 2 2 SDO Error Messages 28 5 2 3 Simulation of SDO Ac...

Page 6: ...ription of the Objects 56 6 2 Compatibility settings 57 6 2 1 Overview 57 6 2 2 Description of the Objects 57 6 3 Conversion Factors Factor Group 59 6 3 1 Overview 59 6 3 2 Description of the Objects 60 6 4 Final stage parameters 68 6 4 1 Overview 68 6 4 2 Description of the Objects 69 6 5 Current Regulator and Motor Adjustment 76 6 5 1 Overview 76 6 5 2 Description of the Objects 77 6 6 Speed reg...

Page 7: ... 2 Description of the Objects 117 6 15 Sampling of positions 119 6 15 1 Overview 119 6 15 2 Description of the Objects 120 6 16 Brake triggering 123 6 16 1 Overview 123 6 16 2 Description of the Objects 123 6 17 Device Information 124 6 17 1 Description of the Objects 124 6 18 Error management 131 6 18 1 Overview 131 6 18 2 Description of the Objects 131 7 Device control 134 7 1 Condition diagram ...

Page 8: ... 3 Positioning Operating Mode Profile Position Mode 168 8 3 1 Overview 168 8 3 2 Description of the Objects 169 8 3 3 Functional description 172 8 4 Interpolated position mode 174 8 4 1 Overview 174 8 4 2 Description of the Objects 175 8 4 3 Functional description 182 8 5 RPM Regulation Operating Mode Profile Velocity Mode 184 8 5 1 Overview 184 8 5 2 Description of the Objects 186 8 6 Velocity ra...

Page 9: ...Description of the device function and software functions of the firmware including RS232 communication Description of the parameterisation software with instructions for the initial start up of a motor controller of the CMMP series Description CMMP motor controller Description of the technical data and device function as well as information on the installation and operation of the CMMP motor cont...

Page 10: ...ribes the fundamental design of the object directory of a CANopen device and access to it The statements of DS201 207 are also made concrete The elements of the object directory needed for the CMMP motor controller families and the related access methods are described in this manual Procurement of DS301 is recommended but not absolutely necessary CiA Draft Standard 402 This book covers concrete im...

Page 11: ...d qualified personnel may work with electrical equipment Trained and Qualified Personnel as defined by this product manual or the warnings on the product itself are people who are sufficiently familiar with the set up mounting start up and operation of the product as well as with all warnings and protective measures in accordance with these operating instructions and have the qualifications corres...

Page 12: ...e for safe operation of the motor controller If the motor controller is sold rented or lent or passed on to a third party in any other way these safety instructions must also be passed on The operator is not permitted to open the motor controller for safety and guarantee reasons The requirement for proper functioning of the motor controller is correct project planning Warning DANGER Incorrect hand...

Page 13: ... unintended movements of the motors 2 3 Safety instructions 2 3 1 General safety information Warning The motor controller corresponds to protective class IP20 and contamination class 1 Care must be taken that the environment corresponds to this protection and contamination class Warning Use only accessories and replacement parts permitted by the manufacturer Warning In accordance with EN standards...

Page 14: ...ve the safety regulations and stipulations of the country in which the device is used Warning The environmental conditions specified in the product documentation must be complied with Safety critical applications are not permitted unless expressly approved by the manufacturer The instructions for an EMC suitable installation should be taken from the product manual of the CMMP family Compliance wit...

Page 15: ... and Maintenance For installation and maintenance of the system the relevant DIN VDE EN and IEC regulations as well as all governmental and local safety and accident protection regulations apply The system builder or operator must ensure compliance with these regulations Warning Operation maintenance and or repair of the motor controller may only be performed by personnel trained and qualified for...

Page 16: ...ir cleaning long interruptions in operation Warning Care must be taken during installation During both installation and later operation of the drive make sure that no shavings metal dust or installation parts screws nuts sections of pipe fall into the motor controller Also make sure that the external power supply of the control section 24 V is switched off Power to the power section must always be...

Page 17: ...arts of these devices are by necessity under hazardous voltage Warning Potentially fatal voltage High electrical voltage Danger of death or severe bodily injury from electric shock For installation and maintenance of the system the relevant DIN VDE EN and IEC regulations as well as all governmental and local safety and accident protection regulations apply The system builder or operator must ensur...

Page 18: ...s to electrical parts with voltages greater than 50 volts separate the device from the mains network or the voltage source Secure to prevent switching back on Warning During installation pay attention to the level of intermediate circuit voltage especially with regard to insulation and protective measures Ensure proper earthing conductor dimensioning and appropriate protection against short circui...

Page 19: ...ngerous voltages Safe separation is achieved through isolating transformers secure optocouplers or mains free battery operation 2 3 5 Protection against Hazardous Movements Hazardous movements can also be caused by faulty triggering of connected motors The causes can be of the most varied of kinds dirty or defective wiring or cabling errors in operating components faults in the measurement and sig...

Page 20: ...o its failure to activate unpredictable movements of the machine or other malfunctions may occur 2 3 6 Protection against Contact with Hot Parts Warning DANGER Device housing surfaces may be hot Danger of injury Danger of burns Warning Danger of burns Do not touch housing surfaces in the proximity of heat sources Before touching them let devices cool off 10 minutes after being switched off Touchin...

Page 21: ...n Use appropriate installation and transport equipment Take appropriate precautions to prevent being caught and pinched Use only appropriate tools If required use special tools Use lifting devices and tools properly If required use appropriate protective equipment such as safety goggles safety shoes protective gloves Do not stand under suspended loads Immediately clean leaked fluids on the floor d...

Page 22: ...roller side in accordance with standards Fig 3 1 CAN plug connector for CMMP Caution CAN bus cabling When cabling the motor controller via the CAN bus you should always comply with the following information and remarks to obtain a stable malfunction free system If cabling is improperly done malfunctions can occur on the CAN bus during operation These can cause the motor controller to shut off with...

Page 23: ...ad pair is used to connect CAN H and CAN L The cores of the other pair are used together for CAN GND The screen of the cable is guided onto the CAN Shield connections for all nodes A table with the technical data of usable cables is located at the end of this chapter Use of adapter plugs is not recommended for CAN bus cabling But if this is still necessary make sure that metallic plug housings are...

Page 24: ... require a low maximum cable length Node number A node number which may occur only once in the network must be assigned to each participant for unambiguous identification The device is addressed via this node number Protocols The following profiles for communication via the CAN bus are available for selection CANopen protocol in accordance with DS301 with application profile DSP402 or the position...

Page 25: ...rol unit CMMP Process data from control unit PDO Receive PDO Fig 5 1 Access Procedure As a rule the motor controller is parameterised and also controlled via SDO access In addition other types of messages so called communication objects which are sent either by the motor controller or the higher level controller are defined for special application cases SDO Service Data Object Are used for normal ...

Page 26: ...ller to recognise that the command is meant for it the host must send the command with a specific identifier This consists of the base 600h node number of the motor controller involved The motor controller answers accordingly with the identifier 580h node number The design of the commands or answers depends on the data type of the object to be read or written since either 1 2 or 4 data bytes must ...

Page 27: ... IX0 IX1 SU Identifier for 32 bit EXAMPLE UINT8 INT8 Reading obj 6061_00h Return data 01h Writing obj 1401_02h Data EFh Command 40h 61h 60h 00h 2Fh 01h 14h 02h EFh Reply 4Fh 61h 60h 00h 01h 60h 01h 14h 02h UINT16 INT16 Reading obj 6041_00h Return data 1234h Writing obj 6040_00h Data 03E8h Command 40h 41h 60h 00h 2Bh 40h 60h 00h E8h 03h Reply 4Bh 41h 60h 00h 34h 12h 60h 40h 60h 00h UINT32 INT32 Rea...

Page 28: ... of an internal variable general error 06 07 00 10h Protocol error Length of the service parameter does not agree 06 07 00 12h Protocol error Length of the service parameter is too large 06 07 00 13h Protocol error Length of the service parameter is too small 06 09 00 11h The addressed subindex does not exist 06 09 00 30h The data exceed the range of values of the object 06 09 00 31h The data are ...

Page 29: ...nd XXXX SU XXXX SU WWWW Reply XXXX SU WWWW XXXX SU WWWW UINT32 INT32 16 bit data hex Command XXXX SU XXXX SU WWWWWWWW Reply XXXX SU WWWWWWW XXXX SU WWWWWWWW 32 bit data hex Note that the commands are entered as characters without any blanks Read error Write error Command XXXX SU XXXX SU WWWWWWWW1 Reply FFFFFFFF FFFFFFFF 32 bit error code F3F2F1F0 in accordance with chapter 5 2 2 32 bit error code ...

Page 30: ...very change in the statusword object a PDO containing the statusword object is deposited Instead of constantly querying the host computer thus automatically receives a corresponding message as soon as the event occurs A distinction is made between the following types of PDOs Transmit PDO T PDO Controller Host Motor controller sends PDO when a certain event occurs Receive PDO R PDO Host Controller ...

Page 31: ... the corresponding PDO The following limitations must be observed A maximum of 4 objects can be mapped per PDO A PDO may have a maximum of 64 bits 8 bytes Objects to be transmitted first_mapped_object fourth_mapped_object For each object contained in the PDO the motor controller must be told the corresponding index subindex and length The stated length must agree with the stated length in the obje...

Page 32: ...diately after reception TPDOs RPDOs FFh Change The transfer PDO is sent when at least 1 bit has changed in the data of the PDO With inhibit_time the minimum interval between sending two PDOs can also be established in 100 µs steps TPDOs The use of all other values is not permitted Masking transmit_mask_high and transmit_mask_low If change is selected as the transmission_type the TPDO is always sen...

