Festo CMMT-ST-SW Original Instructions Manual Download | Manualshive

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Status transitions

Description

stop

Stop command via device profile, record list or device-specific
plug-in

halt

Stop command via device profile

resume

Resume command via device profile

PWM On

Power output stage is switched on

PWM Off

Power output stage is switched off

Tab. 175 Status transitions of the internal finite state machine

4.1.2

Operating modes for performing motion commands

The servo drive has the following operating modes for performing motion commands:

Operating modes

Description

Profile operating modes
–

Positioning mode(PP)

–

Velocity mode (PV)

–

Force/torque mode (PT)

The servo drive uses the integrated trajectory
generator to generate the relevant setpoint
quantities.

Cyclic synchronised ...
–

... positioning mode (CSP)

–

... velocity mode (CSV)

–

... force/torque mode (CST)

The command values are specified at equidistant
time points via fieldbus, e. g. via EtherCAT. The
time-equidistant command values are input by a
fine interpolator of the closed-loop controller.

Tab. 176 Operating modes for performing motion commands

The cyclically synchronised operating modes are only available in the CiA402 profile.

Motion control

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Festo — CMMT-ST-SW — 2019-02

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Summary of Contents for CMMT-ST-SW

Page 1: ...8097136 CMMT ST SW Servo drive 8097136 2019 02 8097138 Description Software Function Fieldbus Device profile...

Page 2: ...anslation of the original instructions BISS CANopen CODESYS CiA EtherCAT PI PROFIBUS PROFINET are registered trademarks of the respective trademark owners in certain countries 2 Festo CMMT ST SW 2019...

Page 3: ...ic and user units 22 2 1 6 Automatic data synchronisation 23 2 2 Working with CMMT ST the plug in 23 2 2 1 Open plug in 23 2 2 2 Connecting the plug in to the device 23 2 2 2 1 Connection control 23 2...

Page 4: ...e 77 2 3 9 Parameter list 77 2 4 Diagnosis 78 2 4 1 Interface 78 2 4 2 Device state 78 2 4 3 I O state 80 2 4 4 Error log 81 2 4 5 Error classification 82 2 4 6 Trace configuration 83 2 4 7 Trace disp...

Page 5: ...nternal units for the fieldbus factor group 115 3 2 5 Measuring reference system 120 3 2 5 1 Function 120 3 2 5 2 CiA 402 125 3 3 Drive configuration 125 3 3 1 Motor configuration 125 3 3 1 1 Function...

Page 6: ...the power output stage 184 3 4 1 1 CiA 402 187 3 4 2 I t monitoring of motor 188 3 4 2 1 CiA 402 190 3 4 3 Temperature monitoring of the servo drive 190 3 4 3 1 CiA 402 192 3 4 4 System monitoring 19...

Page 7: ...ds 265 4 4 3 1 Method 37 Current position 266 4 4 3 2 Method 33 34 current position with zero pulse in negative positive direction 266 4 4 3 3 Method 17 18 negative positive limit switch 267 4 4 3 4 M...

Page 8: ...5 6 Software limit position reached 322 5 6 1 CiA 402 325 5 7 Standstill monitoring 325 5 7 1 CiA 402 328 5 8 Stop reached 329 5 8 1 CiA 402 331 5 9 Stroke limit reached 331 5 9 1 CiA 402 333 5 10 Spe...

Page 9: ...ntrol Setpoint value control 372 6 3 1 Setpoint value connection 372 6 3 2 Inertia and friction compensation 377 6 3 3 CiA 402 380 6 4 Notch filter 381 6 4 1 Function 381 6 4 2 CiA 402 383 6 5 Auto tu...

Page 10: ...5 1 CiA 402 506 9 6 Condition monitoring 508 9 6 1 Mileage counter 508 9 6 1 1 CiA 402 509 9 6 2 Load change counter 510 9 6 2 1 CiA402 511 9 6 3 Operating hour counter 511 9 6 3 1 CiA402 512 10 Web s...

Page 11: ...p 534 11 7 1 5 Parameters and diagnostic messages 535 11 7 1 6 CiA 402 536 11 8 Mailbox communication 536 11 8 1 SDO communication 537 11 8 1 1 SDO write command SDO download download SDO 537 11 8 1 2...

Page 12: ...gy who have experience in installation commissioning programming and diagnostics of electrical drive systems 1 1 Applicable documents All available documents for the product www festo com pk The user...

Page 13: ...oller and drive regulator Incorrect parameterisation may cause the drive system to perform unwanted or unexpected move ments General safety instructions for the servo drive Instructions Installation S...

Page 14: ...in are managed by the Festo Automation Suite Online help for Festo Automation Suite If a text in the plug in is not available in the selected language it switches back to the standard lan guage Engli...

Page 15: ...ds in the plug in are separated by context Contexts represent the phases during which the user uses the plug in in conjunction with the servo drive These are the standard commissioning and optimisatio...

Page 16: ...g in communication settings Additional information 2 2 2 1 Connection control Function Assign master control to the plug in or higher level controller The scroll bar shows the current setting Control...

Page 17: ...er control an information symbol is displayed over the deactivated command Powerstage The tool tip for the command Powerstage contains the IP address and the port number of the device Function Send st...

Page 18: ...deactivated Function Restart the device Restarting the device includes a reinitialisation The command is highlighted if device parameters that will only be implemented following a restart of the devi...

Page 19: ...ing on the selected content page All parameter panels 2 3 Diagnostics panel Error log 2 4 4 Control side Manual movement 2 5 2 2 1 2 6 Display of real time values The sidebar displays real time values...

Page 20: ...lays for example settings on several device paramet ers P or device independent information Changing values using the command area Depending on the device parameter the values can be changed via the c...

Page 21: ...er has the same colour as the adorner 2 1 3 2 Pop up for automatic values changes If the plug in must automatically correct user inputs directly during input a pop up is displayed to the left of the i...

Page 22: ...ment It switches from the currently selected list element to the first column header Shift tab Access previous column header If the first column header has been accessed it switches to the currently s...

Page 23: ...by the user are immediately transferred to the device when exiting the input field or when the Enter button is actuated A synchronisation is therefore required when a connection to the device is esta...

Page 24: ...of the device 2 2 2 2 Establishing and disconnecting a connection 5 Connection status Display connection status Connection status 6 Connection or device status Connected device Display device status d...

Page 25: ...is an active diagnostic message information warning error the pop up for diagnostic messages can be opened by moving the mouse cursor over the status symbol mouse over A diagnostic message is defined...

Page 26: ...he network Connecting device via the network Find device via the IP address Connecting device via the IP address If other devices are already connected to the device the plug in shows the following in...

Page 27: ...Device communication dialogue The network is automatically scanned for available devices By clicking on the column name in the column header the devices are sorted in ascending or descending order ba...

Page 28: ...and parameters The plug in is connected with the device with the specified IP address If the device is a CODESYS controller a connection is also automatically established with CODESYS The plug in and...

Page 29: ...o the required device to be able to identify devices in a control cabinet for example An identification mechanism on the device such as a flashing LED on the device is activ ated The identification is...

Page 30: ...firm mes sage with Ok The device name is changed Defining network settings The network settings for the device can be defined via the device communication dialogue Requirements The device communicatio...

Page 31: ...st if there is a power failure or after a restart Users then have the option to save the changes on the device before it is disconnected or to continue with the disconnection process without saving th...

Page 32: ...o the device is established Servo drive and motor data are imported Connection is terminated Initial commissioning assistant is launched Connect Connection to the device is established Stay offline No...

Page 33: ...transmitted from the device to the project without any query If all parameters are valid in the project and the data does not match that of the device deviating parameters between the device and proje...

Page 34: ...ster control If the connection is interrupted the plug in returns master control to the PLC Master control is set in the plug in via a slide switch in the toolbar If a plug in has the master control d...

Page 35: ...mpleted all of the panels can be processed in any order Page Usage Configuring drive Selection of the hardware components of the drive Drive configuration Application data Setting specific application...

Page 36: ...Axis Mounting kit One or more gear units can be optionally selected Click on a configured drive component to show additional information in the right sidebar such as Support User Manuals Application N...

Page 37: ...ive components It is not necessary to select motor or mounting kit separately The integ rated motor and the integrated mounting kit are automatically configured and displayed when the Axis drive compo...

Page 38: ...iption files The drive is configured in several steps in a pop up The user can scroll horizontally through the fol lowing pop up components Step 1 Selection of drive components in the search field and...

Page 39: ...tion with the Search results button and select drive component again 2 With user specific components change parameterisation or set all parameters with newly selec ted components 3 Actuate settings wi...

Page 40: ...der permanently homed true Px 4001 0 0 Activation of open loop operation false Encoder type no encoder P0 3237 0 0 Encoder permanently homed true Px 4001 0 0 Activation of open loop operation true oth...

Page 41: ...dent on the selected axis type and selected mounting kit Toothed belt axis Spindle axis without parallel add on kit Spindle axis with parallel add on kit Rotative axis The installation position of the...

Page 42: ...add on kit The following parameters can be set if a spindle axis with a parallel add on kit has been selected Installation position of the motor Reversing the direction of rotation There are two diff...

Page 43: ...ach switch there is an option to determine whether the switch is used and which switch type it is If the switches are used they are automatically assigned to the digital inputs as follows Switches Dig...

Page 44: ...rameters The following parameters can be specified via the interactive graphic or via the Software limits para meter group Axis zero point offset Negative software limit position Positive software lim...

Page 45: ...nits The position of the reference point is dependent on the selected referencing method Slide with linear axis Piston rod with electric drives Drive shaft for rotative axes Axis reference point movea...

Page 46: ...field is updated in the graphic The values of the software limit positions can also be specified in the Software limits parameter group and are then updated in the interactive graphic Defining the ref...

Page 47: ...bination Symbol Description Switch to graphical display Switch to tabular display Tab 27 Description of the symbols for switching the page view Graphical display The graphical display shows all of the...

Page 48: ...evice parameter including the status Tab 29 Description of the parameter list columns By clicking on in the column header filters can be assigned to the individual columns By clicking on the column na...

Page 49: ...is valid Displaying errors in the navigator Fig 15 Displaying errors in the navigator If parameters on a parameter panel contain errors the number of errors is displayed in the navigator The total nu...

Page 50: ...Display in tabular view The cases in the tabular display are depicted in colour as follows Case Colour display1 Unknown device object Different shades of light blue Missing device object Different sh...

Page 51: ...ription of parameter identification marks 2 3 3 Drive configuration After adding a device from the device catalogue to a project the page displays Drive configuration a selection list that calls atten...

Page 52: ...gative test Servo drive Motor The load voltage of the servo drive matches that of the motor The motor measuring system is supported by the servo drive encoder interfaces Servo controller Motor Motor G...

Page 53: ...ation specific parameters for the configured drive components can be set or displayed in the plug in Additional information on drive configuration and the application specific parameterisation 3 3 Dri...

Page 54: ...rev rpm Rad rad rad s Degree s Other parameters may also need to be entered depending on the axis type e g length feed constant Mounting kit No parameterisation required Gear Parameterisation is not r...

Page 55: ...use device description files The drive is configured in several steps in a pop up The user can scroll horizontally through the fol lowing pop up components Step 1 Selection of drive components in the...

Page 56: ...and select drive component again 2 With user specific components change parameterisation or set all parameters with newly selec ted components 3 Actuate settings with the Apply button The pop up is cl...

Page 57: ...Integrating a device in a Festo controller and to the online help of the Festo Automation Suite The other plug in connector is active The Version field is populated as follows as a function of the Mod...

Page 58: ...on the encoder configuration 3 3 3 Encoder configuration Encoder selection of position control The encoder for the position controller is selected in this parameter group Additional information on enc...

Page 59: ...configuration parameter group is displayed If the plug in is connected to a device the Motor active configuration parameter group is dis played The user defined motor parameters are displayed and if...

Page 60: ...eter groups to display and specify axis specific parameters e g for referencing axis configurations stop delay times and limit values Interactive graphic Depending on the referencing mode axis zero po...

Page 61: ...ke 4 Positive software limit position 5 Negative software limit position 6 Measurement arrow for distance measure ment 7 Axis zero point 8 Reference point Fig 19 Interactive graphic for cantilever axe...

Page 62: ...rent con figuration Homing point Reference point of the measuring system The position of the reference point is dependent on the selected referencing method Slide with linear axis Piston rod with elec...

Page 63: ...meter group If the axis zero point value is specified via the Axis configuration parameter group the value also changes in the interactive graphic Positioning the axis reference point The axis referen...

Page 64: ...ormation on monitoring the software limit positions 5 6 Software limit position reached Stop deceleration The stop ramp is parameterised in this parameter group Additional information on stopping 4 2...

Page 65: ...Apply record set button The record is added to the record list Creating and editing a record link Up to three links to other records can be created for every record Up to 128 record sequences can be...

Page 66: ...nks that refer to this record Fig 22 Elements of a record link Deleting and editing records and record links Records and record links can be edited or deleted via the corresponding and buttons next to...

Page 67: ...target monitoring 5 4 Target area monitoring Standstill The standstill monitoring is parameterised in this parameter group The standstill monitoring indicates that the drive is not moving or is moving...

Page 68: ...ent for open loop The current values for open loop operation are specified in this parameter group The following para meters are active only if the Current reduction activation is activated Current re...

Page 69: ...en shaft The closed loop parameters correspond to the default values of the configured motor Calculated closed loop settings for the configured system The closed loop parameters were determined based...

Page 70: ...is started with the Calculate with open shaft button based on the current drive configuration The calculated closed loop settings are only useful for operation of a motor that is not connected to the...