Page 33: ...3 Setting parameters for objects that are to be mapped The above listed objects must be combined into a 32 bit value Index 6041h Subin 00h Length 10h first_mapped_object 60410010h Index 6061h Subin 00h Length 08h second_mapped_object 60610008h Index 60FDh Subin 00h Length 20h third_mapped_object 60FD0020h 4 Setting parameters for number of objects The PDO should contain 3 objects number_of_mapped_...

Page 34: ...TPDOs and all RPDOs in each case For that reason only the parameter description of the first TPDO is explicitly listed The meaning can also be used for the other PDOs which are listed in table form in the following Index 1800h Name transmit_pdo_parameter_tpdo1 Object code RECORD No of Elements 3 Sub index 01h Description cob_id_used_by_pdo_tpdo1 Data Type UINT32 Access rw PDO Mapping no Units Valu...

Page 35: ...e Default Value 0 Index 1A00h Name transmit_pdo_mapping_tpdo1 Object code RECORD No of Elements 4 Sub index 00h Description number_of_mapped_objects_tpdo1 Data Type UINT8 Access rw PDO Mapping no Units Value Range 0 4 Default Value see table Sub index 01h Description first_mapped_object_tpdo1 Data Type UINT32 Access rw PDO Mapping no Units Value Range Default Value see table ...

Page 36: ...n third_mapped_object_tpdo1 Data Type UINT32 Access rw PDO Mapping no Units Value Range Default Value see table Sub index 04h Description fourth_mapped_object_tpdo1 Data Type UINT32 Access rw PDO Mapping no Units Value Range Default Value see table Note that the object groups transmit_pdo_parameter_xxx and transmit_pdo_mapping_xxx can only be written when the PDO is deactivated bit 31 set in cob_i...

Page 37: ...used by PDO UINT32 rw C0000281h 1801h_02h transmission type UINT8 rw FFh 1801h_03h inhibit time 100 µs UINT16 rw 0000h 1A01h_00h number of mapped objects UINT8 rw 02h 1A01h_01h first mapped object UINT32 rw 60410010h 1A01h_02h second mapped object UINT32 rw 60610008h 1A01h_03h third mapped object UINT32 rw 00000000h 1A01h_04h fourth mapped object UINT32 rw 00000000h 3rd Transmit PDO Index Comment ...

Page 38: ... Value 2014h_00h number of entries UINT8 ro 02h 2014h_01h tpdo_1_transmit_mask_low UINT32 rw FFFFFFFFh 2014h_02h tpdo_1_transmit_mask_high UINT32 rw FFFFFFFFh tpdo_2_transmit_mask Index Comment Type Acc Default Value 2015h_00h number of entries UINT8 ro 02h 2015h_01h tpdo_2_transmit_mask_low UINT32 rw FFFFFFFFh 2015h_02h tpdo_2_transmit_mask_high UINT32 rw FFFFFFFFh tpdo_3_transmit_mask Index Comm...

Page 39: ... 02h 1401h_01h COB ID used by PDO UINT32 rw C0000301h 1401h_02h transmission type UINT8 rw FFh 1601h_00h number of mapped objects UINT8 rw 02h 1601h_01h first mapped object UINT32 rw 60400010h 1601h_02h second mapped object UINT32 rw 60600008h 1601h_03h third mapped object UINT32 rw 00000000h 1601h_04h fourth mapped object UINT32 rw 00000000h 3rd Receive PDO Index Comment Type Acc Default Value 14...

Page 40: ...the object cob_id_used_for_pdos bit 31 must be deleted The communication status of the motor controller must be operational see chapter 5 6 Network Management NMT Service For parameters to be set for PDOs the following points must be met The communication status of the motor controller must not be operational 5 4 SYNC message Several devices of a system can be synchronised with each other To do th...

Page 41: ...the message with the highest priority lowest number is always shown in the display 5 5 1 Overview The motor controller transmits an EMERGENCY message when an error occurs or an error is acknowledged The identifier of this message is put together from the identifier 80h und der node number of the affected controller Error free Error occured 0 4 3 2 1 After a reset the regulator is in the Error Free...

Page 42: ...ode which is listed in the following table An additional error code is in the third byte object 1001h The remaining five bytes contain zeros Identifier 80h node number error_code error_register Obj 1001h 81h 8 E0 E1 R0 0 0 0 0 0 Data length The following error codes can occur Error_code hex Display Meaning 0000 Regulator is error free 6180 E 01 0 Stack Overflow 3220 E 02 0 Low voltage intermediate...

Page 43: ...A6 E 09 9 EEPROM angle encoder too small 8A80 E 11 0 Homing run Error at the start 8A81 E 11 1 Error during homing run 8A82 E 11 2 Homing run Zero pulse error 8A83 E 11 3 Homing run timeout 8A84 E 11 4 Homing run Incorrect invalid limit switch 8A85 E 11 5 Homing run I2 t following error 8A86 E 11 6 Homing run End of the search section 8180 E 12 0 CAN bus Double node number 8120 E 12 1 CAN communic...

Page 44: ... 31 3 I2 t brake resistance 3280 E 32 0 Intermediate circuit charge time exceeded 3281 E 32 1 Undervoltage for active PFC 3282 E 32 5 Overload brake chopper 3283 E 32 6 Intermediate circuit discharge time exceeded 3284 E 32 7 Power supply missing for controller enable 3285 E 32 8 Power supply broke down during controller enable 3286 E 32 9 Phase failure 8A87 E 33 0 Encoder emulation following erro...

Page 45: ...or 5 5 3 Description of the Objects Object 1003h pre_defined_error_field The respective error_code of the error messages is also stored in a four stage fault memory This is structured like a shift register so that the last occurring error is always stored in the object 1003h _ 01h standard_error_field_0 Through read access onto the object 1003h _ 00h pre_defined_error_field it can be determined ho...

Page 46: ...e Range Default Value Sub index 02h Description standard_error_field_1 Access ro PDO Mapping no Units Value Range Default Value Sub index 03h Description standard_error_field_2 Access ro PDO Mapping no Units Value Range Default Value Sub index 04h Description standard_error_field_3 Access ro PDO Mapping no Units Value Range Default Value ...

Page 47: ... specifier Node ID 000h 2 CS NI Data length For the NMT status of the CANopen node conditions are established in a condition diagram Changes in conditions can be triggered via the CS byte in the NMT message These are largely oriented on the target condition NMT state Machine Meaning CS Target condition 2 Bootup Pre operational 7Fh 3 Start Remote Node 01h Operational 05h 4 Enter Pre Operational 80h...

Page 48: ...Condition after hardware reset Resetting of the CAN node sending of the bootup message Pre operational Communication via SDOs possible PDOs not active no sending evaluating X X Operational Communication via SDOs possible All PDOs active sending evaluating X X X Stopped No communication except for heartbeating X Tab 5 3 NMT state Machine NMT telegrams must not be sent in a burst immediately one aft...

Page 49: ...iew The so called Heartbeat protocol is implemented to monitor communication between slave drive and master Here the drive sends messages cyclically to the master The master can check whether these messages occur cyclically and introduce appropriate measures if they do not Since both Heartbeat and Nodeguarding telegrams are sent see chapter 5 9 with the identifier 700h node number both protocols c...

Page 50: ...ented only for compatibility reasons and always returns 0 5 9 Nodeguarding error control protocol 5 9 1 Overview The so called Nodeguarding protocol can also be used to monitor communication between slave drive and master In contrast to the Heartbeat protocol master and slave monitor each other The Master cyclically asks the drive about its NMT status In each response of the regulator a specific b...

Page 51: ...ch telegram 0 6 7Fh nmt_state 04h Stopped 05h Operational 7Fh Pre Operational The monitoring time for requests by the Master is programmable Monitoring begins with the Master s first remote request received Starting at this time the remote inquiries must arrive before the set monitoring time expires or error 12 4 is triggered The toggle bit is reset by the NMT command Reset Communication It is the...

Page 52: ... Access rw PDO Mapping no Units ms Value Range 0 65535 Default Value 0 5 9 4 Objekt 100Dh life_time_factor A 1 should be entered in the life_time_factor to specify the guard_time directly Index 100Dh Name life_time_factor Object code VAR Data Type UINT8 Access rw PDO Mapping no Units Value Range 0 1 Default Value 0 ...

Page 53: ...ifier hexadecimal Comment SDO Host to controller 600h node number SDO Controller to host 580h node number TPDO1 181h Standard values Can be changed if needed TPDO2 281h TPDO3 381h TPDO4 481h RPDO1 201h RPDO2 301h RPDO3 401h RPDO4 501h SYNC 080h EMCY 080h node number HEARTBEAT 700h node number NODEGUARDING 700h node number BOOTUP 700h node number NMT 000h ...

Page 54: ...ng an application with the CMMP family If needed specification of such objects can be read in 1 and 2 see page 10 6 1 Load and Save Parameter Sets 6 1 1 Overview The motor controller has three parameter sets Current parameter set This parameter set is located in the random access memory RAM of the motor controller It can be read and written on as desired with the parameterisation software or via t...

Page 55: ...riant is based on the fact that most application specific parameter sets differ from the default parameter set in only a few parameters This makes it possible for the current parameter set to be newly constructed via the CAN bus each time the system is switched on To do this the higher level controller first loads the default parameter set call up of the CANopen object 1011h _ 01h restore_all_defa...

Page 56: ...access to this object whereby the string load must be transferred as a data record in hexadecimal form This command is only carried out with a deactivated final stage Otherwise the SDO error Data cannot be transmitted or stored since the motor controller for this is not in the correct state is generated If the incorrect identifier is sent the error Data cannot be transmitted or stored is generated...

Page 57: ...tibility settings 6 2 1 Overview In order to stay compatible with earlier CANopen implementations e g also in other device families and still be able to make changes and corrections to the DSP402 and DS301 the object compatibility_control was added In the default parameter set this object delivers 0 that is compatibility to earlier versions For new applications we recommend setting the defined bit...

Page 58: ...et the response to save_all_parameters is sent only when saving is complete This can last several seconds which might result in a timeout in the controller If the bit is deleted the response is immediate but that the saving procedure is not yet completed should be considered Bit 5 reserved The bit is reserved It must not be set Bit 6 homing_to_zero Until now a homing run under CANopen has consiste...

Page 59: ... The motor controller then converts the entries into its internal units with the help of the factor group For each physical variable position speed and acceleration there is a conversion factor available to adapt the user units to the own application The units set through the factor group are generally designated position_units speed_units or acceleration_units The following sketch illustrates the...

Page 60: ...er second 6 3 2 Description of the Objects Objects treated in this chapter Index Object Name Type Attr 6093h ARRAY position_factor UINT32 rw 6094h ARRAY velocity_encoder_ factor UINT32 rw 6097h ARRAY acceleration_factor UINT32 rw 607Eh VAR polarity UINT8 rw Object 6093h position_factor The object position_factor converts all length units of the application from position_units into the internal uni...

Page 61: ...ation formula gear_ratio Gear ratio between revolutions at the drive in RIN and revolutions at the drive out ROUT feed_constant Ratio between revolutions at the drive out ROUT and movement in position_units e g 1 R 360 Calculation of the position_factor uses the following equation position_factor numerator gear_ratio x 65536 divisor feed_constant The position_factor must be written separately by n...

Page 62: ...n_units are 1 revolution ROUT 3 Gear factor gear_ratio RIN per ROUT 4 Insert values into equation 1 2 3 4 RESULT Abbreviated Increments 0 DP Inc 1 ROUT 65536 Inc 1 1 Ink Ink U Ink U Ink U U 1 1 1 65536 65536 1 1 num 1 div 1 Degree 1 DP 1 10 Degree 10 1 ROUT 3600 10 1 1 10 10 1 3600 65536 1 1 3600 65536 Ink U U Ink U U num 4096 div 225 Rev 2 DP 1 100 Rev R 100 1 ROUT 100 R 100 1 1 100 U 100 U Ink U...

Page 63: ... Units Value Range Default Value 1 Calculation of the velocity_encoder_factor consists in principle of two parts a conversion factor from internal length units into position_units and a conversion factor from internal time units into user defined time units e g from seconds into minutes The first part corresponds to the calculation of the position_factor for the second part an additional factor is...

Page 64: ...n depicted in the desired position units column 2 Then the desired time unit is converted into the time unit of the motor controller column 3 Finally all values can be placed in the equation and the fraction calculated 1 Desired unit at the drive out speed_units 2 feed_constant How many position_units are 1 revolution ROUT 3 time_factor_v Requested time unit per internal time unit 4 Gear factor ge...

Page 65: ...ation_factor The object acceleration_factor converts all acceleration values of the application from acceleration_units into the internal unit Revolutions per minute per 256 seconds It consists of numerator and denominator Index 6097h Name acceleration_factor Object code ARRAY No of Elements 2 Data Type UINT32 Sub index 01h Description numerator Access rw PDO Mapping yes Units Value Range Default ...

Page 66: ... time_factor_a Ratio between internal times units squared and unser defined time unit squared e g 1 min2 1 min 1 min 60 s 1 min 60 256 256 min s gear_ratio Gear ratio between revolutions at the drive in RIN and revolutions at the drive out ROUT feed_constant Ratio between revolutions at the drive out ROUT and movement in position_units e g 1 R 360 Calculation of the acceleration_factor uses the fo...

Page 67: ...per internal time unit2 4 Gear factor gear_ratio RIN per ROUT 5 Insert values into equation 1 2 3 4 5 RESULT Abbreviated R min s 0 DP U min s 1 ROUT 1 s min 1 256 s 256 min 1 1 1 s min U s 256 min U s min 1 s min 256 1 1 256 U U U U 1 1 1 256 1 1 num 256 1 UOUT div 1 s 1 DP 1 10 s 10s 1 ROUT 3600 10 1 2 s 1 60 s min 1 60 256 s 256 min 1 1 1 2 s 10 s 256 min U 1 s min 256 1 3600 15360 U U U 10 s 1 ...

Page 68: ...1 default multiply by 1 default 1 multiply by 1 inverse multiply by 1 inverse 7 80h position_polarity_flag 0 multiply by 1 default multiply by 1 default 1 multiply by 1 inverse multiply by 1 inverse 6 4 Final stage parameters 6 4 1 Overview The mains voltage is fed into the final stage via a pre charged switch When the power supply is switched on the switch on current is limited and charging is mo...

Page 69: ...itioning mode and velocity controlled mode After removal of the signal the motor is braked following a defined braking ramp The final stage is not shut off until the motor rotation speed is below 10 min 1 and the holding brake if present has been applied Torque controlled operation The final stage is shut off immediately after removal of the signal Simultaneously the holding brake if present is ap...

Page 70: ...t this increases the current ripple caused by the final stage This switchover is only possible when the final stage is switched off Sub index 30h Description pwm_frequency Data Type UINT16 Access rw PDO Mapping no Units Value Range 0 1 Default Value 0 Value Meaning 0 Normal final stage frequency 1 Half final stage frequency Object 6510h _ 3Ah enable_enhanced_modulation The object enable_enhanced_m...

Page 71: ... effective after a reset The parameter set must first be stored save_all_parameters and then a reset performed Object 6510h _ 31h power_stage_temperature The temperature of the final stage can be read out via the object power_stage_temperature When the temperature specified in the object 6510h _ 32h max_power_stage_temperature is exceeded the final stage shuts off and an error message is issued Su...

Page 72: ...pe INT16 Access ro PDO Mapping no Units C Value Range 100 Default Value device dependent Device type Value CMMP AS C2 3A 100 C CMMP AS C5 3A 80 C CMMP AS C5 11A P3 80 C CMMP AS C10 11A P3 80 C Object 6510h _ 33h nominal_dc_link_circuit_voltage The device nominal voltage in millivolts can be read out via the object nominal_dc_link_circuit_voltage Sub index 33h Description nominal_dc_link_circuit_vo...

Page 73: ... yes Units mV Value Range Default Value Object 6510h _ 35h max_dc_link_circuit_voltage The object max_dc_link_circuit_voltage specifies from which intermediate circuit voltage the final stage for safety reasons is immediately switched off and an error message issued Sub index 35h Description max_dc_link_circuit_voltage Data Type UINT32 Access ro PDO Mapping no Units mV Value Range Default Value de...

Page 74: ...7h enable_dc_link_undervoltage_error The undervoltage monitor can be activated with the object enable_dc_link_ undervoltage_error In the object 6510h _ 36h min_dc_link_circuit_voltage specify the lower intermediate circuit voltage the motor controller should work up to Sub index 37h Description enable_dc_link_undervoltage_error Data Type UINT16 Access rw PDO Mapping no Units Value Range 0 1 Defaul...

Page 75: ...alue device dependent Device type Value CMMP AS C2 3A 2500 CMMP AS C5 3A 5000 CMMP AS C5 11A P3 2500 CMMP AS C10 11A P3 5000 Due to the power derating other values may be displayed depending on the controller cycle time and the final stage cycle frequency Object 6510h _ 41h peak_current The device peak current can be read out with the object peak_current It is simultaneously the upper limit value ...

Page 76: ...re the following parameters Nominal current dependent on the motor Overload capacity dependent on the motor Number of pins dependent on the motor Current Control dependent on the motor Direction of rotation dependent on the motor and on the phase sequence in the motor and angle transmitter cable Offset angle dependent on the motor and on the phase sequence in the motor and angle transmitter cable ...

Page 77: ...rameters rw Affected objects from other chapters Index Object Name Type Chapter 2415h RECORD current_limitation 0 Nominal value limitation Object 6075h motor_rated_current This value can be taken from the motor rating plate and is entered in milliamperes The effective value RMS is always assumed No current can be set above the motor controller nominal current 6510h _ 40h nominal_current Index 6075...

Page 78: ...nly be written when the object 6075h motor_rated_current was previously validly written Index 6073h Name max_current Object code VAR Data Type UINT16 Access rw PDO Mapping yes Units per thousands of rated current Value Range Default Value 2023 Object 604Dh pole_number The number of poles of the motor can be obtained from the motor datasheet or the parameterisation software The number of poles is a...

Page 79: ... motor_rated_current to protect the motor The standard setting is two seconds and is valid for most motors Index 6410h Name motor_data Object code RECORD No of Elements 5 Sub index 03h Description iit_time_motor Data Type UINT16 Access rw PDO Mapping no Units ms Value Range 0 10000 Default Value 2000 Object 6410h _ 04h iit_ratio_motor With the object iit_ratio_motor the actual capacity utilization...

Page 80: ... I2 t error ON Priority CONTROLLER ENABLE OFF Priority CONTROLLER ENABLE OFF The error 31 0 is activated through a change of the error reaction Reactions that lead to shutting down of the drive are returned as ON all others as OFF When writing with 0 the error reaction WARNING is set when writing with 1 the error reaction CONTROLLER ENABLE OFF See cchapter 6 18 Error management Object 6410h _ 10h ...

Page 81: ... position with an angle transmitter resolver etc The orientation of the angle transmitter to the permanent magnetic field must be entered in the object encoder_offset_angle This angle can be determined with the parameterisation software The angle determined by the parameterisation software lies around 180 It must be calculated as follows encoder_offset_angle offset angle of the angle encoder 32767...