Page 71: ...losed loop settings records is displayed at the bottom of the parameter panel Symbol Description Edit closed loop settings record Apply closed loop settings record to active parameter Tab 40 Descripti...

Page 72: ...ssistant Additional information on auto tuning 6 5 Auto tuning Measurement of movement identification and Test movement validation The properties for the movement measurement and movement test are def...

Page 73: ...ss and the dynamics of the closed loop controller soft medium or hard Status Display the auto tuning status Results Display the auto tuning results Tab 41 Description of the toolbar symbols for auto t...

Page 74: ...ntroller enable is activated Cancel The reinitialisation is not executed and controller enable remains deactivated If another plug in has the master control an information symbol is displayed over the...

Page 75: ...oller Result amplification gain of velocity controller Result integration constant of velocity controller Tab 43 Transferring device parameters Running auto tuning Before identification 1 On page Cons...

Page 76: ...applications the auto tuning measurement result can be evaluated as follows on the Auto tuning diagnostics panel Display or export of logarithmic diagrams Export settings to a CSV file Additional info...

Page 77: ...12 Jog mode The working area includes a parameter group to configure the motion parameter for jog mode Jog mode enables manual travel of the drive This is required in the following situations amongst...

Page 78: ...eactivated Start trace button Read trace Read out recording from the device The command can be executed if the following prerequisites are met The plug in is connected to a device Recordings are avail...

Page 79: ...number of the diagnostic message with the highest priority for the axis 3 Acknowledge all Acknowledge all of the current diagnostic messages 9 4 5 Acknowledging messages and errors 4 Message directory...

Page 80: ...Diagnostic message with a medium degree of severity Active Cause is active Cancelled Cause no longer active Warning Acknowledged Diagnostic message has already been acknow ledged Information Diagnosti...

Page 81: ...tic messages currently on the device is available in the working area The table is split into the following columns Index State Category ID Name Timestamp Adorner Information on dividing the error mes...

Page 82: ...onal information on error classification 9 2 Classification of diagnostic events The Error classification diagnostic panel contains a table with all of the diagnostic messages from the device for whic...

Page 83: ...page Error Log button via the table opens the Error log dia gnostics panel 2 4 6 Trace configuration The working area contains parameter groups to configure a trace recording All available device para...

Page 84: ...ding channels and the data type and is automatically calculated Trigger preferences The trigger can be selected and configured in this parameter group The parameter group is only vis ible if at least...

Page 85: ...e parameter group and can be changed or deleted again if required The lead and follow up time specifies during which period measurements are completed before and after the trigger event The lead and f...

Page 86: ...he start and read out of a recording can be triggered for example via commands from the toolbar of the context Diagnosis 2 4 1 Interface If there are no recordings available a corresponding message is...

Page 87: ...s that are not currently shown in the graph section are not highlighted in bold Clicking on the entry switches over the display and shows the recording in the graph section 4 Button Import Recordings...

Page 88: ...he elements of the assigned recording are hidden Clicking on the symbol opens the elements in the recording list This shows all elements of the recording in the list Scaled on the Y primary axis The m...

Page 89: ...chart as image Exports the selected graph as an image file Copy chart to clip boad Copies the selected graph as an image to the Windows clipboard Tab 56 Commands of the context menu for the graph sect...

Page 90: ...se position Releasing the mouse but ton will cause the size of the zoom box to become zoomed Zooming with the mouse wheel Point to the graph section with the mouse Zoom in or out with the mouse wheel...

Page 91: ...ar with dimensional reference to the X axis and to the Y primary axis Keep the CTRL left mouse but ton pressed and drag the mouse The measuring bar will stretch from the start point to the current mou...

Page 92: ...the tool tip command Exporting the recording Recordings can be exported as a CSV file or as an image file or they can be copied directly as an image or as csv data to the clipboard CSV data and files...

Page 93: ...ment result can be evaluated as follows on the Auto tuning diagnostics panel Display or export of logarithmic diagrams Export settings to a CSV file Requirements for using the functions Perform auto t...

Page 94: ...settings Reads auto tuning settings from the device Export settings Exports the displayed settings to a CSV file Export graph Exports the displayed graphs to a common image file png The generated fil...

Page 95: ...s The standard values are read out of the device Entered values have priority over standard values A standard value is used if no value is entered for a parameter The target position and velocity valu...

Page 96: ...jogging Jog movement in positive direction Single step 3 Distance of single step Movement in single steps 2 Negative single step Start movement in negative direction along specified path 5 Positive s...

Page 97: ...1 Select closed loop settings record 2 Transition period during which the closed loop settings record should be transferred to the active closed loop parameters 3 Activate closed loop settings record...

Page 98: ...drive into a CODESYS program is described below Connecting device to a controller as a slave Connect device to a Festo controller as a slave Online help for Festo Automation Suite chapter Projecting d...

Page 99: ...CODESYS SoftMotion and requires a controller with SoftMotion function Integration into the control program takes place as in CODESYS by transfer of the SoftMotion axis object to PLCopen modules for S...

Page 100: ...st be ensured that a method is only called up once and not cyclically The device driver then executes the relevant function itself and the status can be evaluated by requesting the corresponding prope...

Page 101: ...ice has 4 MAC addresses in total The first MAC address can be found on the type plate while the other three have consecutive numbers based on the first address MAC addresses 1 2 and 3 are allocated to...

Page 102: ...performed in a device internal manner in interaction between the firmware management component and the bootloader Festo Automation Suite carry out the abovementioned steps automatically one after anot...

Page 103: ...ve location invalid Firmware save location invalid 11 04 00186 184811706 Firmware save location empty Firmware save location empty 11 04 00187 184811707 Firmware update not allowed Firmware update not...

Page 104: ...parameter only used within the firmware Factory parameter set Device specific parameter set contains the spe cific default values of the servo drive User parameter set Application specific parameter...

Page 105: ...device specific plug in I O interface Ex works the device profile interface has the master control after activation master control via field bus Through parameterisation the master control can also b...

Page 106: ...ays possible Simultaneous connections via standard Ethernet interface Through the standard Ethernet interface 2 connections at once are technically possible e g through 2 device specific plug ins If t...

Page 107: ...er parameter set switchover 0x2001 05 Method return value Return code Tab 73 Controller parameter set switchover 3 1 5 3 Saving zero point offset CiA402 Method Object Function Description 0x2002 01 Co...

Page 108: ...method 0x2005 02 Method status Status 0x2005 03 Method transfer value Value 1 0x2005 04 Method return value Return code Save parameter set 0x2005 05 Method return value Value 1 Tab 77 Save parameter...

Page 109: ...hod 0x2008 02 Method status Status 0x2008 03 Method transfer value Mode Px 113000 Position Capture Touch Probe 0 0x2008 05 Method return value Return code Tab 80 Position capture touch probe 0 3 1 5 1...

Page 110: ...ate effective immediately 5 8416 1 Axis zero point offset 2 Unit user defined 6 Tab 82 Parameter example Cell Content description 1 Parameter number 2 Name of the parameter 3 Brief description of the...

Page 111: ...to the relevant parameters are listed Structure of the CiA object tables In the device specific section the function descriptions contain tables in which objects allocated to the parameters involved...

Page 112: ...the user Size Basic unit Data type Temperature T Degrees Celsius C FLOAT32 Current I Ampere A FLOAT32 Voltage r Volt V FLOAT32 Energy E Joule Watt second J Ws FLOAT32 Torque M Newton metre Nm FLOAT32...

Page 113: ...user the plug in performs the necessary conversion in the commissioning software of Festo During the use of the plug in the units shown there and or resolution for the entry of the respective paramete...

Page 114: ...s 3 Rev rev rpm 4 Rad rad rad s 5 Degree s 6 Metric m m s 7 Imperial in in s Access read write Update reinitialization 1151 Selection of next user unit Unit Specifies whether the user unit is active A...

Page 115: ...Px Parameters Description Determines the resolution of the position The value is inter preted as ten expont e g with meter and 6 the resolution is 1 m Access read write Update reinitialization 7841 R...

Page 116: ...date effective immediately 7854 User unit jerk Unit Tab 92 Parameters CiA 402 Objects for the scaling of internal units for fieldbus Parameters Index Subindex Name Data type Px Manufacturer specific o...

Page 117: ...I Unit INC 1 s2 46167 SI Unit ROUND U s 1 s2 50369 SI Unit ROUND rpm 1 min s 4183 SI Unit RAD 1 s2 16727 SI Unit DEGREE 1 s2 343 SI Unit METRE 1 s2 49239 SI Unit INCH 1 s2 Jerk 49920 SI Unit INCI 1 s3...

Page 118: ...0 Resolution acceleration 1 7843 0 0 0 Resolution 10 0 Resolution jerk 1 7843 0 0 0 Resolution 10 0 Tab 95 Parameters for setting factor group example In CODESYS the increments must be set to 100000 s...

Page 119: ...tion P1 7841 0 0 6 Resolution 10 6 Resolution velocity P1 7842 0 0 3 Resolution 10 3 Resolution acceleration 1 7843 0 0 3 Resolution 10 3 Resolution jerk 1 7843 0 0 3 Resolution 10 3 Tab 96 Setting fa...

Page 120: ...tion of the signs or directions refer to the view on the front side of the motor drive shaft The signs of all directional variables are defined at the factory as follows Positive direction of movement...

Page 121: ...osition TP AP c Optional negative software end position SLN 1 d Optional positive software end position SLP 1 1 Usable range 2 Operating range 3 Direction of rotation with factory setting looking at t...

Page 122: ...variables are converted automatically Linear measuring reference system Example linear drive REF Homing point reference point AZ Axis zero point SLN Negative software end position software limit negat...

Page 123: ...of software end positions The position is specified relative to the axis zero point AZ The controller checks whether the target position of the command record lies between the software end positions...

Page 124: ...reinitialization 1170 Reversing the direc tion of rotation Unit Determines whether the encoder signal shall be inverted This means 0 inactive do not invert the encoder signal 1 active invert the enco...

Page 125: ...ecific objects saved basic unit for the object is effective 1170 0x217D 01 Reversing the direction of rotation BOOL 1171 0x226E 01 0A Invert encoder signal BOOL 1172 0x217D 02 Phase rotation BOOL Tab...

Page 126: ...during the configuration procedure of the plug in Tab 103 Motor configuration options For the configuration of the motor parameters with the following motor data are present in the device Active motor...

Page 127: ...11 Motor inertia user defined Unit kgm Specifies whether the sequence of phases is swapped The usu al phase sequence for the servomotor to turn clockwise is ascending U V W If the servomotor has the p...

Page 128: ...ata sheet of the motor Access read write Update reinitialization 7126 Nominal rotary speed user defined Unit rpm Specifies the inductance between 2 motor phases data sheet of the motor Access read wri...

Page 129: ...ssible winding temperature of the motor data sheet of the motor Access read write Update reinitialization 7147 Winding temperature user defined Unit C Specifies the sensor type of the temperature sens...

Page 130: ...lay hold ing brake user defined Unit s user configured switch off delay Determines how long the closed loop controller shall hold the current position so that the holding brake can be closed com plete...

Page 131: ...nnot be measured data sheet of the motor Access read write Update reinitialization 71430 Lq inductance user defined Unit H The inductance is in parallel with the direction of the field This value is a...

Page 132: ...efined BOOL 7117 0x216C 04 Nominal current user defined FLOAT32 7120 0x216C 05 Maximum peak current user defined FLOAT32 7123 0x216C 06 Maximum rpm user defined FLOAT32 7126 0x216C 07 Nominal rotary s...

Page 133: ...egrated encoder the motor data can be read out The read out motor data is transferred to the parameters listed here The device has an encoder interface The parameters of the encoder interface are allo...

Page 134: ...0 is the assignment A A and B B For the phase sequence equal to 1 the assignment A A and B B is Changing the phase sequence changes the rotating field of the motor Access read Update reinitialization...

Page 135: ...Specifies the ratio of the motor torque to the root mean square value of the current root mean square value Access read Update reinitialization 7134 Torque constant Unit Nm Arms Specifies the duration...

Page 136: ...ccess read Update reinitialization 7150 Major version hard ware Unit Specifies the minor version number of the hardware Access read Update reinitialization 7151 Minor version hard ware Unit Sensor typ...

Page 137: ...y saved in the EEPROM for the deactivation of the regu lator if an electronic data sheet for the Festo motor is stored Access read Update reinitialization 7164 Switch off delay hold ing brake Unit s S...

Page 138: ...sured data sheet of the motor Access read Update reinitialization 7429 Ld inductance Unit H Selection of motor type data sheet of the motor Access read Update reinitialization 7430 Motor type Unit Tab...

Page 139: ...g temperature FLOAT32 7149 0x2106 21 Nominal motor voltage FLOAT32 7150 0x2106 23 Major version hardware STRING 2 7151 0x2106 25 Minor version hardware UINT16 7152 0x2106 27 Temperature sensor UINT32...

Page 140: ...Access read Update effective immediately 719 Current pole pairs Unit Specifies the inertia of the active motor data sheet of the motor used Access read Update effective immediately 7112 Current motor...

Page 141: ...current maximum velocity of the motor used Access read Update effective immediately 7124 Current maximum velocity Unit user defined Specifies the current nominal velocity of the active motor Access re...

Page 142: ...ulting maximum torque Unit Nm Specifies the duration for which the parameterised maximum current may act In the case of a servomotor the current set point is automatically limited to the rated current...

Page 143: ...read Update effective immediately 7160 Holding brake Unit Specifies the currently used switch on delay of the holding brake Determines how long the next command is delayed after a con troller enable...

Page 144: ...Update effective immediately 71422 Current nominal motor voltage Unit V Specifies the effective current that the motor requires to apply the stall torque data sheet of the motor Access read Update eff...

Page 145: ...2 03 Current motor inertia FLOAT32 7115 0x2162 04 Current phase sequence BOOL 7118 0x2162 05 Current nominal current FLOAT32 7121 0x2162 06 Current maximum current FLOAT32 7124 0x2162 07 Current maxim...

Page 146: ...6 Holding brake 1 Motor holding brake Tab 113 Output for the brakes holding brake The output is intended for the actuation of a brake that drops when the system is in a non energised status and holds...

Page 147: ...Not ready for operation status An error message is emitted error status The error must be reset When the request is rescinded the drive can be set in the ready for operation status again through the c...

Page 148: ...parameterised switching function 3 3 2 2 Parameters and diagnostic messages Plug in 2 5 2 Device profile 3 3 2 3 CiA 402 Tab 116 Releasing the holding brake When the closed loop controller is released...

Page 149: ...40004 The voltages for the holding brake in Px 40003 and Px 40004 may not be higher than the logic supply voltage regardless of the parameterisation 3 3 2 2 Parameters and diagnostic messages ID Px P...

Page 150: ...ffective immediately 29 Selection of holding brake manual open ing Unit user configured switch on delay Access read write Update reinitialization 7162 Switch on delay hold ing brake user defined Unit...

Page 151: ...read write Update effective immediately 40001 Activation current reduction holding brake Unit Specifies the time with which the current reduction for the hold ing brake is initiated Access read write...

Page 152: ...itch off delay holding brake user defined FLOAT32 7163 0x2162 12 Current switch on delay holding brake FLOAT32 7166 0x2162 13 Current switch off delay holding brake FLOAT32 7161 0x2106 2B Switch on de...

Page 153: ...the EEPROM The data saved in the EEPROM are assumed during reinitialisation as active data independently of parameter Px 14 0 0 Fig 35 ID Px Parameters Description Determines the commutation angle sa...

Page 154: ...saved in the parameter set shall still be valid This means 0 invalid 1 valid Access read write Update reinitialization 3226 Referencing in user configuration is valid Unit Displays whether the curren...

Page 155: ...the switch on phase shall be checked as to whether the detected motor encoder corresponds with the last motor encoder used The following applies 0 motor change check active 1 motor change check inacti...

Page 156: ...ratio group of the encoder interface con taining the gear ratio and feed constant The gear ratio and feed constant can be set individually for each encoder In the pro cess the gear ratio and feed cons...

Page 157: ...Specifies the electrical angle of the encoder calculated from the number of pole pairs the pole pitch and the offset Access read Update effective immediately 11604 Electrical angle Unit Specifies the...

Page 158: ...on 11616 Encoder selection Unit Specifies the encoder type currently configured for the encoder interface Access read Update effective immediately 11617 Active encoder Unit Determines the filter time...

Page 159: ...eration filter Unit s Tab 122 Encoder parameters Fig 37 Selection of the gear ratio and feed constant using the gear ratio group Name Description Gear ratio Gear ratio Feed constant Feed constant Nume...

Page 160: ...encoder selection ID Dx Name Description 18 00 00092 301989980 Motor change detected commut ation angle invalid Motor change detected commutation angle invalid 18 00 00093 301989981 Motor change detec...

Page 161: ...igura tion BOOL 3230 0x2130 33 Current commutation angle valid BOOL 3234 0x2130 39 Electrical angular frequency filtered FLOAT32 3236 0x2130 3D Deactivation motor change check BOOL 3237 0x2130 3F Enco...

Page 162: ...er inter face 2 device specific Access read write Update reinitialization 10040 Encoder resolution Unit Inc r Specifies the raw position value delivered by the single turn encoder in increments Access...

Page 163: ...xample A motor with incremental distance measuring system shall be used resolution 2000 inc rev quad ruple evaluation gear unit 3 1 feed constant 90 mm rev Parameter settings example Parameters Value...

Page 164: ...6 10041 0x2138 04 Raw value position UINT16 10042 0x2138 07 Raw value number of revolutions SINT16 10043 0x2138 0A Quadrature evaluation UINT8 10044 0x2138 0D Activate of position correction when zero...

Page 165: ...ive immediately 3610 CRC BiSS C Unit Defines the baud rate at which the encoder data is transmitted Access read write Update reinitialization 3612 Baud rate Unit Determines whether the correction tabl...

Page 166: ...on single turn UINT32 3602 0x21A2 02 Resolution multiturn UINT32 3603 0x21A2 03 Single turn position UINT32 3604 0x21A2 04 Multi turn numerator UINT32 3610 0x21A2 0A CRC BiSS C UINT8 3612 0x21A2 0C Ba...

Page 167: ...ngle Unit Specifies the electrical angular frequency used by the commuta tion Access read Update effective immediately 1213 Electrical angular fre quency Unit Hz Tab 135 Parameters of the actual value...

Page 168: ...r signal 1 active invert the encoder signal One encoder is allocated to every index Index for the Invert encoder signal parameter Px 1171 Access read write Update reinitialization 1171 Invert encoder...

Page 169: ...rotation BOOL 1171 0x226E 01 0A Invert encoder signal BOOL 1172 0x217D 02 Phase rotation BOOL Tab 139 Objects 3 3 3 12 Parameters of the commutation angle detection Commutation angle detection normal...

Page 170: ...Access read write Update effective immediately 662 Time current increase Unit s Determines the increment for the commutation angle detection Access read write Update effective immediately 664 Incremen...

Page 171: ...angle Unit Defines the factor for the current setpoint used for the commut ation angle determination Access read write Update effective immediately 6694 Factor current set point value Unit Tab 140 Pa...

Page 172: ...otor with which the homing and zero point offset were performed is still connected during the switch on phase If the motor was exchanged the CMMT generates a corres ponding error message The exchange...

Page 173: ...e 3 Gear unit 4 Output side 5 Axis Fig 38 Gear ratio example Parameters of gear ratio groups 0 1 2 The device offers 3 gear ratio groups For each gear ratio group a gear ratio and a feed constant can...

Page 174: ...tant denom inator Unit Tab 144 Parameter for gear ratio group 0 The following parameters form gear ratio group 1 and 2 ID Px Parameters Description Determines the numerator of the gear ratio for the u...

Page 175: ...iguration The plug in calculates the numerator from parameters Px 1232 Px 1233 Px 1236 Px 1237 Px 1240 and Px 1241 and the denominator of the overall trans mission ratio of the gear ratio group 0 Px 1...

Page 176: ...ID gear unit 2 Unit Specifies the order code of the second configured gear unit Access read write Update effective immediately 1235 NOC code gear unit 2 Unit Specifies the numerator of the gear ratio...

Page 177: ...e drive configuration 3 3 4 2 CiA 402 Objects of gear ratio group 0 Parameters Index Subindex Name Data type Px CiA402 factor group is effective 1242 0x60E8 01 Total conversion factor gear unit numera...

Page 178: ...cts Parameter of the gear units from the drive configuration Parameters Index Subindex Name Data type Px Manufacturer specific objects saved basic unit for the object is effective 1230 0x2182 01 Datab...

Page 179: ...switching logic of the digital inputs and outputs This means 0 NPN logic earth is switched 1 PNP logic a potential is switched Access read write Update restart 10191 Activate PNP input and output beha...

Page 180: ...tion of the digital output signal at connection X1A 10 Possible signals Tab 154 Configurable output signals at X1A 9 and X1A 10 Access read write Update reinitialization 11204 Digital output X1A 10 Un...

Page 181: ...rection The switching function can be set with parameters Px 101100 and Px 101101 N C or N O contact For more information see 5 5 Hardware limit switch reached 11 Record table input 0 12 Record table...

Page 182: ...ogical status of the corres ponding cam switch 12 Drive referenced The output becomes active when the drive is being homed 13 Target position reached The output becomes active when the actual position...

Page 183: ...icates the exceeding of the limit value 31 Pushback The output becomes active when the set torque and direction of movement do not correlate and the para meterised damping time has expired 32 MC The o...

Page 184: ...e power output stage from thermal damage due to an excessive dissipation of electrical energy In the process the limit values of a certain warning threshold and upper limit are monitored When the resp...

Page 185: ...t A s Specifies the scaling factor for the warning limit based on the limit value of the I t monitoring of the power output stage Access read write Update effective immediately 6311 Scaling factor war...

Page 186: ...mmediately 6317 Scaling factor warning limit I t monitoring drive at standstill Unit Specifies the actual value for relative I t monitoring of the power output stage to the limit Access read Update ef...

Page 187: ...A 07 Scaling factor start value I t monitoring power output stage FLOAT32 638 0x216A 08 Limit value I t monitoring power output stage FLOAT32 639 0x216A 09 Scaling factor maximum value after switching...

Page 188: ...first order with a standardised status variable of 0 to 1 and a parameterisable filter time constant of Px 7144 3 3 1 Motor configuration If the deceleration member reaches the value 1 this means that...

Page 189: ...ies the scaling factor for setting the warning limit for I t monitoring based on the limit value of I t monitoring of the motor model Access read write Update effective immediately 6305 Scaling factor...

Page 190: ...overtemperature The upper and lower limit values of a certain warning threshold and of a certain upper and lower limit are monitored including hysteresis The hysteresis is 5 C When the respective lim...

Page 191: ...ctive immediately 9316 Lower limit value warning threshold power output stage temperature Unit C Determines the lower limit value of the temperature monitoring of the power output stage Access read wr...

Page 192: ...rvo drive Parameters Index Subindex Name Data type Px Manufacturer specific objects saved basic unit for the object is effective 920 0x2128 01 Temperature power output stage FLOAT32 921 0x2128 02 Temp...

Page 193: ...or exceeded over a certain period of time a diagnostic message is triggered The servo drive tolerates a short term interruption of the mains voltage The tol erance time is device specific and cannot...

Page 194: ...ltage root mean square value FLOAT32 492 0x2115 03 Actual rectified load voltage value FLOAT32 493 0x2115 04 Lower load voltage limit value FLOAT32 494 0x2115 05 Upper load voltage value FLOAT32 495 0...

Page 195: ...monitoring of the DC link voltage Access read write Update effective immediately 4811 Warning thresholds DC link voltage Unit V Determines the upper limit value for the monitoring of the DC link volta...

Page 196: ...e circuit warning threshold reached Intermediate circuit warning threshold reached Tab 170 Diagnostic messages of Monitoring of the DC link voltage CiA 402 Parameters Index Subindex Name Data type Px...

Page 197: ...the intermediate circuit is disconnected from the load supply to protect the other devices The automatic detection of the threshold value for the switch off can be switched off with Px 10184 and speci...

Page 198: ...h on threshold reactive current braking Unit V Active end value for reactive current braking Access read Update effective immediately 102102 Active end value reactive current brak ing Unit V Status of...

Page 199: ...e current braking Unit V Tab 172 Parameters CiA 402 Return energy feed objects Parameters Index Subindex Name Data type Px Manufacturer specific objects saved basic unit for the object is effective 10...

Page 200: ...Objects 4 Motion control 4 1 Operating modes 4 1 1 Finite state machine The internal finite state machine defines how the available operating statuses of the device are changed If the device completes...

Page 201: ...connected Disabled The device is blocked The output stage is locked and switched off Ready The device is ready The output stage is switched off The brake can be set and released manually 3 3 2 Brake c...

Page 202: ...on to the Disabled status occurs status occurs if the output stage enable is cancelled or a safety stop is requested e g STO Note 2 The transition to the Not ready status occurs e g if the connec tion...

Page 203: ...Operating modes Description Profile operating modes Positioning mode PP Velocity mode PV Force torque mode PT The servo drive uses the integrated trajectory generator to generate the relevant setpoin...

Page 204: ...is moving In the case of other operating modes the current motion command must be completed or cancelled before switching the operating mode See the following table for an overview To From PP PV PT CS...

Page 205: ...until the operating mode switch is complete message Unwanted command value jumps after switching the operating mode must be avoided by input corresponding command value specification by the user or by...

Page 206: ...perating mode 3 The CSP operating mode is active The nominal velocity Target velocity and the nominal position Target position are sent However the target velocity is not used in the current operating...

Page 207: ...the PP PV and PT profile operating modes is possible Monitoring functions The monitoring functions marked with a dot are effective in this operating mode Motion monitoring function status word Bit Cod...

Page 208: ...ing Motion quantities The path course of a positioning command is largely influenced by the following motion quantities Motion quantities Description Target position Target specification specification...

Page 209: ...0 0 0 5 1 0 6 5 4 3 2 1 0 1 0 0 5 0 0 0 5 1 0 x v a j Fig 43 Positioning mode timing graph example Name Description x Item v Speed a Acceleration j Jerk Tab 182 Legend for positioning mode timing grap...

Page 210: ...d value 0x6062 Profile velocity or End velocity Profile acceleration 0x6083 Profile deceleration 0x6084 Quick stop deceleration 0x6085 Profile acceleration or profile deceleration or quick stop decele...

Page 211: ...1 0x6081 0 Profile velocity CiA402 UINT32 8132 0x6082 0 End velocity CiA402 UINT32 8133 0x6083 0 Profile acceleration CiA402 UINT32 8134 0x6084 0 Profile deceleration CiA402 UINT32 8135 0x6085 0 Quick...

Page 212: ...not toggle A rising edge in the stop status results in the motion command being aborted 1 x x x The motion command is interrupted with the stated deceleration object 0x6084 Profile deceleration 1 sign...

Page 213: ...Position following error limit reached 1 Signal status 0 low 1 high Tab 186 Monitoring positioning mode 4 1 4 Velocity mode PV 4 1 4 1 Function In the velocity mode profile position operating mode the...