Page 82: ...e INT16 Access rw PDO Mapping yes Units Value Range 0 1 Default Value 0 Value Meaning 0 Normally closed contact 1 N O contact Object 6510h _ 2Eh motor_temperature With this object the actual motor temperature can be read out if an analogue temperature sensor is connected Otherwise the object is undefined Index 6510h Name drive_data Object code RECORD No of Elements 51 Sub index 2Eh Description mot...

Page 83: ...terisation software Attention must be paid to the following calculations The amplification of the current controller must be multiplied by 256 With an amplification of 1 5 in the Current Controller menu of the parameterisation software the value 384 180h must be written in the object torque_control_gain The current controller time constant is specified in the parameterisation software in milliseco...

Page 84: ...cts Index Object Name Type Attr 60F9h RECORD velocity_control_parameters rw 2073h VAR velocity_display_filter_time UINT32 rw Objekt 60F9h velocity_control_parameters The data of the velocity controller must be taken from the parameterisation software Attention must be paid to the following calculations The amplification of the velocity controller must be multiplied by 256 With a gain of 1 5 in the...

Page 85: ...n Data Type UINT16 Access rw PDO Mapping no Units 256 Gain 1 Value Range 20 64 256 16384 Default Value 256 Sub index 02h Description velocity_control_time Data Type UINT16 Access rw PDO Mapping no Units µs Value Range 1 32000 Default Value 2000 Sub index 04h Description velocity_control_filter_time Data Type UINT16 Access rw PDO Mapping no Units µs Value Range 1 32000 Default Value 400 ...

Page 86: ...al position value position_actual_value is added by the angle transmitter resolver incremental transmitter etc The actions of the position controller can be influenced by parameters It is possible to limit the output variable control_effort to keep the position control circuit stable The output variable is supplied to the velocity controller as the speed command value All input and output variable...

Page 87: ...etrically around the command position position_demand_value xi For example the positions xt2 and xt3 lie outside this window following_error_window If the drive leaves this window and does not return to the window within the time specified in the object following_error_time_out bit 13 following_error is set in the statusword Fig 6 5 Drag error 2 Position reached This function offers the possibilit...

Page 88: ...i x0 and xi x0 is defined symmetrically around the target position target_position xi For example the positions xt0 and xt1 lie outside this position window position_window If the drive is located in this window a timer is started in the motor controller If this timer reaches the time specified in the object position_window_time and the drive continuously remains in the valid range between xi x0 u...

Page 89: ...NT32 ro 60FBh RECORD position_control_parameter_set rw 60FCh VAR position_demand_value INT32 ro 6510h_20h VAR position_range_limit_enable UINT16 rw 6510h_22h VAR position_error_switch_off_limit UINT32 rw Affected objects from other chapters Index Object Name Type Chapter 607Ah VAR target_position INT32 8 3 Positioning operating mode 607Ch VAR home_offset INT32 8 2 Homing 607Dh VAR software_positio...

Page 90: ... must be multiplied by 256 With an amplification of 1 5 in the Position Controller menu of the parameterisation software the value 384 must be written in the object position_control_gain The position controller normally does not need an integrator Then the value zero must be written into the object position_control_time Otherwise the time constant of the position controller must be converted into ...

Page 91: ...osition_control_time Data Type UINT16 Access ro PDO Mapping no Units µs Value Range 0 Default Value 0 Sub index 04h Description position_control_v_max Data Type UINT32 Access rw PDO Mapping no Units speed units Value Range 0 131072 min 1 Default Value 500 min 1 Sub index 05h Description position_error_tolerance_window Data Type UINT32 Access rw PDO Mapping no Units position units Value Range 1 655...

Page 92: ...Data Type INT32 Access ro PDO Mapping yes Units position units Value Range Default Value Object 202Dh position_demand_sync_value The actual nominal position can be read out via this object This is defined by the object 2022h synchronization_encoder_select chapter 6 11 This object is specified in user defined increments Index 202Dh Name position_demand_sync_value Object code VAR Data Type INT32 Acc...

Page 93: ... window defines a symmetrical range around the nominal position value position_demand_value If the position feedback value position_actual_value is outside the following error window following_ error_window a following error occurs and bit 13 is set in the object statusword The following can cause a following error the drive is blocked the positioning speed is too high the acceleration values are ...

Page 94: ... the position controller can be read out via this object This value is fed internally as a command value to the velocity controller Index 60FAh Name control_effort Object code VAR Data Type INT32 Access ro PDO Mapping yes Units speed units Value Range Default Value Object 6067h position_window With the object position_window a symmetrical area is defined around the target position target_position ...

Page 95: ... Mapping yes Units ms Value Range Default Value 0 Object 6510h _ 22h position_error_switch_off_limit In the object position_error_switch_off_limit the maximum permissible deviation between the target and actual position can be entered If exceeded in contrast to the above following error message the final stage is switched off immediately and an error triggered The motor thus spins out without brak...

Page 96: ...he object group position_range_limit contains two subparameters which limit the numeric range of the position values When one of these limits is exceeded the position feedback value automatically jumps to the other limit To be specified are the limits that should physically equal the same position for example 0 and 360 For these limits to be effective a round axis mode must be selected via the obj...

Page 97: ...osition_range_limit_enable Data Type UINT16 Access rw PDO Mapping no Units Value Range 0 5 Default Value 0 Value Meaning 0 Off 1 Shortest path for compatibility reasons 2 Shortest path 3 Reserved 4 Fixed direction of rotation positive 5 Fixed direction of rotation negative Object 2030h set_position_absolute With the object set_position_absolute the readable actual position can be moved without cha...

Page 98: ... the maximum current for the motor can be limited this makes a torque limited speed operation possible for example The nominal value source of the limit torque is specified via the object limit_current_input_channel Here a choice can be made between specification of a direct command value fixed value or specification via an analogue input Depending on the source chosen either the limit torque sour...

Page 99: ... object group speed_limitation in the operating mode profile_torque_mode this makes a speed limited torque operation possible The command value source of the limit speed is specified via the object limit_speed_input_channel Here a choice can be made between specification of a direct command value fixed value or specification via an analogue input Depending on the source chosen either the limit tor...

Page 100: ... Sub index 01h Description limit_speed_input_channel Data Type UINT8 Access rw PDO Mapping no Units Value Range 0 4 Default Value 0 Sub index 02h Description limit_speed Data Type INT32 Access rw PDO Mapping no Units speed units Value Range Default Value Value Meaning 0 No limitation 1 AIN0 2 AIN1 3 AIN2 4 Field bus selector B ...

Page 101: ...rw 2025h_03h VAR encoder_x10_divisor INT16 rw 2025h_04h VAR encoder_x10_counter UINT32 ro 2026h RECORD encoder_x2b_data_field ro 2026h_01h VAR encoder_x2b_resolution UINT32 rw 2026h_02h VAR encoder_x2b_numerator INT16 rw 2026h_03h VAR encoder_x2b_divisor INT16 rw 2026h_04h VAR encoder_x2b_counter UINT32 ro Object 2024h encoder_x2a_data_field The record encoder_x2a_data_field collects parameters ne...

Page 102: ...t code RECORD No of Elements 3 Sub index 01h Description encoder_x2a_resolution Data Type UINT32 Access ro PDO Mapping no Units Increments 4 resolution Value Range Default Value 65536 Sub index 02h Description encoder_x2a_numerator Data Type INT16 Access rw PDO Mapping no Units Value Range 32768 32767 except 0 Default Value 1 Sub index 03h Description encoder_x2a_divisor Data Type INT16 Access rw ...

Page 103: ...ntly counted number of increments It therefore delivers values between 0 and the set number of increments 1 With the objects encoder_x2b_numerator and encoder_x2b_divisor a gear between the motor shaft and the encoder connected at X2b can be considered Index 2026h Name encoder_x2b_data_field Object code RECORD No of Elements 4 Sub index 01h Description encoder_x2b_resolution Data Type UINT32 Acces...

Page 104: ...be used optionally as command value or as feedback value More on this can be found in chapter 6 11 In the object encoder_X10_resolution must be specified how many increments are generated by the encoder per revolution This equals four times the resolution The object encoder_X10_counter delivers the currently counted number of increments between 0 and the set number or increments 1 With the object ...

Page 105: ...der used Sub index 02h Description encoder_x10_numerator Data Type INT16 Access rw PDO Mapping no Units Value Range 32768 32767 except 0 Default Value 1 Sub index 03h Description encoder_x10_divisor Data Type INT16 Access rw PDO Mapping no Units Value Range 1 32767 Default Value 1 Sub index 04h Description encoder_x10_counter Data Type UINT32 Access ro PDO Mapping yes Units Increments 4 resolution...

Page 106: ... INT16 rw Object 201Ah encoder_emulation_data The object record encoder_emulation_data encapsulates all setting possibilities for the incremental encoder output X11 Via the object encoder_emulation_resolution the number of increments output four times the resolution can be freely set as a multiple of 4 In a master slave application this must equal the encoder_X10_resolution of the slave to achieve...

Page 107: ...201Ah _ 01h Value Range see 201Ah _ 01h Default Value see 201Ah _ 01h 6 11 Command feedback value activation 6 11 1 Overview With the following objects the source for the command value and the source for the feedback value can be changed As standard the motor controller uses the input for the motor encoder X2A or X2B as feedback value for the position controller When an external positioning encode...

Page 108: ...an external endoder connected to the drive Switching is possible between X10 and the encoder input selected as commutation encoder X2A X2B If one of the encoder inputs X2A X2B is selected as position feedback value encoder the one used as commutation encoder must be selected If the other encoder is selected switchover to the commutation encoder takes place automatically Index 2021h Name position_e...