Page 214: ...tion target area monitoring 7 TMV Speed target area monitoring 8 TMT Torque target area monitoring 9 11 Reserved 12 HLP Hardware limit switch reached positive 13 HLN Hardware limit switch reached nega...

Page 215: ...city Acceleration Nominal acceleration Deceleration Nominal deceleration with target velocity actual velocity Jerk Maximum value for the jerk during the acceleration phase and deceleration phase Activ...

Page 216: ...6 1 0 0 5 0 0 0 5 1 0 v a j Fig 46 Timing graph of velocity mode example Name Description v Speed a Acceleration j Jerk Tab 190 Legend for timing graph of velocity mode 4 1 4 2 CiA 402 The following g...

Page 217: ...tion Position actual value 0x6064 Velocity actual value 0x606C Controlword 0x6040 Statusword 0x6041 Fig 47 Trajectory generator in velocity mode PV Objects Parameters Index Subindex Name Data type Px...

Page 218: ...x216D 02 Status word CiA402 UINT16 128 0x2155 09 Actual position value SINT64 1210 0x2155 0B Actual velocity value FLOAT32 4610 0x2166 0B Monitoring window target speed FLOAT32 468 0x2166 09 Damping t...

Page 219: ...e decelera tion 1 Signal status 0 low 1 high Tab 192 Control velocity mode Object 0x6041 Statusword The following statuses of velocity mode can be monitored with the object Bit 10 target velocity reac...

Page 220: ...stroke limitation Force torque with velocity limitation with velocity and stroke limita tion Force torque with velocity and stroke limitation Tab 194 Variants of force torque In force torque mode new...

Page 221: ...peed monitoring 22 PB Pushback monitoring 23 RDX Remaining distance monitoring 24 MC Trajectory completed 25 REFS Reference switch activated 26 TUR Torque utilisation exceeded 27 FSPR Fixed stop reach...

Page 222: ...table the fieldbus direct mode Requirements for force torque Controller enable Timing 1 8 0 6 0 4 0 2 0 0 0 2 0 1 0 0 0 1 0 2 0 3 0 4 0 5 1 8 0 6 0 4 0 2 0 0 0 2 0 0 0 2 0 4 0 6 0 8 1 0 M M s Fig 48 F...

Page 223: ...rolword 0x6040 Statusword 0x6041 Fig 49 Trajectory generator in force torque PT Objects Parameters Index Subindex Name Data type Px CiA402 factor group is effective 730 0x6040 00 Control word CiA402 U...

Page 224: ...526796 0x2168 17 Maximum torque symmetrical FLOAT32 856 0x2168 07 Limit value total current closed loop control ler FLOAT32 3014 0x2188 07 Setpoint generator output torque FLOAT32 7118 0x2162 05 Curre...

Page 225: ...reached 0 Halt 1 drive decelerated 1 Halt 1 velocity 0 1 Signal status 0 low 1 high Tab 200 Monitoring force torque mode 4 1 6 Cyclic synchronised positioning mode CSP 4 1 6 1 Function Cyclic synchron...

Page 226: ...ition reached positive 15 SLN Software limit position reached negative 16 STX Standstill monitoring position velocity 17 STV Standstill monitoring velocity 18 LS Stop reached 19 STLP Stroke limit reac...

Page 227: ...straight CSP operation without external pilot control values pilot control values are generated by an internal algorithm Ipo algorithms 4nd order CSP V external velocity pilot control value Ipo algori...

Page 228: ...the input and output values for the interpolator in straight CSP operation with velocity and torque pilot control values Fieldbus Interpolator x v M x x v v M M x Controller v a 0 j 0 M I 0 Ipo algor...

Page 229: ...eration An invalid mode of operation was requested Tab 205 Diagnostic messages 4 1 6 2 CiA 402 The following graphs show an overview of the objects involved in the cyclic synchronised positioning mode...

Page 230: ...Following error window 0x6065 Following error time out 0x6066 Max torque 0x6072 Motor rated torque 0x6076 Motor rated torque 0x6076 Torque offset 0x60B2 Velocity actual value 0x606C Torque actual valu...

Page 231: ...on UINT8 7123 0x6080 00 Maximum rpm user defined UINT32 8135 0x6085 00 Quick stop deceleration CiA402 UINT32 8138 0x60B1 00 Velocity offset CiA402 SINT32 8111 0x60B2 00 Torque offset CiA402 SINT16 468...

Page 232: ...s CSP CSP V CSP T CSP VT Objects 0x607A 0x60B1 0x60B2 Tab 207 Effective objects Precondition for the cyclic synchronised positioning mode The following conditions must be fulfilled for the cyclic sync...

Page 233: ...of the higher order controller The synchronisation signal is generally slower by a whole number than the cycle of the closed loop controller The synchronisation time is generally set by the higher ord...

Page 234: ...ory completed 25 REFS Reference switch activated 26 TUR Torque utilisation exceeded 27 FSPR Fixed stop reached 28 ACC Drive accelerated 29 DEC Drive decelerated 30 31 Reserved Tab 209 Motion monitorin...

Page 235: ...lator in CSV operation The interpolator has two sets of interpolator algorithm instances and can be switched between the CSP CSV and CST operating modes When switching the required algorithm instances...

Page 236: ...s activated by the device profile Access read write Update effective immediately 11413 Interpolation mode CSV Unit Tab 212 Parameters Diagnostic messages ID Dx Name Description 08 12 00250 135004410 I...

Page 237: ...ntrol function Quick stop deceleration 0x6085 Max motor speed 0x6080 Polarity 0x607E Multiplier Multiplier Max torque 0x6072 Motor rated torque 0x6076 Motor rated torque 0x6076 Torque offset 0x60B2 Ve...

Page 238: ...ific objects saved basic unit for the object is effective 730 0x216D 01 Control word CiA402 UINT16 731 0x216D 02 Status word CiA402 UINT16 128 0x2155 09 Actual position value SINT64 1210 0x2155 0B Act...

Page 239: ...e 4 1 8 Cyclic synchronised force torque mode CST 4 1 8 1 Function The cyclic synchronised force torque mode enables command values to be pre set for the device in a fixed time grid using the drive pr...

Page 240: ...ring position velocity 17 STV Standstill monitoring velocity 18 LS Stop reached 19 STLP Stroke limit reached positive 20 STLN Stroke limit reached negative 21 VM Speed monitoring 22 PB Pushback monito...

Page 241: ...generated by an internal algorithm The input and output values of the interpolator in the CST operating mode are shown in the following graph Fieldbus Interpolator M M M x 0 Controller v 0 a 0 j 0 M I...

Page 242: ...speed 0x6080 Polarity 0x607E Multiplier Multiplier Max torque 0x6072 Torque actual value 0x6077 Target torque 0x6071 Motor rated torque 0x6076 Motor rated torque 0x6076 Controlword 0x6040 Statusword...

Page 243: ...5 0x216F 0D Target torque CiA402 FLOAT32 526796 0x2168 17 Maximum torque symmetrical FLOAT32 151 0x2157 02 Actual torque value gear shaft FLOAT32 1170 0x217D 01 Reversing the direction of rotation BOO...

Page 244: ...ison The software components are initialised I O mapping monitoring limitations etc If the power supply is correct the intermediate circuit is loaded If the start up phase has been completed without e...

Page 245: ...ce specific plug in or the device profile the associated interface must have the master control 3 1 4 Master control If commutation angle discovery is required the commutation angle discovery is perfo...

Page 246: ...t enabled with pending enable via fieldbus For controller enable high level must first be pending at the CTRL EN input and then the positive edge of the enable signal must follow via fieldbus Name Des...

Page 247: ...ows The device executes a category 0 stop 9 2 Classification of diagnostic events A corresponding message is generated Removal of controller enable Removal of the controller enable stops the ongoing c...

Page 248: ...velocity selected here is only effective if the parameter Px 10232 has the value 1 Access read write Update effective immediately 10235 Target velocity for controller enable velocity operation Unit u...

Page 249: ...of controller enable Px 10232 Value Enable via Description Operating mode after controller enable 0 I O and fieldbus The request of controller enable is issued in common via the CTRL EN input the dev...

Page 250: ...tive after controller enable Operating mode parameters with controller enable Px 10234 Value Operating mode Description 4 Speed On issue of controller enable the velocity mode is activated The device...

Page 251: ...he object is effective 10231 0x218E 01 Device status UINT32 10232 0x218E 02 Controller enable selection UINT32 10234 0x218E 03 Controller enable operating mode UINT32 10235 0x218E 04 Target velocity f...

Page 252: ...the brake locks and the closed loop controller switches off after the elapse of the parameterised delay Px 21 and Px 23 3 3 2 Brake control The drive is switched off directly at standstill without bra...

Page 253: ...the jerk for stops that are triggered by the device profile direct the device specific plug in category 1 or 2 diagnostic events Access Read write Update effective immediately 12111 Stop ramp jerk Uni...

Page 254: ...hold command and continued when the command is withdrawn Information on the operating modes 4 1 2 Operating modes for performing motion commands The stop ramp for the hold command in a profile operat...

Page 255: ...ity 0 bit 12 is set to 1 Bit 12 velocity speed If hold is requested and executed in other operating modes current velocity 0 bit 10 is set to 1 Bit 10 target position reached target reached For additi...

Page 256: ...A zero pulse cannot be detected without an encoder Therefore only the following referencing methods are supported in open loop operation without encoder Referencing methods for open loop operation Me...

Page 257: ...lowing errors is activated for the duration of axis zero point travel Homing status In the following cases the homing status changes the status is reset At the start of a new homing Every time the dev...

Page 258: ...reference mark Access read write Update effective immediately 843 Search for reference mark setpoint velocity Unit user defined Shows the setpoint acceleration of searching for the reference mark Acc...

Page 259: ...ws the setpoint velocity of move to the axis zero point Access read write Update effective immediately 849 Move to axis zero point setpoint velocity Unit user defined Shows the setpoint acceleration o...

Page 260: ...ch with zero pulse 7 positive reference switch with zero pulse 11 negative reference switch with zero pulse 17 negative HW limit switch 18 positive HW limit switch 23 positive reference switch 27 nega...

Page 261: ...nt of the motor Access read write Update effective immediately 8414 Nominal current limit value scaling factor Unit Shows the time monitoring window for the limit position detec tion Access read write...

Page 262: ...it switch reached Negative hardware limit switch reached 07 01 00115 117506163 Positive hardware limit switch reached Positive hardware limit switch reached 07 01 00116 117506164 Limitation by negativ...

Page 263: ...ches t1 Duration of search t2 Duration of crawl t3 Duration of travel to the axis zero point v1 Target velocity search v2 Target velocity crawl v3 Target velocity travel x1 Reference mark reference li...

Page 264: ...g to stop The graph shows as an example homing to the stop without zero pulse in a positive search direction and then travel to the axis zero point in negative direction Fig 66 Homing to stop Name Des...

Page 265: ...e detection and stop detection are not available in the open loop operation without encoder Example With method 2 limit switch positive with zero pulse the limit switch primary target is searched in t...

Page 266: ...r Tab 235 Homing methods 4 4 3 1 Method 37 Current position The reference mark is found by the current axis position Sequence 1 Set reference mark current position is taken as the reference mark 2 Set...

Page 267: ...g aborted with fault message Limit switch detected Homing aborted with fault message Stop detected Homing aborted with fault message Tab 238 Different sequence scenarios 4 4 3 3 Method 17 18 negative...

Page 268: ...ound after identification of the limit switch by the first zero pulse of the encoder Sequence 1 Search limit switch rising edge of the limit switch is searched in search direction at search velo city...

Page 269: ...ted Homing aborted with fault message Tab 242 Different sequence scenarios 4 4 3 5 Method 23 27 positive negative reference switch The reference mark is found by the switching edge of the limit switch...

Page 270: ...with zero pulse The reference mark is found after identification of the reference switch by the first zero pulse of the encoder Sequence 1 Search reference switch rising edge of the reference switch i...

Page 271: ...erent sequence scenarios 4 4 3 7 Method 23 27 positive negative stop limit switch with run to reference switch The reference mark is found by the switching edge of the reference switch after identific...

Page 272: ...borted with fault message Tab 248 Different sequence scenarios 4 4 3 8 Method 17 18 negative positive stop The reference mark is found by detection of the stop Sequence 1 Search stop stop is searched...

Page 273: ...e mark is found after identification of the stop by the first zero pulse of the encoder Sequence 1 Search stop stop is searched in search direction at search velocity 2 Search zero pulse first zero pu...

Page 274: ...Travel to axis zero point Travel to axis zero point is run after a valid homing The requirements for travel to the axis zero point are Activate move to axis zero point after completion of homing param...

Page 275: ...oint setpoint acceleration UINT32 8416 0x607C 00 Axis zero point offset SINT32 8417 0x6098 00 Referencing method SINT8 Px Manufacturer specific objects saved basic unit for the object is effective 840...

Page 276: ...value scaling factor FLOAT32 8415 0x2172 10 Limit position detection time monitoring win dow FLOAT32 8416 0x2172 11 Axis zero point offset SINT64 8417 0x2172 12 Referencing method SINT32 8418 0x2172 1...

Page 277: ...ethods can only be performed in the operation enabled status The following conditions must be fulfilled for homing mode Operating mode display Modes of operation display 0x6061 6 Status word Statuswor...

Page 278: ...n 15 13 12 10 Drive not references or homing was aborted 0 0 0 1 If one of the following states has occurred the homing was not started the active homing was aborted with the fall ing edge in bit 4 of...

Page 279: ...s for pure command processing record selection offers the following options for influencing sequence control Options for sequence control Description Record switching A start condition can be establis...