Page 109: ...nisation_encoder_selection Object code VAR Data Type INT16 Access rw PDO Mapping no Units Value Range 1 2 see table Default Value 2 Value Description 1 no encoder undefined 2 X10 Object 202Fh synchronisation_selector_data A synchronous command value can be activated via the object synchronisation_main Bit 0 must be set for the synchronous command value to be calculated at all Bit 1 makes it possib...

Page 110: ...ng run Object 2023h synchronisation_filter_time The object synchronisation_filter_time sets the filter time constant of a PT1 filter with which the synchronisation speed is smoothed This can be necessary especially at low resolutions since small changes of the input value already correspond to high speeds On the other hand the drive at high filter times may no longer be able to follow a dynamic in...

Page 111: ...tion of the Objects Index Object Name Type Attr 2400h ARRAY analog_input_voltage INT16 ro 2401h ARRAY analog_input_offset INT32 rw 2400h analog_input_voltage input voltage The object group analog_input_voltage supplies the current input voltage of the respective channel in millivolts taking the offset into account Index 2400h Name analog_input_voltage Object code ARRAY No of Elements 3 Data Type I...

Page 112: ...set or read for the respective inputs With the offset any direct voltage present can be compensated for A positive offset thereby compensates for a positive input voltage Index 2401h Name analog_input_offset Object code ARRAY No of Elements 3 Data Type INT32 Sub index 01h Description analog_input_offset_ch_0 Access rw PDO Mapping no Units mV Value Range 10000 10000 Default Value 0 Sub index 02h De...

Page 113: ... of the motor controller 6 13 2 Description of the Objects Objects treated in this chapter Index Object Name Type Attr 60FDh VAR digital_inputs UINT32 ro 60FEh ARRAY digital_outputs UINT32 rw 2420h RECORD digital_output_state_mapping ro 2420h_01h VAR dig_out_state_mapp_dout_1 UINT8 rw 2420h_02h VAR dig_out_state_mapp_dout_2 UINT8 rw 2420h_03h VAR dig_out_state_mapp_dout_3 UINT8 rw Object 60FDh dig...

Page 114: ...puts_mask which of the digital outputs should be actuated The selected outputs can then be set as desired via the object digital_outputs_data It should be noted that a delay of up to 10 ms may occur in triggering the digital outputs When the outputs are really set can be determined by reading back the object 60FEh Index 60FEh Name digital_outputs Object code ARRAY No of Elements 2 Data Type UINT32...

Page 115: ... outputs using the object group digital_outputs_state_mapping For the integrated digital outputs of the motor controller each output must have its own subindex As a result for each output there is a byte in which the function number must be entered When such a function has been assigned to a digital output and the output is then switched on or off directly over digital_outputs 60FEh the object dig...

Page 116: ...INT8 Access rw PDO Mapping no Units Value Range 0 16 see table Default Value 0 Value Description 0 Off output is low 1 Position Xcommand Xtarget 2 Position Xfeedback Xtarget 3 Reserved 4 Remaining path 5 Homing run active 6 Comparison speed reached 7 I t monitoring active 8 Drag error 9 Low voltage intermediate circuit 10 Locking brake vented 11 Final stage active 12 On output is high 13 Reserved ...

Page 117: ...scription of the Objects Index Object Name Type Attr 6510h RECORD drive_data rw Object 6510h _ 11h limit_switch_polarity The polarity of the limit switch can be programmed through the object 6510h _ 11h limit_switch_polarity A zero is entered in this object for opening limit switches a one when closing contacts are used Index 6510h Name drive_data Object code RECORD No of Elements 51 Sub index 11h...

Page 118: ...0 1 Default Value 0 Value Meaning 0 DIN6 E0 limit switch negative DIN7 E1 limit switch positive 1 DIN6 E1 limit switch positive DIN7 E0 limit switch negative Tab 6 1 Please insert description of table Object 6510h _ 14h homing_switch_polarity The polarity of the homing switch can be programmed through the object 6510h _ 14h homing_switch_polarity A 0 is entered in this object for an opening homing...

Page 119: ...leration The object limit_switch_deceleration establishes the braking deceleration when the limit switch is reached during normal operation Limit switch emergency stop ramp Sub index 15h Description limit_switch_deceleration Data Type INT32 Access rw PDO Mapping no Units acceleration units Value Range 0 3 000 000 min 1 s Default Value 2 000 000 min 1 s 6 15 Sampling of positions 6 15 1 Overview Th...

Page 120: ...ch digital input is used can be set with the parameterisation software under Parameter IOs Digital Inputs Sample Input 6 15 2 Description of the Objects Objects treated in this chapter Index Object Name Type Attr 204Ah RECORD sample_data ro 204Ah_01h VAR sample_mode UINT16 rw 204Ah_02 VAR sample_status UINT8 ro 204Ah_03h VAR sample_status_mask UINT8 rw 204Ah_04h VAR sample_control UINT8 wo 204Ah_0...

Page 121: ...01h falling_edge_occurred 1 New sample position falling edge 1 02h rising_edge_occurred 1 New sample position rising edge The following object can be used to establish the bits of the object sample_status which should also result in setting bit 15 of the statusword As a result the information Sample event occurred is present in the statusword which normally has to be transmitted anyway so the cont...

Page 122: ...04h Description sample_control Data Type UINT8 Access wo PDO Mapping yes Units Value Range 0 1 see table Default Value 0 Bit Value Name Manual 0 01h falling_edge_enable Sampling in case of falling edge 1 02h rising_edge_enable Sampling in case of rising edge The following objects contain the sampled positions Sub index 05h Description sample_position_rising_edge Data Type INT32 Access ro PDO Mappi...

Page 123: ...the object brake_delay_time As can be seen in the sketch when the controller enable is switched on the speed command value is released only after the brake_delay_time and when the controller enable is switched off switch off is delayed by this time Speed command value Internal controller release Speed actual value DIN5 Controller release Holding brake released 0 1 0 0 0 1 1 0 tF tF tF Run delay Fi...

Page 124: ... out of the device 6 17 1 Description of the Objects Object 1018h identity_object With the identity_object established in the DS301 the motor controller can be uniquely identified in a CANopen network For this purpose the manufacturer s code vendor_id a unique product code product_code the revision number of the CANopen implementation revision_number and the serial number of the device serial_numb...

Page 125: ...see below Value Meaning 2005h CMMP AS C2 3A 2006h CMMP AS C5 3A 200Ah CMMP AS C5 11A P3 200Bh CMMP AS C10 11A P3 Sub index 03h Description revision_number Data Type UINT32 Access ro PDO Mapping no Units MMMMSSSSh M main version S sub version Value Range Default Value Sub index 04h Description serial_number Data Type UINT32 Access ro PDO Mapping no Units Value Range Default Value ...

Page 126: ...de RECORD No of Elements 51 Sub index A0h Description drive_serial_number Data Type UINT32 Access ro PDO Mapping no Units Value Range Default Value 6 17 1 3 Object 6510h _ A1h drive_type With the object drive_type the device type of the controller can be read out This object serves compatibility with earlier versions Sub index A1h Description drive_type Data Type UINT32 Access ro PDO Mapping no Un...

Page 127: ...tom_version The version number of the customer specific variants of the firmware can be read out via the object firmware_custom_version Sub index AAh Description firmware_custom_version Data Type UINT32 Access ro PDO Mapping no Units MMMMSSSSh M main version S sub version Value Range Default Value 6 17 1 6 Object 6510h _ ADh km_release The version number of the km_release is used to differentiate ...

Page 128: ...the parameter G Fh Sub index ACh Description firmware_type Data Type UINT32 Access ro PDO Mapping no Units 000000GXh Value Range 00000F2h Default Value 00000F2h Value x Meaning 0h IMD F 1h CMMP AS 2h CMMP AS C2 3A Object 6510h _ B0h cycletime_current_controller The cycle time in microseconds of the current controller can be read out via the object cycletime_current_controller Sub index B0h Descrip...

Page 129: ...position_controller The cycle time in microseconds of the position controller can be read out via the object cycletime_position_controller Sub index B2h Description cycletime_position_controller Data Type UINT32 Access ro PDO Mapping no Units µs Value Range Default Value 000001A0h Object 6510h _ B3h cycletime_trajectory_generator The cycle time in microseconds of the positioning controller can be ...

Page 130: ...splay A Of course it is also possible to use this object to note the condition of controller parametering as needed In this case not that the parameterisation software also accesses this object Sub index C0h Description commissioning_state Data Type UINT32 Access rw PDO Mapping no Units Value Range Default Value 0 Value Meaning 0 Rated current valid 1 Maximum current valid 2 Number of poles of the...

Page 131: ...in event occurs Depending on the setting the brake can be engaged the final stage can be switched off immediately or just a warning may be shown on the display For each event a minimum reaction is defined by the manufacturer which cannot be fallen below And so critical errors such as 06 0 Short circuit final stage cannot be reparameterised since here an immediate shut down is necessary to protect ...

Page 132: ...x 01h Description error_number Data Type UINT8 Access rw PDO Mapping no Units Value Range 1 96 Default Value 1 The error reaction can be changed in the object error_reaction_code It is limited to not less than the manufacturer s minimum reaction The actual reaction set can be determined by reading it back Sub index 02h Description error_reaction_code Data Type UINT8 Access rw PDO Mapping no Units ...

Page 133: ...yed on the 7 segment display of the controller and then automatically reset by the controller The last warning that occurred can be read out via the following object Bit 15 shows whether the warning is still active Index 200Fh Name last_warning_code Object code VAR Data Type UINT16 Access ro PDO Mapping yes Units Value Range Default Value Bit Value Manual 0 3 000Fh Warning sub number 4 11 0FF0h Wa...

Page 134: ... whether the final stage is switched on or an error has occurred for example The conditions defined under CANopen are presented in the course of the chapter Example SWITCH_ON_DISABLED Condition transition state transition Just as with the conditions CANopen also defines how to go from one condition to another e g to acknowledge an error Condition transitions are triggered by the host by setting bi...

Page 135: ... Fault area The most important conditions of the motor controller are shown highlighted in the diagram After it is switched on the motor controller initialises itself and then reaches the condition SWITCH_ON_DISABLED In this condition the CAN communication is completely function capable and the motor controller can be parameterised e g the RPM regulation operating mode is set The final stage is sw...

Page 136: ...s command is generated that is which bits must be set in the controlword is evident in the 3rd column x not relevant No Is performed when Bit combination controlword Action Bit 3 2 1 0 2 Final stage and regulator activated prev command Shutdown Shutdown x 1 1 0 None 3 Command Switch On Switch On x 1 1 1 Switching on the final stage 4 Command Enable Operation Enable Operation 1 1 1 1 Control in acc...

Page 137: ...nication is possible READY_TO_SWITCH_ON The motor controller waits until the digital inputs final stage and controller enable are at 24 V Controller enable logic Digital input and CAN SWITCHED_ON 1 The final stage is switched on OPERATION_ENABLE 1 Voltage to the motor is on and the motor is regulated according to the operating mode QUICKSTOP_ACTIVE 1 The quick stop function is carried out see quic...

Page 138: ...tdown x 1 1 0 Final stage is blocked Motor rotates freely 7 Command Quick Stop Quick Stop x 0 1 x 8 Command Shutdown Shutdown x 1 1 0 Final stage is blocked Motor rotates freely 9 Command Disable Voltage Disable Voltage x x 0 x Final stage is blocked Motor rotates freely 10 Command Disable Voltage Disable Voltage x x 0 x Final stage is blocked Motor rotates freely 11 Command Quick Stop Quick Stop ...

Page 139: ...or brake is present it is automatically triggered In case of a defect or incorrect parameterisation motor current number of poles resolver offset angle etc this can result in uncontrolled behaviour of the drive 7 1 3 Controlword control word Object 6040h controlword With the controlword the current condition of the motor controller can be changed or a certain action e g start of reference travel c...

Page 140: ...lword As already comprehensively described condition transitions can be carried out with bits 0 3 The commands necessary for this are presented again here in an overview The Fault Reset command is generated by a positive edge change from 0 to 1 of bit 7 Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 0080h 0008h 0004h 0002h 0001h Shutdown 1 1 0 Switch On 1 1 1 Disable Voltage 0 Quick Stop 0 1 Disable Operat...

Page 141: ...Mode This bit must be set when the interpolation data records are supposed to be evaluated The bit ip_mode_active is acknowledged in the statusword See also chapter 8 4 Bit 5 change_set_immediately Only in the Profile Position Mode If this bit is not set any positioning tasks currently running will be worked off before any new one is begun If the bit is set an ongoing positioning is interrupted im...

Page 142: ...ence travel is interrupted Deletion of the bit has no effect 7 1 4 Read Out of the Motor Controller Condition Just as various condition transitions can be triggered via the combination of several bits of the controlwords the condition of the motor controller can be read out via the combinaton of various bits of the statusword The following table lists the possible conditions of the condition diagr...

Page 143: ...tatusword 006Fh 0021h 1 3 Transitions 3 and 4 can be written together into the controlword 4 Wait until the condition OPERATION_ENABLE is displayed in the statusword Transition 3 4 controlword 000Fh Wait until statusword 006Fh 0027h 1 Note The example assumes that no other bits are set in the controlword for the transitions only bits 0 3 are important 1 To identify the conditions bits that are not...

Page 144: ...000h manufacturer_statusbit 15 8000h Drive referenced Tab 7 5 Bit arrangement in the statusword All bits of the statusword are unbuffered They represent the current device status Besides the motor controller status various events are displayed in the statusword that is to each bit is assigned a specific event such as contouring error The individual bits have the following meaning thereby Bit 4 vol...

Page 145: ...remote This bit shows that the final stage of the motor controller can be enabled via the CAN network It is set when the controller enable logic is correspondingly set via the object enable_logic Bit 10 Dependent on modes_of_operation target_reached In the Profile Position Mode The bit is set when the current target position is reached and the current position position_actual_value is located in t...

Page 146: ...ive In the Interpolated Position Mode This bit shows that interpolation is active and the interpolation data records have been evaluated It is set when requested by the bit enable_ip_mode in the controlword See also chapter 8 4 Bit 13 Dependent on modes_of_operation following_error In the Profile Position Mode The bit is set when the current actual position position_actual_value differs from the t...

Page 147: ...y See also chapter 6 15 Object 2000h manufacturer_statuswords To be able to depict other controller conditions that do not have to be present in the frequently cyclically queried statusword the object group manufacturer_statuswords was introduced Index 2000h Name manufacturer_statuswords Object code RECORD No of Elements 1 Sub index 01h Description manufacturer_statusword_1 Data Type UINT32 Access...

Page 148: ...r enable itself is missing The following conditions must exist The drive is error free The intermediate circuit is charged The angle encoder evaluation is ready No processes are active e g serial transmission that prevent an enable No blocking process is active e g the automatic motor parameter identification With the help of the objects manufacturer_status_masks and manufacturer_status_invert one...

Page 149: ...4 of the statusword should be set when the drive is referenced Drive referenced is bit 0 of the manufacturer_statusword_1 manufacturer_status_invert 0x00000000 manufacturer_status_mask 0x00000001 bit 0 B Bit 14 of the statusword should be set if the drive has no valid commutation position Valid commutation position is bit 1 of the manufacturer_statusword_1 This bit must be inverted so it will be s...

Page 150: ...lso chapter 7 1 5 Index 2005h Name manufacturer_status_masks Object code RECORD No of Elements 1 Sub index 01h Description manufacturer_status_mask_1 Data Type UINT32 Access rw PDO Mapping yes Units Value Range Default Value 0x00000000 Object 200Ah manufacturer_status_invert This object group determines which bits of the manufacturer_statuswords are superimposed inverted in the statusword See also...

Page 151: ...NT16 rw 605Eh VAR fault_reaction_option_code INT16 rw Object 605Bh shutdown_option_code The object shutdown_option_code specifies how the motor controller acts in condition transition 8 from OPERATION ENABLE to READY TO SWITCH ON The object shows the implemented behaviour of the motor controller It cannot be changed Index 605Bh Name shutdown_option_code Object code VAR Data Type INT16 Access rw PD...

Page 152: ...option_code Object code VAR Data Type INT16 Access rw PDO Mapping no Units Value Range 1 Default Value 1 Value Meaning 1 Brake with quickstop_deceleration Object 605Ah quick_stop_option_code The parameter quick_stop_option_code specifies how the motor controller acts in a Quick Stop The object shows the implemented behaviour of the motor controller It cannot be changed Index 605Ah Name quick_stop_...

Page 153: ...ase of error fault Since the error reaction of the CMMP series depends on the respective error this object cannot be parameterised and always returns 0 To change the error reaction of the individual errors see chapter 6 18 Error management Index 605Eh Name fault_reaction_option_code Object code VAR Data Type INT16 Access rw PDO Mapping no Units Value Range 0 Default Value 0 ...

Page 154: ...homing homing mode positioning mode profile position mode synchronous position specification interpolated position mode 8 1 2 Description of the Objects Objects treated in this chapter Index Object Name Type Attr 6060h VAR modes_of_operation INT8 wo 6061h VAR modes_of_operation_display INT8 ro Object 6060h modes_of_operation The object modes_of_operation sets the operating mode of the motor contro...

Page 155: ...operating mode is set via the object 6060h besides the actual operating mode the nominal value activations nominal value selector needed for operation of the motor controller under CANopen must also be made These are Selector Profile velocity mode Profile torque mode A Velocity command value field bus 1 Torque command value field bus 1 B Torque limitation if necessary inactive C Velocity command v...

Page 156: ...peration_display During this time Invalid operating mode 1 may be displayed briefly 8 2 Operating Mode Reference Travel Homing Mode 8 2 1 Overview This chapter describes how the motor controller searches for the initial postion also called reference point homing point or zero point There are various methods to determine this position whereby either the limit switch at the end of the positioning ra...

Page 157: ...t a component of the reference travel If all necessary variables are know to the motor controller e g because it already knows the position of the zero pulse no physical movement is performed This behaviour can be changed via the object 6510h _ F0h compatibility_control see chapter 6 2 so that a run to zero is always carried out 8 2 2 Description of the Objects Objects treated in this chapter Inde...

Page 158: ...or a homing run Through the object homing_method the variant needed for the application can be selected There are four possible homing run signals the negative and positive limit switch the homing switch and the periodic zero pulse of the angle encoder In addition the motor controller can reference itself to the negative or positive stop completely without an additional signal When a referencing m...

Page 159: ...witch Zero pulse 2 positive Limit switch Zero pulse 7 positive Homing switch Zero pulse 11 negative Homing switch Zero pulse 17 negative Limit switch Limit switch 18 positive Limit switch Limit switch 23 positive Homing switch Homing switch 27 negative Homing switch Homing switch 33 negative Zero pulse Zero pulse 34 positive Zero pulse Zero pulse 35 No travel Current actual position The homing_met...

Page 160: ...Access rw PDO Mapping yes Units speed units Value Range Default Value 100 min 1 Sub index 02h Description speed_during_search_for_zero Access rw PDO Mapping yes Units speed units Value Range Default Value 10 min 1 If bit 6 is set in the object compatibility_control see chapter 6 2 a run to zero follows the homing run If this bit is set and the object speed_during_search_for_switch is written both ...