Page 280: ...e value true simultaneously the record sequence in the data record with the smaller index is effective Timing Start condition Interrupt The current command here record A is interrupted immediately and...

Page 281: ...d without another start signal Target position record A t t t MC Start Target position record C B A C Fig 70 Start condition Waiting example Start condition Ignore The start signal here for record B i...

Page 282: ...ely 1130224 Activation back ground mode Unit Specifies the type of the command record Px 1810 0 0 record type of data set 0 Px 1810 0 64 record type for data set 64 depending on the product variant an...

Page 283: ...ecord type parameter ID Px 1810 Access read write Update effective immediately 1815 Record table field 4 Unit Specifies the value of the fifth parameter depending on the record type Tab 262 Command re...

Page 284: ...start command is ignored The current command is completed A new record can only be started after the MC is active new start signal required Access read write Update effective immediately 1838 Selecti...

Page 285: ...ration 4 Jerk 5 Activation of stroke limita tion 0 inactive 1 active 6 Negative stroke limitation 4 Speed Velocity mode with or without stroke limitation 7 Positive stroke limitation 1 Type of target...

Page 286: ...orque 2 Torque rise time 3 Speed limit value 4 Activation of stroke limita tion 0 inactive 1 active 5 Negative stroke limitation 6 Positive stroke limitation 25 Torque with brake set Torque mode with...

Page 287: ...d data record 1 command record no 1 should be written with the following parameters Command record no 0 positioning mode absolute to the zero point with the parameter values noted below target positio...

Page 288: ...d table field 7 P1 1818 0 0 0 End velocity P1 1818 0 1 9100000000 Stroke limitation in positive direction user unit metre resolution 1010 Selection start condition record P1 1838 0 0 0 Interrupt P1 18...

Page 289: ...ecord step enabling type Unit Specifies the number of the record from which the record sequence starts maximum 3 record sequence per record Access read write Update effective immediately 1832 Record s...

Page 290: ...er ID Px 1831 Value Record enabling types The step enabling condition is achieved when comparator type dependent parameters 0 no comparator comparator not specified none 1 Target position reached the...

Page 291: ...t 2 upper limit 7 Torque the actual torque is within the pre set window for the duration of the specified damping time 3 Damping time 9 12 Reserved 1 Damping time 2 Parameter ID 3 Operation 0 within t...

Page 292: ...endent parameters get window reached Target Reached TRUE 17 Movement monitoring status word And 4 Or 5 operator Bit mask 32 bit 18 Touch probe valid The activated touch probe func tion has detected a...

Page 293: ...1833 0 1 3 Target record for the second record sequence Record sequencing field time P1 1834 0 0 0 1 Damping time of the first record sequence 0 1 s P1 1834 0 1 Record sequencing field 1 P1 1835 0 0...

Page 294: ...of event monitoring 1 activate 0 deactivate Access read write Update effective immediately 1840 Activate Event table Unit Specifies the type of step enabling condition The same step enabling condition...

Page 295: ...able parameter A record table parameter is invalid 06 00 00083 100663379 Record table incorrect Record table incorrect Tab 268 Diagnostic messages 4 5 4 CiA 402 Objects command record table Parameters...

Page 296: ...Record sequencing field 1 SINT64 1836 0x223E 01 80 Record sequencing field 2 SINT64 1837 0x2159 01 Current record table index SINT32 Tab 270 Objects Objects command record event table Parameters Index...

Page 297: ...nction manual travel as standard operating mode Feedback Standstill monitoring STV Phases Different jogging variants are possible depending on the device profile and parameterisation One phase slow on...

Page 298: ...2 velocity 214540 Jog duration 1 movement 1510 t1 Jog duration 2 movement 214539 Tab 272 Legend for jog mode timing graph Symmetrical Command Additional parameters Yes Jogging 1 Jogging 1 No Jogging 1...

Page 299: ...ing 1 1 langsam static slow 0 Jogging 2 2 langsam 1 Jogging 1 1 fast 1 Jogging 2 1 fast 0 Jogging 1 1 fast static fast 0 Jogging 2 2 fast 1 Jogging 1 1 langsam 1 fast 1 Jogging 2 1 langsam 1 fast 0 Jo...

Page 300: ...celeration and deceleration during phase 1 Access read write Update effective immediately 1512 Slow jog 1 accelera tion Unit user defined Jerk during phase 1 Access read write Update effective immedia...

Page 301: ...immediately 214536 Slow jog 2 accelera tion Unit user defined Jerk during phase 1 Access read write Update effective immediately 214537 Slow jog 2 jerk Unit user defined Duration of phase 1 from detec...

Page 302: ...halt jog 2 11 Velocity jog 1 12 Velocity jog 2 Access read Update effective immediately 526917 Jogging state Unit Tab 276 Parameters Diagnostic messages No specific diagnostic messages are allocated t...

Page 303: ...odes of operation display CiA402 3 Control The object 0x6040 Control word CiA402 has the following specific bits in jog operating mode Bit Name Description 4 Jog positive Jogging 1 positive direction...

Page 304: ...ing specific bits in jog operating mode Bit Name Description 10 STV Jogging not active before or after the motion 12 Velocity 1 jog Motion with the dynamic values for slow motion 13 Velocity 2 jog Mot...

Page 305: ...e operation 2 Setpoint Setpoint values that change with time The setpoint values are determined between the pilot control and directional lock 3 Actual value Actual values that change with time The ac...

Page 306: ...ed TMT Torque 5 4 Target area monitoring HL Hardware limit switch reached HLP positive HLN negative 5 5 Hardware limit switch reached SL Software limit position reached SLP positive SLN negative 5 6 S...

Page 307: ...the result for the associated motion monitoring function is true The status word can be displayed via the Px 460 parameter Status word bit assignment1 Bit Code Name 0 TRX Target window reaches positio...

Page 308: ...situations can be disabled via the configuration word The configuration word is a bitmask If the bit for the associated motion monitoring function is set 1 the associated motion monitoring function m...

Page 309: ...reached 19 STLP Stroke limit reached positive 20 STLN Stroke limit reached negative 21 VM Speed monitoring 22 PB Pushback monitoring 23 RDX Remaining distance monitoring 24 MC Trajectory completed 25...

Page 310: ...te of TRX TRV TRT signals 1 The signal is set under the following conditions The difference current actual value target value is within the monitoring win dow AND this condition is fulfilled for at le...

Page 311: ...get window reached example Parameters and diagnostic messages ID Px Parameters Description Specifies the damping time for the target position speed and torque The signal is set if the actual value for...

Page 312: ...read write Update effective immediately 4610 Monitoring window target speed Unit user defined Specifies the monitoring window for the target torque The mon itoring window is set symmetrically to the t...

Page 313: ...r during this process The comparator is defined by a monitoring window and damping time Following error monitoring is active as long as the target has not been reached target reached FALSE Target area...

Page 314: ...ess read Update effective immediately 4683 Current velocity fol lowing error Unit user defined Specifies the damping time for the speed following error The signal is set if the speed difference for th...

Page 315: ...he signal is reset under the following conditions The difference current actual value continuously determined setpoint value is within the window OR the target has been reached target reached TRUE 1 0...

Page 316: ...ing error UINT32 463 0x2166 04 Monitoring window position following error FLOAT32 464 0x2166 05 Monitoring window speed following error FLOAT32 4682 0x2166 42 Current position following error FLOAT32...

Page 317: ...e difference current actual value target value is within the window AND this condition is fulfilled for at least the specified time 0 1 Tab 296 Status signals Target area monitoring t Act TargetSet 2X...

Page 318: ...target range Unit s Determines the monitoring window for the target position The monitoring window is set symmetrically to the target variable window width 2x parameter Access read write Update effect...

Page 319: ...s is not necessary and can be changed via the configuration The monitoring function includes Status evaluation of the limit switches Configuration check Limit switch monitoring Inverting and debouncin...

Page 320: ...sition saved when the limit switch was triggered HLN if the switch is not activated AND if the actual position is greater than the position saved when the limit switch was triggered 1 0 Tab 301 Status...

Page 321: ...tive hardware limit switch reached 07 01 00115 117506163 Positive hardware limit switch reached Positive hardware limit switch reached 07 01 00116 117506164 Limitation by negative hardware limit switc...

Page 322: ...e drive is outside the limit positions Application Protect the drive against damage Status SLP or SLN is set when the limit position is exceeded The status is reset as soon as the drive reaches the va...

Page 323: ...ve limit posi tion SLP If the actual position is lower than the parameterised positive limit posi tion 1 0 Tab 305 Status signals Software limit position reached Fig 77 Timing diagram software limit p...

Page 324: ...Unit user defined Specifies the limit value of the positive software limit position The value of the positive software limit position must be greater than the value of the negative software limit pos...

Page 325: ...x Name Data type Px CiA402 factor group is effective 4629 0x607D 01 Negative software limit position SINT32 4630 0x607D 02 Positive software limit position SINT32 Px Manufacturer specific objects save...

Page 326: ...lowing conditions STV 0 OR the value standstill position actual position is outside the positioning window 1 0 Speed monitoring STV Initial state STV 0 The STV signal is set under the following condit...

Page 327: ...monitoring Parameters and diagnostic messages ID Px Parameters Description Specifies the damping time of standstill monitoring If the actual speed value falls below the threshold value and if it excee...

Page 328: ...etermined by the positive edge of the STV signal Access read write Update effective immediately 467 Monitoring window position standstill Unit user defined Tab 312 Parameters Standstill monitoring ID...

Page 329: ...tual current and speed values are monitored cyclically to check if they have reached specified limits Timing Status signal LS Stop detection Initial state LS 0 The LS signal is set under the following...

Page 330: ...d Name Description v Speed motion quantity I Active current t1 Damping time LS Diagnostic message Act1 Actual speed Act2 Actual active current Lim1 Stop detection limit value Lim2 STV Tab 316 Legend f...

Page 331: ...f just one of the limit value monit ors is invalid Access read write Update effective immediately 4627 Damping time limit detection Unit s Tab 317 Parameters Stop reached 5 8 1 CiA 402 Objects Stop re...

Page 332: ...ramp parameters are used for the projection An error message is triggered and the drive is decelerated with the parameterised error response so that it comes to a standstill before the stroke limit if...

Page 333: ...e immediately 4675 Activation of automat ic stop ramp stroke limit Unit Tab 320 Parameters Stroke limit reached ID Dx Name Description 07 01 00119 117506167 Negative stroke limit reached Negative stro...

Page 334: ...messages ID Px Parameters Description Specifies the maximum speed value When the threshold value is reached the drive is stopped with stop category 0 A dia gnostic message is issued if the parameteri...

Page 335: ...alue for longer than the damp ing time 0 1 The signal is reset under the following conditions The setting logic is inverted 1 0 Tab 327 Status signals Pushback monitoring Parameters and diagnostic mes...

Page 336: ...nitoring window pushback FLOAT32 4664 0x2166 34 Damping time pushback FLOAT32 Tab 330 Objects 5 12 Remaining distance monitoring Remain distance monitor RDX The monitoring function indicates that the...

Page 337: ...A 402 Objects Remaining distance monitoring Parameters Index Subindex Name Data type Px Manufacturer specific objects saved base unit for the object is effective 4685 0x2166 69 Limit value remaining d...

Page 338: ...o 0 AND the status of the reference switch is active 0 1 The signal is reset under the following conditions The configuration of the reference switch 0 OR the status of the reference switch is inactiv...

Page 339: ...n The actual position value has reached or exceeded the para meterised software limit posi tion A hardware limit switch has been triggered Movement in the corresponding direction is automatically bloc...

Page 340: ...once the stop ramp has been completed and the drive is at a standstill will Px 10353 indicate that the directional lock is active Access read Update effective immediately 10353 Status directional lock...

Page 341: ...urrent and velocity controller can be activated Aside from the active control parameter set 3 additional control parameter sets are available for the parameterisation of the cascade controller Fig 80...

Page 342: ...ler is designed as P controller which calculates the velocity specification for the secondary velocity control circuit from the control difference setpoint position actual position A dead zone member...

Page 343: ...Tab 345 Legend for the block diagram of the position controller Parameters and diagnostic messages ID Px Parameters Description Specifies the amplification gain for the P element in the position cont...

Page 344: ...value velo city controller Unit user defined Specifies the control difference of input variables Feedforward control output position and Actual position on the output of the setpoint actual comparato...

Page 345: ...ty or current is active Tab 347 Diagnostic messages 6 1 2 1 CiA 402 Position controller PNUs Parameters Index Subindex Name Data type Px Manufacturer specific objects saved basic unit for the object i...

Page 346: ...and the gear unit factor If the setpoint value reaches the limit this can be requested via a status For use with the Ci402 protocol the torque setpoint value is asymmetrically limited by means of a fu...

Page 347: ...ignal of the encoder If required optimise signal noises using a suitable filter time constant Parameters and diagnostic messages ID Px Parameters Description Specifies the amplification gain for the P...

Page 348: ...immediately 2216 Setpoint value velo city controller Unit user defined Specifies the minimum torque for torque limitation Access read Update effective immediately 2218 Minimum torque Unit Nm Specifies...

Page 349: ...acturer specific objects saved basic unit for the object is effective 224 0x215B 05 Velocity controller amplification gain FLOAT32 225 0x215B 06 Velocity controller integration constant FLOAT32 1210 0...

Page 350: ...ned as a PI controller with anti windup functionality which cal culatesReactive current setpoint value Actual reactive current valuethe voltage specification Ud_ref for the secondary voltage transform...

Page 351: ...current value 310 Ud_ref Voltage Ud setpoint value 84 Uq_ref Voltage Uq setpoint value 85 U_max Maximum output voltage 88 Uu Setpoint value of motor voltage phase U Uv Setpoint value of motor voltage...