Page 161: ...e UINT32 Access rw PDO Mapping yes Units acceleration units Value Range Default Value 1000 min 1 s Object 2045h homing_timeout The homing run can be monitored for its maximum execution time The maximum execution time can be specified with the object homing_timeout If this time is exceeded without the homing run being ended error 11 3 is triggered Index 2045h Name homing_timeout Object code VAR Dat...

Page 162: ...e limit switch The zero position refers to the first zero pulse of the angle transmitter in the positive direction from the limit switch Fig 8 3 Reference travel to the negative limit switch with evaluation of the zero pulse Method 2 Positive limit switch with zero pulse evaluation With this method the drive first moves relatively quickly in a positive direction until it reaches the positive limit...

Page 163: ...od 11 in a negative direction Depending on the direction of travel the zero position refers to the first zero pulse in the negative or positive direction from the homing switch This can be seen in the two following depictions Fig 8 5 Homing run to the homing switch with evaluation of the zero pulse with positive initial movement For homing runs to the homing switch the limit switches first serve t...

Page 164: ...e zero position refers to the falling edge from the negative limit switch Fig 8 7 Reference travel to the negative limit switch Method 18 Reference travel to the positive limit switch With this method the drive first moves relatively quickly in a positive direction until it reaches the positive limit switch This is depicted in the diagram through the rising edge After that the drive moves back slo...

Page 165: ...method 23 the drive first moves in a positive direction and with method 27 a negative direction The zero position refers to the falling edge from the homing switch This can be seen in the two following depictions Fig 8 9 Homing run to the homing switch with positive initial movement For homing runs to the homing switch the limit switches first serve to reverse the search direction If the opposite ...

Page 166: ...ive first moves in a positive direction until it reaches the stop The I2 t integral of the motor rises hereby to a maximum 90 The stop must be mechanically dimensioned so that it does not suffer damage in the parameterised maximum current The zero position refers to the first zero pulse of the angle transmitter in the negative direction from the stop Fig 8 12 Reference travel to the positive stop ...

Page 167: ...35 Reference travel to the current position With method 35 the zero position refers to the current position If the drive should not be newly referenced but only the position set to a specified value the object 2030h set_position_absolute can be used See chapter 6 7 2 8 2 4 Control of Reference Travel Reference travel is controlled and monitored through the controlword statusword The start is made ...

Page 168: ...tion Controller chapter Position Control Function chapter 0 These two function blocks can be set independently of each other Trajectory Generator Position Control Function Limit Function Multiplier position target_position 607Ah position_demand_value 60FDh control_effort 60FAh position units target_position 607Ah Trajectory Generator Parameters Position Control Law Parameters position_factor 6093h...

Page 169: ...h VAR quick_stop_option_code INT16 7 Device control 607Eh VAR polarity UINT8 6 3 Conversion factors 6093h ARRAY position_factor UINT32 6 3 Conversion factors 6094h ARRAY velocity_encoder_factor UINT32 6 3 Conversion factors 6097h ARRAY acceleration_factor UINT32 6 3 Conversion factors Object 607Ah target_position The object target_position target position determines to which position the motor con...

Page 170: ...e Default Value 1000 Object 6082h end_velocity The object end_velocity end speed defines the speed the drive must have when it reaches the target position target_position Normally this object must be set to zero so that the motor controller stops when it reaches the target position target_position For continuous positioning a speed different from zero can be specified The object end_velocity is sp...

Page 171: ...on The object profile_deceleration specifies the deceleration with which the motor is braked It is specified in user defined acceleration units see chapter 6 3 Factor Group Index 6084h Name profile_deceleration Object code VAR Data Type UINT32 Access rw PDO Mapping yes Units acceleration units Value Range Default Value 10000 min 1 s Object 6085h quick_stop_deceleration The object quick_stop_decele...

Page 172: ...Simple positioning task If the motor controller has reached a target position it signals this to the host with the bit target_reached bit 10 in the object statusword In this operating mode the motor controller stops when it has reached the goal Sequence of positioning tasks After the motor controller has reached a target it immediately begins travelling to the next target This transition can occur...

Page 173: ... controller recognises the new data and takes it over into its buffer it reports this to the host by setting the bit set_point_acknowledge in the statusword 3 Then the host can begin to write a new positioning data set into the motor controller 4 and delete the bit new_set_point again 5 Only when the motor controller can accept a new positioning task 6 does it signal this through a 0 in the set_po...

Page 174: ... tasks Fig 8 19 Continuous sequence of positioning tasks If besides the bit new_set_point the bit change_set_immediately is also set to 1 in the controlword the host instructs the motor controller to start the new positioning task immediately In this case a positioning task already in process is interrupted 8 4 Interpolated position mode 8 4 1 Overview The interpolated position mode IP permits spe...

Page 175: ...meter setting 8 4 2 Description of the Objects Objects treated in this chapter Index Object Name Type Attr 60C0h VAR interpolation_submode_select INT16 rw 60C1h REC interpolation_data_record rw 60C2h REC interpolation_time_period rw 60C3h ARRAY interpolation_sync_definition UINT8 rw 60C4h REC interpolation_data_configuration rw Affected objects from other chapters Index Object Name Type Chapter 60...

Page 176: ...fault Value 2 Value Interpolation type 2 Linear Interpolation without Buffer Object 60C1h interpolation_data_record The object record interpolation_data_record represents the actual data record It consists of an entry for the position value ip_data_position and a control word ip_data_controlword which specifies whether the position value should be interpreted absolutely or relatively Specification...

Page 177: ...ct 60C2h interpolation_time_period The synchronisation interval can be set via the object record interpolation_time_period Via ip_time_index the unit ms or 1 10 ms of the interval is established which is parameterised via ip_time_units To achieve synchronisation the complete controller cascade current speed and position controller is synchronised up to the external cycle A change in the synchronis...

Page 178: ...ange ip_time_index 3 1 2 9 10 ip_time_index 4 10 20 90 100 Default Value Sub index 02h Description ip_time_index Data Type INT8 Access rw PDO Mapping yes Units Value Range 3 4 Default Value 3 Value ip_time_units is specified in 3 10 3 seconds ms 4 10 4 seconds 0 1 ms A change in the synchronisation interval is effective only after a reset If the interpolation interval is to be changed via the CAN ...

Page 179: ...ng yes Units Value Range 0 Default Value 0 Value Meaning 0 use Standard SYNC telegram Sub index 02h Description ip_sync_every_n_event Access rw PDO Mapping yes Units Value Range 1 Default Value 1 Object 60C4h interpolation_data_configuration The object record interpolation_data_configuration can be used to configure the type buffer_organisation and size max_buffer_size actual_buffer_size of any bu...

Page 180: ...x_buffer_size Data Type UINT32 Access ro PDO Mapping no Units Value Range 0 Default Value 0 Sub index 02h Description actual_size Data Type UINT32 Access rw PDO Mapping yes Units Value Range 0 max_buffer_size Default Value 0 Sub index 03h Description buffer_organisation Data Type UINT8 Access rw PDO Mapping yes Units Value Range 0 Default Value 0 Value Meaning 0 FIFO ...

Page 181: ...Range 0 Default Value 0 Sub index 05h Description size_of_data_record Data Type UINT8 Access wo PDO Mapping yes Units Value Range 2 Default Value 2 Sub index 06h Description buffer_clear Data Type UINT8 Access wo PDO Mapping yes Units Value Range 0 1 Default Value 0 Value Meaning 0 Delete buffer access to 60C1h not permitted 1 Access to 60C1h enabled ...

Page 182: ...6060h Starting with this time the motor controller tries to synchronise itself to the external time grid which is specified through the SYNC telegrams If the motor controller is able to synchronise itself it reports the operating mode interpolated position mode in the object modes_of_operation_ display 6061h During synchronisation the motor controller reports back invalid mode of operation 1 If th...

Page 183: ... 6064h position_actual_value 5 Writing back as current nominal position 60C1h_01h ip_data_position 6 Start of interpolation 6040h controlword enable_ip_mode 7 Acknowledgement by motor controller 6041h statusword ip_mode_active 8 Changing the current nominal position in accordance with trajectory 60C1h_01h ip_data_position After the synchronous travel process is ended deletion of the bit enable_ip_...

Page 184: ...LE through which the bit ip_mode_active is deleted 8 5 RPM Regulation Operating Mode Profile Velocity Mode 8 5 1 Overview The speed regulated operation profile velocity mode contains the following subfunctions Nominal value generation through the ramp generator RPM recording through differentiation via the angle transmitter RPM regulation with appropriate input and output signals Limitation of the...

Page 185: ...8 Operating modes Festo P BE CMMP CO SW EN 0708NH 185 Fig 8 22 Structure of the speed regulated operation profile velocity mode ...

Page 186: ...0FFh VAR target_velocity INT32 rw Affected objects from other chapters Index Object Name Type Chapter 6040h VAR controlword INT16 7 1 3 Controlword control word 6041h VAR statusword UINT16 7 1 5 Statuswords status word 6063h VAR position_actual_value INT32 6 7 Position controller 6071h VAR target_torque INT16 8 7 Torque controller 6072h VAR max_torque_value UINT16 8 7 Torque controller 607Eh VAR p...

Page 187: ...min Value Range Default Value Object 606Ah sensor_selection_code The speed sensor can be selected with this object Currently no separate speed sensor is planned Therefore only the default angle encoder is accessible Index 606Ah Name sensor_selection_code Object code VAR Data Type INT16 Access rw PDO Mapping yes Units Value Range 0 Default Value 0 Object 606Bh velocity_demand_value The current nomi...