Page 352: ...fective immediately 83 Integration constant current regulator act ive current Unit Specifies the setpoint voltage Ud at the output of the reactive current regulator Access read Update effective immedi...

Page 353: ...ies the actual active current at the output of the current transformation Access read Update effective immediately 814 Actual active current value Unit Arms Activate equalisation of the control parame...

Page 354: ...r Access read Update effective immediately 825 Active current control error Unit Arms Length of the motor cable Access read write Update effective immediately 1206 Length motor cable Unit mCable Cable...

Page 355: ...d basic unit for the object is effective 39 0x2151 0A Actual phase U current value FLOAT32 80 0x2153 01 Amplification gain current regulator reactive current FLOAT32 81 0x2153 02 Integration constant...

Page 356: ...controllers and current regulators the total inertia for the torque pilot control and the filter time constant for the actual velocity value filter When a control parameter set is changed the total i...

Page 357: ...ct ive current Unit Specifies the integration constant Active current in the para meter sets for the PI element in the current regulator Access read write Update effective immediately 2224 Integration...

Page 358: ...ification gain FLOAT32 2211 0x2229 01 03 Velocity controller integration constant FLOAT32 2223 0x222A 01 03 Amplification gain current regulator active current FLOAT32 2224 0x222B 01 03 Integration co...

Page 359: ...mitation of application The setpoint specifications for the trajectory generator are limited via the application limitation which are prescribed by the active set table or profile operating mode posit...

Page 360: ...ation 1307 LIM4 Lower limit torque limitation 1308 Tab 362 Legend of the block diagram for the application limitation Parameters and diagnostic messages ID Px Parameters Description Specifies the velo...

Page 361: ...ion limiting Unit user defined Specifies the limit value for the deceleration limitation in the application limitation Access read write Update effective immediately 1306 Limit value decelera tion lim...

Page 362: ...on limiting FLOAT32 1306 0x2183 06 Limit value deceleration limiting FLOAT32 1307 0x2183 07 Upper limit torque limitation FLOAT32 1308 0x2183 08 Lower limit torque limitation FLOAT32 Tab 364 Objects 6...

Page 363: ...um current motor 620 iq_in1 Lower limit value active current closed loop controller 854 iq_in2 Upper limit value active current closed loop controller 855 iq_in3 Resulting minimum current 625 iq_in4 R...

Page 364: ...ity closed loop controller 6100 LIM2 Resulting upper limit value velocity closed loop controller 6101 Tab 365 Legend for the block diagram of the control limitation The resulting critical limit LIM2 a...

Page 365: ...he user Access read write Update effective immediately 850 Lower limit value velocity closed loop controller Unit user defined Specifies the dynamic limit value Upper limit value of velocity specified...

Page 366: ...m Specifies the limit value Lower limit value of velocity for velo city limiting Access read Update effective immediately 6100 Resulting lower limit value velocity closed loop controller Unit user def...

Page 367: ...ameters ID Dx Name Description 06 02 00087 100794455 Velocity control limitation invalid Velocity control limitation invalid 06 02 00088 100794456 Torque control limitation invalid Torque control limi...

Page 368: ...torque closed loop control ler FLOAT32 854 0x2168 05 Lower limit value active current closed loop controller FLOAT32 855 0x2168 06 Upper limit value active current closed loop controller FLOAT32 1199...

Page 369: ...for the limitation LIM1 LIM1 Max Min iq M iq M itotal_max Torque limitation M i M i id_ref 0 id_ref iq_max i M 1 i_max1 CMMT i_max2 Motor i_max3 User Min id_ref Fig 86 Structure of current limiter Nam...

Page 370: ...r Access read Update effective immediately 87 Reactive current set point value Unit Arms Specifies the limit value of the total current for the servo drive controller Access read write Update effectiv...

Page 371: ...ess read Update effective immediately 6109 Resulting upper limit value active current closed loop control ler Unit Arms Specifies the limit value of the total current Access read Update effective imme...

Page 372: ...of the contouring error or improved run in behaviour to the target position The input variables for the pilot control are directly connected to the output variable or are adjusted using a mathematical...

Page 373: ...velocity mode T torque mode Tab 372 Pilot control Fig 87 Pilot control Name Description ID Px Set values position velocity and acceleration as input variables of the pilot con trol Setpoint managemen...

Page 374: ...an be used for example to assess the component of the feedforward control from the friction compensation by means of measured data recording trace 974 Comp_T Setpoint value inertia compensation The pa...

Page 375: ...as setpoint value for the closed loop controller Access read Update effective immediately 92 Acceleration setpoint value Unit user defined Jerk output from feedforward control as setpoint value for th...

Page 376: ...control Access read write Update effective immediately 967 Amplification gain velocity feed forward control Unit Amplification gain torque feed forward control Access read write Update effective imme...

Page 377: ...output Access read write Update effective immediately 976 Support point velocity rad s Unit Maximum of 16 support points via Index 0 15 Torque Nm of the drive train axis gear unit motor load based on...

Page 378: ...compensation With the inertia compensation a torque can be pilot controlled in dependence of the total inertia in the drive system The torque is composed of the total inertia multiplied by the set val...

Page 379: ...ss 5 kg Maximum velocity vmax 3 m s Feed 0 09 m Cohesive friction MStick 0 2 Nm Velocity dependent friction Mv 0 005 Nm s rad Calculation of torque M Mstick Mv w w angular velocity Support point Veloc...

Page 380: ...oup is effective 90 0x6062 00 Position setpoint value SINT32 91 0x606B 00 Velocity setpoint value SINT32 Px Manufacturer specific objects saved basic unit for the object is effective 90 0x2154 01 Posi...

Page 381: ...ty rad s FLOAT32 977 0x2226 01 10 Support point torque Nm FLOAT32 978 0x2154 10 Number of support points UINT32 Tab 379 Objects 6 4 Notch filter 6 4 1 Function Internal notch filters are provided to s...

Page 382: ...0 Tab 380 Legend for the filter band width and filter frequency diagram Parameters and diagnostic messages Parameter allocation Index 0 notch filter 1 Index 1 notch filter 2 Index 2 notch filter 3 ID...

Page 383: ...of the active current Access read Update effective immediately 52 Setpoint value active current unfiltered Unit Arms Tab 381 Parameters ID Dx Name Description 06 00 00082 100663378 Notch filter frequ...

Page 384: ...regulator that has already been designed and suitable start parameters for position controllers and velocity controllers as well as the amplitude of the excitation signal The start parameters are det...

Page 385: ...auto tuning The plug in is connected to the device The plug in has the master control Controller enable is activated Parameterisation of auto tuning The following parameters are defined by the plug in...

Page 386: ...n cycle the axis moves in the positive direction up to the target of the move ment stroke At the 2nd identification cycle the axis moves back again to the starting point The move ment is repeated with...

Page 387: ...read write Update effective immediately 8601 Result amplification gain of position con troller Unit Specifies the result of auto tuning for the integration constant of the velocity controller Access...

Page 388: ...ocity controller for the layout of the controller parameters Access read write Update effective immediately 8614 Filter time constant velocity controller Unit s Specifies the filter time constant of t...

Page 389: ...es the movement stroke during the identification Access read write Update effective immediately 8621 Maximum movement stroke during the identification Unit user defined Specifies the maximum velocity...

Page 390: ...ed Transmission of auto tuning measured values failed Tab 385 Diagnostic messages 6 5 1 1 CiA 402 Auto tuning objects Parameters Index Subindex Name Data type Px Manufacturer specific objects saved ba...

Page 391: ...cation SINT64 8622 0x2174 09 Maximum velocity during the identification FLOAT32 8623 0x2174 0A Maximum acceleration during the identifica tion FLOAT32 8624 0x2174 0B Maximum deceleration during the id...

Page 392: ...n during validation movement Maximum jerk during validation movement The parameters resulting from auto tuning can be changed manually and an optional test run can be started with them Controlling a t...

Page 393: ...mediately 8632 Maximum velocity during validation movement Unit user defined Specifies the maximum acceleration during the validation move ment Access read write Update effective immediately 8633 Maxi...

Page 394: ...function generates trigger sig nals at the trigger output TRG The position switch and rotor position switch for example can be simulated using this function The cam controller can be activated using t...

Page 395: ...e sources depend on the device or firmware Source Selection Cam controller sourceCMMT AS 112701 Tt1 Inactive time compensation of first switching point 112704 Tt2 Inactive time compensation of second...

Page 396: ...t including the offset due to the delay compensa tion An example is shown in the diagram below All additional timing diagrams do not depict the hyster esis TRG 1 0 2 x 1 x v Tt1 v Tt2 Mod Mod Hy Hy Di...

Page 397: ...rigger output for the duration of the parameterised switch on time is activated TRG 1 0 x1 t1 v Tt1 Mod Mod Dir Fig 97 Timing diagram mode 4 switch on time example positive direction If the status of...

Page 398: ...itches can be parameterised within a cam controller The parameterisation of the cam switches of a cam controller is not tested for overlapping or contra dictory switching functions Overlapping or cont...

Page 399: ...omponents can be compensated Access read write Update effective immediately 112704 Inactive time com pensation of first switching point Unit s Determines the inactive time compensation for the signal...

Page 400: ...switching function the switching points are specified in the parameters Px 112710 and Px 112711 The time for the time controlled switching behaviour is specified via parameter Px 112712 0 Inactive 1 C...

Page 401: ...ich the cam is active Index 0 cam switch 1 Index 1 cam switch 2 Index 2 depending on the product design Index 3 Access read write Update effective immediately 112712 Switching time auto matic Unit s S...

Page 402: ...Update effective immediately 112717 Current inactive time first switching point Unit s Specifies the current delay compensation of the second switch ing point for the switch on process Access read Up...

Page 403: ...tch This means 0 Inactive 1 Cam switch On Off 2 Cam switch ON time controlled 3 Cam switch OFF time controlled Index 0 cam switch 1 Index 1 cam switch 2 Index 2 depending on the product design Index 3...

Page 404: ...duct design Index 3 Access read Update effective immediately 112725 Current switching time automatic Unit ss Specifies the current runtime compensated module position for the logic On Access read Upda...

Page 405: ...ely 112731 Counter NO modulo cycles Unit Offset of the modulo position Access read write Update effective immediately 112732 Offset modulo posi tion Unit user defined Default value for the reference p...

Page 406: ...2 OFF manual The trigger output is activated when the cam controller function is deactivated The trigger output can there fore be deactivated manually for test purposes 3 Force last status The status...

Page 407: ...01 04 Second switching point SINT64 112712 0x2273 01 04 Switching time automatic FLOAT32 112713 0x2192 11 Current cam controller mode UINT16 112714 0x2192 13 Current cam controller source UINT16 11271...

Page 408: ...trigger input CAP input For this purpose the corresponding input must be activated for the touch probe function The signal edge of the trigger event is parameterisable edge The typical internal signa...

Page 409: ...t value modulo 113003 Mod Lower limit value modulo 113004 Enable Activation deactivation of the touch probe func tion using the record table or device profile Edge Selection trigger event 113002 CAP T...

Page 410: ...utside of the window are not accepted Fig 99 Touch probe timing diagram example of Once with window touch probe mode Name Description ID Px LIM Upper limit value trigger event 113006 LIM Lower limit v...

Page 411: ...are assumed as currently value parameters Px 113007 Px 113013 ID Px Parameters Description Determines the mode of the touch probe function The specified mode is effective on activation of the touch pr...

Page 412: ...ger signals within the modulo range Trigger signals at positions below the limit are ignored Only relevant in the following modes once with window and cyclic with window Access read write Update effec...

Page 413: ...y 113009 Current selection trig ger event Unit Specifies the currently determined upper limit value for the modulo calculation Access read Update effective immediately 113010 Current upper limit value...

Page 414: ...ifies whether the trigger signal has been triggered within the defined range With cyclic detection the signal is very short e g 1 ms This means 0 no valid trigger signal 1 valid trigger signal was tri...

Page 415: ...ve immediately 113021 Status touch probe input Unit Flag that indicates that modulo limits have been exceeded The signal duration amounts to 1 ms Access read Update effective immediately 113022 Status...

Page 416: ...iA402 Unit Position recorded by the touch probe positive edge CiA402 Access read Update effective immediately 113029 Touch probe position positive CiA402 Unit user defined Position recorded by the tou...

Page 417: ...Unit user defined Specifies the delay time during which the digital input signal is delayed Access read write Update effective immediately 113036 Delay time Unit s Specifies the currently used delay...

Page 418: ...Cyclic position detection with limitation to one win dow the next time a valid trigger signal is received the current measured value is overwritten 7 Preset position Setting of the modulo position 8 O...

Page 419: ...Name Description ID Px Accepted Valid trigger range LIM Lower limit value trigger event 113005 LIM Upper limit value trigger event 113006 Tab 399 Legend for the diagram of trigger ranges example Diagn...

Page 420: ...ch probe 1 positive and negative edge 2 0x60B9h bit 0 1 Status Touch probe 1 enabled is set 3 External touch probe signal has positive edge 4 0x60B9 bit 1 1 Status Touch probe 1 positive edge stored i...

Page 421: ...0BA 0x60BB Touch probe position 1 positive negative value are not changed Tab 400 Legend for touch probe timing graph via CiA402 Position sensing objects Parameters Index Subindex Name Data type Px Ci...

Page 422: ...T64 113016 0x2193 21 Trigger event initiated BOOL 113017 0x2193 23 Trigger event NOT initiated BOOL 113018 0x2193 25 Trigger events counter triggered UINT32 113019 0x2193 27 Trigger events counter NOT...

Page 423: ...mmutation angle in the current data record an error message is output The following modes of open loop operation are supported Modes Description Open loop opera tion without encoder The motor is actua...

Page 424: ...001 0 0 pure Open Loop must be activated and the commutation angle detection set to deactivated Px 668 0 0 The holding current of the motor can be reduced in open loop operation after standstill detec...

Page 425: ...the active mode of operation for the open loop or closed loop operation This means 0 Automatic operation 1 Open loop operation 2 closed loop operation Access read Update effective immediately 4007 Act...

Page 426: ...scaling factor Unit Defines the factor for the current setpoint used for the commut ation angle determination Access read write Update effective immediately 6694 Factor current set point value Unit T...

Page 427: ...tion delay time FLOAT32 4028 0x219C 17 Current reduction scaling factor FLOAT32 6694 0x219C 14 Factor current setpoint value FLOAT32 Tab 405 Objects 7 4 Field weakening Function Synchronous motors can...

Page 428: ...Manufacturer specific objects saved basic unit for the object is effective 102201 0x219F 01 Activation of field weakening BOOL 102202 0x219F 02 Field weakening status BOOL 102203 0x219F 03 Field weake...

Page 429: ...Px Parameters Description Shows what feedback signal was not received on time in case of fault The following allocation applies Bit 0 STA feedback signal This means 0 no fault 1 fault in time monitori...

Page 430: ...Sequence monitoring STO A B Sequence monitoring STO A B inputs Tab 410 Diagnostic messages 8 2 CiA402 Objects Parameters Index Subindex Name Data type Px Manufacturer specific objects saved base unit...

Page 431: ...T Plug in Access to the message directory current messages Access to the error history message history Error acknowledgment Error classification to categorise diagnostic events Recording measuring dat...

Page 432: ...error memory as standard Tab 413 Ignore level Classification level Severity Reactions Information Diagnostic event with low degree of severity Generation of the message and entry in the message direct...

Page 433: ...vel stop category 2 Classification level Severity Reactions Error stop category 1 Diagnostic event with high degree of severity and execution of a gen eral and a specific error response Stop category...

Page 434: ...are pending diagnostic status parameter 0 If errors are pending diagnostic status parameter 64 level of severity e g diagnostic status 4096 corresponds to stop category 0 Diagnostic status Bit Value...

Page 435: ...was therefore cancelled internally Acknowledged The triggering diagnostic event is no longer active The message was therefore cancelled internally The message was then acknowledged by an external com...

Page 436: ...s been acknowledged Classification Level Ignore information Warning Error stop category 0 1 or 2 Time stamp Time of the occurrence in operating hours Tab 423 Structure of messages Complete list of all...

Page 437: ...Intermediate circuit 3 Principal voltage 2 Voltage 4 Encoder supply 1 Device 2 Output stage 3 Temperature 3 Motor 1 Homing 5 Motion 2 Motion control 0 No allocation 2 Limit values 6 Configuration para...

Page 438: ...Messages for which the history should be traceable at a later date are recorded in the error memory These are usually error messages The plug in can be used to determine whether warnings should also...

Page 439: ...ately occurs again please contact Festo Service team service required Information on troubleshooting 9 4 6 Diagnostic messages with information for fault clearance Messages and errors are acknowledged...

Page 440: ...ault Save 1 7 01 02 00012 16908300 1 I t monitoring motor warning limit 2 Error memory Can be parameterised Px 6320 8 Tab 426 Sample diagnostic message Cell Content description 1 Diagnostic number in...

Page 441: ...save 1 01 01 00010 16842762 Short circuit motor phases braking res istor Error memory Can be parameterised No Error on over current monitoring Remedy Check STO wiring and reference switch Is there to...

Page 442: ...hanics blocked or sluggish Default ignore 2 Classifica tion Can be parameterised Px 6323 value list Warning 16 Info 4 Ignore 2 Default do not save 0 01 02 00014 16908302 I t monitoring output stage wa...

Page 443: ...itoring output stage in standstill error limit Remedy Reduce target current setpoint torque Reduce standstill time Allow minimal movement 5 Hz electrical rotational frequency Default ignore 2 Classifi...

Page 444: ...toring motor model error limit Remedy Motor mechanics blocked or sluggish Motor undersized Check performance rating of drive pack age Default Stop category 1 256 Classifica tion Can be parameterised P...

Page 445: ...ing the power supply Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 02 01 00025 33619993 Overvoltage in logic supply 5V Error memory Can be parameterised No Underv...

Page 446: ...threshold value Default Stop category 1 256 Classifica tion Can be parameterised Px 487 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default save...

Page 447: ...Default save 1 02 03 00039 33751079 Overvoltage in mains voltage Error memory Can be parameterised No The limit value for the energy recovery has been exceeded Remedy Checking the power supply Defaul...

Page 448: ...No Default save 1 03 01 00046 50397230 Warning threshold Device overtemperat ure Error memory Can be parameterised No Device overtemperature Remedy Temperature display plausible Device fan faulty Dev...

Page 449: ...ausible Device fan faulty Device overloaded Check installation conditions control cab inet fan filter dirty Check drive layout possible overloading during continuous operation Default Warning 16 Class...

Page 450: ...invalid Error memory Can be parameterised Px 8451 Homing Timeout Remedy Check configuration of homing run timeout type At end stop check parameters for stand still window and limiting current Default...

Page 451: ...Stop category 1 256 Classifica tion Can be parameterised No Default save 1 05 02 00060 84017212 Motion task not known Error memory Can be parameterised No Task could not be executed as controller ena...

Page 452: ...it for MC for current motion command Default Warning 16 Classifica tion Can be parameterised No Default save 1 05 02 00065 84017217 Task ignored due to motion task error Error memory Can be parameteri...

Page 453: ...parameterised No An error occurred in the trajectory generator when calcu lating a movement profile Remedy Check parameterisation task or set com plete unrealistic values Default Stop category 1 256 C...

Page 454: ...jectory generator is invalid Remedy Change specified deceleration to valid range Default Stop category 1 256 Classifica tion Can be parameterised No Default save 1 05 02 00075 84017227 Invalid deceler...

Page 455: ...ategory 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default save 1 05 02 00079 84017231 Torque increase ramp invalid Error memory Can be parameterised Px 1130226 Simultaneous negative positive...

Page 456: ...84017431 Fixed stop not detec ted Error memory Can be parameterised Px 4648 Monitoring window of fixed stop left Remedy Check that workpiece was not lost Default Info 4 Classifica tion Can be paramet...

Page 457: ...Error memory Can be parameterised No The parameterisation of the notch filter frequency is inval id Remedy Check parameterisation of notch filter fre quency notch filter frequency is greater than half...

Page 458: ...meterised No The parameterised motor type servo stepper etc is not supported Remedy See manual to determine whether motor is actually supported Check motor configuration data Default Stop category 2 6...

Page 459: ...096 Classifica tion Can be parameterised No Default save 1 06 02 00087 100794455 Velocity control limit ation invalid Error memory Can be parameterised No Torque control limitation invalid Remedy Chec...

Page 460: ...100794459 Parameterisation of currents Error memory Can be parameterised No The change of the control structure is not permissible Remedy Wait until the current task is complete Check task Default Wa...

Page 461: ...tegory 1 256 Classifica tion Can be parameterised No Default save 1 06 05 00097 100991073 Parameter set not found Error memory Can be parameterised No Parameter set invalid Remedy Delete parameter set...

Page 462: ...meter set Remedy Repeat transmission Check connection Default Warning 16 Classifica tion Can be parameterised No Default save 1 06 05 00102 100991078 Transmission error in parameter set Error memory C...

Page 463: ...ror memory Can be parameterised No The factory parameter set was not found Remedy none info only Default Warning 16 Classifica tion Can be parameterised No Default save 1 06 05 00107 100991083 Factory...

Page 464: ...category 1 256 Classifica tion Can be parameterised Px 4632 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default save 1 07 01 00109 117506157 Nega...

Page 465: ...of movement owing to positive soft ware limit position Remedy Check task Default Warning 16 Classifica tion Can be parameterised Px 4638 value list Warning 16 Info 4 Ignore 2 Default save 1 07 01 0011...

Page 466: ...256 Classifica tion Can be parameterised Px 101106 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default save 1 07 01 00115 117506163 Positive hard...

Page 467: ...56 Classifica tion Can be parameterised Px 101110 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default save 1 07 01 00118 117506166 Error both hard...

Page 468: ...ssifica tion Can be parameterised Px 4612 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default do not save 0 07 02 00121 117571705 Target position...

Page 469: ...4618 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default do not save 0 07 02 00124 117571708 Standstill reached Error memory Can be parameterised...

Page 470: ...race Check following error window Default Stop category 1 256 Classifica tion Can be parameterised Px 4624 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Igno...

Page 471: ...very time Application monitoring reasonable Pos sibly deactivate monitoring Default Info 4 Classifica tion Can be parameterised Px 4671 value list Stop category 0 4096 Stop category 1 256 Stop categor...

Page 472: ...difference encoder 1 to encoder 2 too large Remedy Calibrate feed constant encoder 1 to encoder 2 Check error threshold Check encoder cable Default ignore 2 Classifica tion Can be parameterised No Def...

Page 473: ...vertical axes with load reduce load mass Check configuration of commutation find ing and current regulator according to fric tion Default Stop category 0 4096 Classifica tion Can be parameterised No...

Page 474: ...30 Analogue setpoint specification limit exceeded Error memory Can be parameterised No Fieldbus not supported Remedy Install suitable FW package for device Default Stop category 1 256 Classifica tion...

Page 475: ...heck parameterisation of EtherCAT com munication Default Stop category 1 256 Classifica tion Can be parameterised No Default save 1 08 04 00142 134480014 EtherCAT process data invalid Error memory Can...

Page 476: ...efault save 1 08 09 00144 134807696 Required application class not supported Error memory Can be parameterised No The required telegram is not supported Remedy Only request telegrams supported by the...

Page 477: ...4096 Stop category 1a 1024 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 internal 1 Invalid 0 Default save 1 08 09 00294 134807846 PLC Control is not set Error memory Can be param...

Page 478: ...x 46 Safety function requested Remedy none info only Default Info 4 Classifica tion Can be parameterised Px 821 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4...

Page 479: ...B inputs Remedy Check timing and sequence of STO input signals Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 09 01 00150 151060630 Sequence monitoring STO A B Er...

Page 480: ...fica tion Can be parameterised No Default save 1 10 01 00154 167837850 RTE module initialisa tion failed Error memory Can be parameterised No Error power output stage Remedy Restart Return device Defa...

Page 481: ...y indexed twice Error memory Can be parameterised No Overflow in diagnostic register messages not currently acknowledged Remedy Acknowledge messages Eliminate causes of currently active mes sages Defa...

Page 482: ...Process runtime exceeded Remedy internal error service required Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 11 02 00164 184680612 Process runtime exceeded Erro...

Page 483: ...evel 4 Remedy Service required Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 11 02 00169 184680617 Timeout process level 4 Error memory Can be parameterised No Ti...

Page 484: ...lid Remedy Restart device Default Info 4 Classifica tion Can be parameterised No Default save 1 11 03 00174 184746158 File user file backup invalid Error memory Can be parameterised No The creation of...

Page 485: ...s not possible to write to the user file Remedy Restart device Service required Default Info 4 Classifica tion Can be parameterised No Default save 1 11 03 00179 184746163 Writing to user file not pos...

Page 486: ...memory Can be parameterised No Firmware incompatible Remedy Check hardware and firmware versions Default Warning 16 Classifica tion Can be parameterised No Default save 1 11 04 00184 184811704 Firmwar...

Page 487: ...em error occurred during firmware update Remedy Restart firmware update Service required Default Stop category 1 256 Classifica tion Can be parameterised No Default save 1 11 04 00189 184811709 System...

Page 488: ...data incorrect Communication unit Remedy Service required Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 11 05 00194 184877250 Device data incorrect Communication...

Page 489: ...d Remedy Service required Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 11 05 00200 184877256 Current sensor calib ration invalid Error memory Can be parameterise...

Page 490: ...sed No Default save 1 11 06 00285 184942877 Error in the commu nication module mail box Error memory Can be parameterised No The initialisation of the device has failed Remedy Check whether additional...

Page 491: ...parameterised No Hardware does not correspond to expected compatibility state Remedy Service required Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 11 08 00207 18...

Page 492: ...1 12 01 00210 201392338 Mileage error threshold reached Error memory Can be parameterised Px 14114 The maximum value for the load change is reached Remedy Information copies Default Info 4 Classifica...

Page 493: ...completed Remedy none info only Default internal 1 Classifica tion Can be parameterised No Default save 1 13 01 00214 218169558 Message acknowledg ment Error memory Can be parameterised No Diagnostic...

Page 494: ...uning so that the acceleration and braking phases become shorter Default Stop category 1 256 Classifica tion Can be parameterised No Default save 1 13 02 00218 218235098 Auto tuning travel insufficien...

Page 495: ...eterised No Logout of the device at a specific authorisation level has been completed Remedy none info Default Info 4 Classifica tion Can be parameterised No Default save 1 17 01 00225 285278433 Logou...

Page 496: ...invalid Error memory Can be parameterised No Encoder type plate invalid Remedy Service required Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 18 00 00095 30198998...

Page 497: ...e Check encoder Default Warning 16 Classifica tion Can be parameterised Px 10061 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default save 1 18 03...

Page 498: ...gger Trigger type that can use all of the data in the parameter directory of the device as a trigger signal For example a data trigger on the Setpoint value speed controller parameter can start creati...

Page 499: ...Unit Contains the instance number of the signal to be recorded The array ID is used for the channel assignment 5503 0 0 channel 0 5503 0 n channel n Access read write Update effective immediately 550...