Page 188: ...ronization_encoder_select see chapter 6 11 This object is specified in user defined increments Index 202Eh Name velocity_demand_sync_value Object code VAR Data Type INT32 Access ro PDO Mapping no Units velocity units Value Range Default Value Objekt 606Ch velocity_actual_value The actual speed value can be read via the object velocity_actual_value Index 606Ch Name velocity_actual_value Object code...

Page 189: ... the controller The filter time constant can be set via the object 2073h velocity_display_filter_time See chapter 6 6 2 Object 2073h Index 2074h Name velocity_actual_value_filtered Object code VAR Data Type INT32 Access ro PDO Mapping yes Units speed units Value Range Default Value Filter Filter speed units velocity_actual_value 606Ch speed units velocity_actual_value_filtered 2074h velocity_displ...

Page 190: ...city_window_time Index 606Dh Name velocity_window Object code VAR Data Type UINT16 Access rw PDO Mapping yes Units speed units Value Range 0 65536 min 1 Default Value 4 min 1 Object 606Eh velocity_window_time The object velocity_window_time is used to set the window comparator along with the object 606Dh velocity_window The velocity must lie within the time specified here in the velocity_window so...

Page 191: ... units Value Range 0 65536 min 1 Default Value 10 Object 6070h velocity_threshold_time The object velocity_threshold_time specifies how long the drive may exceed the specified velocity before bit 12 velocity 0 is deleted in the statusword Index 6070h Name velocity_threshold_time Object code VAR Data Type UINT16 Access rw PDO Mapping yes Units ms Value Range 0 4999 Default Value 0 Object 6080h max_...

Page 192: ...e is selected as modes_of_operation the command value ramp is also activated It is thus possible via the objects profile_acceleration and profile_deceleration to limit a jump shaped command value change to a certain velocity change per time The controller makes it possible to not just specify different velocity changes for braking and acceleration but also to differentiate between positive and neg...

Page 193: ... changed together Object velocity_ramps_enable determines whether or not the command values are led over the ramp generator Index 2090h Name velocity_ramps Object code RECORD No of Elements 5 Sub index 01h Description velocity_ramps_enable Data Type UINT8 Access rw PDO Mapping no Units Value Range 0 Command value NOT over the ramp generator 1 Command value over the ramp generator Default Value 1 S...

Page 194: ...city_acceleration_neg Data Type INT32 Access rw PDO Mapping no Units acceleration units Value Range Default Value 14100 min 1 s Sub index 05h Description velocity_deceleration_neg Data Type INT32 Access rw PDO Mapping no Units acceleration units Value Range Default Value 14100 min 1 s ...

Page 195: ... mode allows an external torque nominal value target_torque which can be smoothed using the integrated ramp generator to be specified for the motor controller It is thus possible for this motor controller to also be used for path control with which both the position controller and the velocity controller are displaced to an external computer Fig 8 25 Structure of torque regulated operation ...

Page 196: ...ler profile velocity mode need the torque controller to work That is why it is always necessary to set its parameters 8 7 2 Description of the Objects Objects treated in this chapter Index Object Name Type Attr 6071h VAR target_torque INT16 rw 6072h VAR max_torque UINT16 rw 6074h VAR torque_demand_value INT16 ro 6076h VAR motor_rated_torque UINT32 rw 6077h VAR torque_actual_value INT16 ro 6078h VA...

Page 197: ... 0 Object 6072h max_torque This value represents the highest permissible torque of the motor It is specified in thousandths of the nominal torque object 6076h If for example a double overload of the motor is permissible for a short time the value 2000 is entered here The Object 6072h max_torque corresponds with the object 6073h max_current and may only be written when the object 6075h motor_rated_...

Page 198: ...O Mapping yes Units motor_rated_torque 1000 Value Range Default Value Object 6076h motor_rated_torque This object specifies the nominal torque of the motor This can be taken from the motor s name plate It is entered in the unit 0 001 Nm Index 6076h Name motor_rated_torque Object code VAR Data Type UINT32 Access rw PDO Mapping yes Units 0 001 Nm Value Range Default Value 296 Object 6077h torque_act...

Page 199: ...ue object 6075h Index 6078h Name current_actual_value Object code VAR Data Type INT16 Access ro PDO Mapping yes Units motor_rated_current 1000 Value Range Default Value Object 6079h dc_link_circuit_voltage The intermediate circuit voltage of the controller can be read out via this object The voltage is specified in the unit millivolt Index 6079h Name dc_link_circuit_voltage Object code VAR Data Ty...

Page 200: ...alue 1000 must be written in this object Index 6087h Name torque_slope Object code VAR Data Type UINT32 Access rw PDO Mapping yes Units motor_rated_torque 1000 s Value Range Default Value E310F94h Object 6088h torque_profile_type The object torque_profile_type specifies with which curve shape a command value jump should be carried out Currently only the linear ramp is implemented in this contoller...

Page 201: ...ransmitter offset 81 B Brake delay time 124 Brake delay time 124 brake_delay_time 124 buffer_clear 181 buffer_organisation 180 buffer_position 180 C cob_id_sync 40 cob_id_used_by_pdo 34 commissioning_state 130 Condition Not Ready to Switch On 137 Ready to Switch On 137 Switch On Disabled 137 Switched On 137 Contouring error 86 Definition 86 Error window 93 Timeout time 94 contouring error time out...

Page 202: ...encoder_x10_counter 105 encoder_x10_data_field 104 encoder_x10_divisor 105 encoder_x10_numerator 105 encoder_x10_resolution 104 encoder_x2a_data_field 102 encoder_x2a_divisor 102 encoder_x2a_numerator 102 encoder_x2a_resolution 102 encoder_x2b_counter 104 encoder_x2b_data_field 103 encoder_x2b_divisor 103 encoder_x2b_numerator 103 encoder_x2b_resolution 103 end_velocity 170 Error Controller error ...

Page 203: ...nterpolation_sync_definition 179 interpolation_time_period 178 ip_data_controlword 177 ip_data_position 177 ip_sync every n event 179 ip_time_index 178 ip_time_units 178 L Limit switch 117 162 164 Limit switches Emergency stop ramp 119 Polarity 117 Limit value contour error exceeded 96 Limit value following error 95 limit_current 99 100 limit_current_input_channel 99 limit_speed_input_channel 100 ...

Page 204: ...18h 124 Object 1018h_01h 124 Object 1018h_03h 125 Object 1018h_04h 125 Object 1401h 39 Object 1402h 39 Object 1403h 39 Object 1601h 39 Object 1602h 39 Object 1603h 39 Object 1800h 34 36 Object 1800h_01h 34 Object 1800h_02h 34 Object 1800h_03h 34 Object 1801h 37 Object 1802h 37 Object 1803h 37 Object 1A00h 35 36 Object 1A00h_00h 35 Object 1A00h_01h 35 Object 1A00h_02h 36 Object 1A00h_03h 36 Object ...

Page 205: ...Bh 151 Object 605Ch 152 Object 605Eh 153 Object 6060h 154 Object 6061h 155 Object 6062h 92 Object 6064h 93 Object 6065h 93 Object 6066h 94 Object 6067h 94 Object 6068h 95 Object 6069h 187 Object 606Ah 187 Object 606Bh 187 Object 606Ch 188 Object 606Dh 190 Object 606Eh 190 Object 606Fh 191 Object 6070h 191 Object 6071h 197 Object 6072h 197 Object 6073h 78 Object 6074h 198 Object 6075h 77 Object 607...

Page 206: ...ct 6410h_14h 82 Object 6510h 69 80 95 117 123 Object 6510h_10h 69 Object 6510h_11h 117 Object 6510h_13h 119 Object 6510h_14h 118 Object 6510h_15h 119 Object 6510h_18h 124 Object 6510h_20h 97 Object 6510h_22h 95 Object 6510h_30h 70 Object 6510h_31h 71 Object 6510h_33h 72 Object 6510h_34h 73 Object 6510h_35h 73 Object 6510h_36h 74 Object 6510h_37h 74 Object 6510h_38h 80 Object 6510h_3Ah 70 Object 65...

Page 207: ...pre_defined_error_field 45 Profile new Mode profile_deceleration 171 profile_acceleration 171 profile_deceleration 171 profile_velocity 170 Profiles new Mode end_velocity 170 motion_profile_type 172 profile_acceleration 171 profile_velocity 170 quick_stop_deceleration 171 target_position 169 Profiles Torque Mode 195 current_actual_value 199 dc_link_circuit_voltage 199 max_torque 197 motor_rated_to...

Page 208: ..._object 36 Selection of the position feedback value 108 Selection of the synchronisation source 109 sensor_selection_code 187 serial_number 125 Setting of the operating mode 154 shutdown_option_code 151 size_of_data_record 181 Speed in positioning 170 with of the Reference travel 160 Speed control Max Motor speed 191 Nominal speed 192 Standstill threshold 191 Standstill threshold time 191 Target s...

Page 209: ...orque_control_time 84 torque_demand_value 198 torque_profile_type 200 torque_slope 200 torque limited speed operation 98 T PDO 1 36 T PDO 2 37 T PDO 3 37 T PDO 4 37 tpdo_1_transmit_mask 38 tpdo_2_transmit_mask 38 tpdo_3_transmit_mask 38 tpdo_4_transmit_mask 38 Transfer parameters for PDOs 34 transfer_PDO_1 36 transfer_PDO_2 37 transfer_PDO_3 37 transfer_PDO_4 37 transmission_type 34 transmit_pdo_m...

Page 210: ...O SW EN 0708NH Version number of the firmware 127 X X10 Counters 105 Drive 105 Drive out 105 Resolution 104 X2A Drive 102 Drive out 102 Resolution 102 X2B Counters 104 Drive 103 Drive out 103 Resolution 103 Z Zero point offset 158 ...

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