Page 500: ...ce channels 5500 0 0 1 Activate trace channel 0 5500 0 1 1 Activate trace channel 1 Tab 431 Parameter settings example Trace and trigger configuration parameters ID Px Parameters Description Specifies...

Page 501: ...Access read write Update effective immediately 558 Recording length Unit Factor for influencing the sampling interval With a factor of 2 for example only every 2nd sample is recorded Sampling inter va...

Page 502: ...in the samples P0 557 0 0 5000 Number of samples before the trigger 5000 0 0001 s 0 5 s Selection of down sampling factor P0 559 0 0 2 Sampling interval should be 100 s 2 base time per sample Tab 433...

Page 503: ...als exceeding the threshold in a positive direc tion will initiate the trigger 2 Any edge any signal change for numerical trigger sig nals exceeding the threshold in any direction will initiate the tr...

Page 504: ...peed controller parameter as trigger sig nal Selection of the data instance ID data trigger P0 6002 0 0 0 Instance 0 Selection of the array ID data trigger P0 6003 0 0 0 Array ID 0 Selection of the tr...

Page 505: ...nt recording Access read Update effective immediately 103104 Current diagnostics ID diagnostic trace Unit Specifies the current data instance ID of the current recording Access read Update effective i...

Page 506: ...of the data instance ID diagnostic trace P0 103102 0 0 0 Instance 0 Selection of diagnostics trigger P0 103106 0 0 0 0 Trigger the message Tab 437 Parameter settings example Diagnostic messages No sp...

Page 507: ...INT16 6001 0x211B 02 Data ID data trigger UINT32 6002 0x211B 03 Data instance ID data trigger UINT16 6003 0x211B 04 Array ID data trigger UINT16 6004 0x211B 05 Trigger event UINT32 60012 0x211B 0C Tri...

Page 508: ...hysteresis function random noise Two threshold values can be specified per parameterisation A diagnostic message is issued if they are exceeded The reaction of the servo drive when the threshold valu...

Page 509: ...values should be parameterised Warning threshold for mileage recording of axis 1 90000000 user units Error threshold for mileage recording of axis 1 100000000 user units Parameter settings example Pa...

Page 510: ...changes for the corres ponding axis Access read write Update effective immediately 1421 Load change counter Unit Specifies the first threshold value when the device should gen erate the first configur...

Page 511: ...hold for the load change counter P1 1427 0 0 4500000 Load change warning threshold of axis 1 Error threshold for the load change counter P1 14211 0 0 90000000 Load change error threshold of axis 1 Tab...

Page 512: ...nufacturer specific objects saved basic unit for the object is effective 1423 0x2133 02 Operating hour counter FLOAT32 Tab 452 Objects 10 Web server 10 1 Function A web server is integrated into the d...

Page 513: ...IP configuration of the device has been changed the current IP address can be determined with the CMMT plug in Call the web server 1 Open the Internet browser 2 Enter the IP address of the device in t...

Page 514: ...download of firmware Upload and download of parameter sets Reset of all parameters to factory settings Diagnosis Enables the diagnostics of the servo drive Access to the error history Display of curre...

Page 515: ...20 EtherCAT Protocol Enhancements ETG 1300 EtherCAT Indicator and Labeling Specification ETG 2000 EtherCAT Slave Information Specification ETG 2200 EtherCAT Slave Implementation Guide ETG 6010 EtherCA...

Page 516: ...r request Emergency request Get OD list response Get object description request Entry descriplion request SDO info error request Get OD list request Get object description request Entry descriplion re...

Page 517: ...ync Manager 3 synchronisation 11 5 2 Synchronisation Sync Manager 2 synchronisation Sync manager 2 synchronization 11 5 2 Synchronisation Sync Manager 3 synchronisation Sync manager 3 synchronization...

Page 518: ...work string with ring star or line topology Ports The CMMT is integrated into an EtherCAT network through the following connections Port XF1 IN EtherCAT input Port XF2 IN EtherCAT output Termination T...

Page 519: ...s double word are presented as follows Byte format Data type Byte order1 LSB MSB Word 0xCDEF 0xEF 0xCD LSB MSB Little endian Double word 0x89ABCDEF 0xEF 0xCD 0xAB 0x89 1 LSB least significant byte MSB...

Page 520: ...ailbox Frame Emergency Frame SDO Request Frame SDO Response Frame SDO Information Frame Index 2 Byte Data 1 4 5 n Byte SDO control 1 Byte Subindex 4 Byte SDO Info Header 2 Byte SDO Info Service Data B...

Page 521: ...SI SP Bootstrap Boot IB IB Fig 106 EtherCAT final state machine The table describes all statuses of the EtherCAT final state machine Status Status Init Status after Power ON or Reset acyclical mailbox...

Page 522: ...final state machine Status transition Status Power ON RESET The CMMT was switched on or a Reset was triggered The CMMT initialises itself and switches directly into the Init status IP Init PreOp Mail...

Page 523: ...hronisation network synchronisation 11 5 2 Synchronisation 11 5 1 Sync Manager communication Der Sync Manager steuert die Mailbox und Prozessdaten Kommunikation des CMMT zu den anderen Netzwerkteilneh...

Page 524: ...isation man ager for the EtherCAT communication Access read write Update effective immediately 750 Sync manager com munication type Eth erCAT Unit Shows the number of assigned PDOs in the synchronisat...

Page 525: ...EtherCAT UINT16 771 1 0 2 0x1C13 01 03 PDO mapping object index of assigned PDO EtherCAT UINT16 Px Manufacturer specific objects saved basic unit for the object is effective 750 0x2213 01 05 Sync mana...

Page 526: ...write Update effective immediately 1050 Synchronisation mode Unit Shows the cycle time ns for the synchronisation processes Sync with process data cycle time of the master DC Sync0 time between two Sy...

Page 527: ...rame and SYNC0 event in Sync synchronisation mode Access read Update effective immediately 1055 Sync Calc And Copy Time Unit Shows the status of the local cycle time DC Sync0 measure ment and the rese...

Page 528: ...ter Px 1059 via the plug in Access read Update effective immediately 1059 Sync SM Event Missed Unit Shows the number of cycle time violations in the Operational status cycle was not finished on time o...

Page 529: ...ted UINT16 1053 0 0 0x1C33 04 Sync mode supported UINT16 1054 0 0 0x1C32 05 Sync Minimum Cycle Time UINT32 1054 0 0 0x1C33 05 Sync Minimum Cycle Time UINT32 1055 0 0 0x1C32 06 Sync Calc And Copy Time...

Page 530: ...clical intervals master transmits a synchronisation datagram in which the Clock Master writes the current reference time Ref Time to the reference clock All downstream slaves read out this value The E...

Page 531: ...controller for process data communication is assigned permanently to Sync Managers 2 and 3 for transmission of mapped process data objects PDO Process data objects Max 16 output input objects Sub 0x01...

Page 532: ...20 0x1600 0x60B2 0x08 0x10 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Index Sub Length Controlword Modes of operation Target position Profile velocity Target velocity Target torque Velocity offset Torque...

Page 533: ...0 0x06 0x08 0x00 Header Mapping 0x1A00 01 0x1A00 02 0x1A00 03 0x1A00 04 0x1A00 05 0x1A00 06 Fig 112 Overview default TxPDO1 mapping Configuring object 0x1A00 The following steps are required to config...

Page 534: ...verview default TxPDO2 mapping 11 7 1 4 Function TxPDO3 mapping EtherCAT DC time stamp The graph shows the fixed setting for the 3rd send PDO mapping TxPDO3 in object 0x1AF1 CoE object dictionary TxPD...

Page 535: ...pping EtherCAT diagnostic history 1AF1 TxPDO3 mapping EtherCAT DC time stamp Access read write Update effective immediately 880 Transmit PDO number of objects EtherCAT Unit Shows the mapping of object...

Page 536: ...11 8 Mailbox communication Mailbox communication Mailbox communication is used to exchange service data e g parameter values or error messages acyclically between the controller and CMMT In the CMMT t...

Page 537: ...er CMMT SDO download Download SDO request SDO write command Request Acknowledgment SDO ownload Download SDO response CoE OD Object Value Fig 115 Write access to object data The SDO service supports th...

Page 538: ...ds SDO service Description SDO upload expedited request Read command request for 1 4 bytes user data SDO upload expedited response Read command response with 1 4 bytes user data SDO upload normal requ...

Page 539: ...ubindex 0 must be 0 for write access 0x06 01 00 04 SDO complete access is not supported for objects with variable length e g with ENUM object types 0x06 01 00 05 Length of object exceeds size of mailb...

Page 540: ...or no object directory is avail able Tab 473 SDO abort codes 11 8 2 Emergency communication The CMMT monitors the function of internal modules e g output stage Whenever an error occurs the configured...

Page 541: ...pleted There is no error 1 Error occurs No error is present and a new error occurs An emergency message is transmitted with the error code of the new error 2 Error acknowledgment not successful Not al...

Page 542: ...1 02 00017 0x2312 I2t Motor 0x02 01 02 00012 01 02 00013 01 02 00258 01 02 00259 0x2340 Short circuit motor side 0x02 01 01 00010 0x3110 Mains over voltage 0x04 02 03 00039 0x3120 Mains under voltage...

Page 543: ...2 00072 05 02 00073 05 02 00074 05 02 00075 05 02 00076 05 02 00077 05 02 00078 05 02 00079 05 02 00080 05 02 00278 05 02 00279 05 02 00280 09 00 00146 0x5441 Limit switch positive 0x01 07 01 00115 0x...

Page 544: ...00197 11 05 00198 11 05 00200 11 05 00202 0x6310 Loss of parameters 0x01 06 05 00097 06 05 00098 06 05 00099 06 05 00100 06 05 00101 06 05 00102 06 05 00103 06 05 00104 06 05 00105 06 05 00106 06 05 0...

Page 545: ...04 00142 08 12 00250 08 12 00272 0x7100 Power additional modules 0x01 10 01 00156 11 01 00244 0x7120 Motor 0x01 18 00 00092 18 00 00093 18 00 00094 0x7122 Motor error or commutation malfunc 0x01 07 0...

Page 546: ...Communication 0x10 08 00 00139 0x8612 Reference limit 0x01 07 01 00109 07 01 00110 07 01 00111 07 01 00112 07 01 00116 07 01 00117 07 01 00118 07 01 00119 07 01 00120 0x8613 Homing Error 0x01 05 01 00...

Page 547: ...d via the Ethernet over EtherCAT protocol EoE The real time properties of the EtherCAT network are not affected by this If the controller master has a separate Ethernet port this port can be used to c...

Page 548: ...6 rw P0 7605 0 0 5 0x1100 00 Ethercat address CiA402 UINT16 rw P0 7606 0 0 0x1018 01 Vendor ID UINT32 rw P0 7607 0 0 0x1018 02 Product code UINT32 rw P0 7608 0 0 0x1018 03 Revision number UINT32 rw P0...

Page 549: ...0x1C33 20 Sync Error BOOL ro P0 1061 0 0 0x1600 00 Receive PDO number of objects EtherCAT UINT8 rw P0 760 0 0 0x1600 01 10 Receive PDO Mapped Objects EtherCAT UINT32 rw P0 761 0 0 15 0x1A00 00 Transmi...

Page 550: ...rw Tx P0 43550 0 0 CiA402 the factor group is effective 0x6007 00 Abort connection option code SINT16 rw Rx P0 757 0 0 0x6040 00 Control word CiA402 UINT16 rw Rx P1 730 0 0 0x6041 00 Status word CiA4...

Page 551: ...Rx P1 526799 0 0 0x6098 00 Referencing method SINT8 rw Rx P1 8417 0 0 0x6099 01 Search for reference mark setpoint velocity UINT32 rw P1 843 0 0 0x6099 02 Setpoint reference mark creeping velocity UIN...

Page 552: ...16 ro P1 1128057 0 0 0x6403 00 Current NOC code motor STRING 32 ro P1 7188 0 0 31 0x6502 00 Supported drive modes CiA402 UINT32 ro Tx P1 734 0 0 0x6503 00 Device name STRING 128 rw P0 902 0 0 127 0x65...

Page 553: ...7123 0 0 0x60C5 00 Limit value acceleration limiting UINT32 rw Rx P1 1305 0 0 0x60C6 00 Limit value deceleration limiting UINT32 rw Rx P1 1306 0 0 0x60E4 01 Actual position value SINT32 ro Tx P1 128 0...

Page 554: ...T32 ro Tx P1 113028 1 0 0x60D7 00 Counter initiated trigger events positive edge CiA402 UINT16 ro Tx P1 113031 1 0 0x60D8 00 Counter initiated trigger events negative edge CiA402 UINT16 ro Tx P1 11303...

Page 555: ...ted major version control unit STRING 2 ro Tx P0 5760 0 0 1 0x2103 0D Expected minor version control unit UINT16 ro Tx P0 5761 0 0 0x2103 0E Expected compatibility index control unit UINT16 ro Tx P0 5...

Page 556: ...19 0x2103 1E URL address STRING 20 ro Tx P0 11280052 0 0 19 0x2103 1F Revision STRING 10 ro Tx P0 72 0 0 9 0x2106 01 Product Key STRING 15 ro Tx P0 710 0 0 14 0x2106 03 NOC code STRING 32 ro Tx P0 711...

Page 557: ...set STRING 2 ro Tx P0 7186 0 0 1 0x2106 35 Minor version motor data set UINT16 ro Tx P0 7187 0 0 0x2106 37 Lq inductance FLOAT32 ro Tx P0 7428 0 0 0x2106 39 Ld inductance FLOAT32 ro Tx P0 7429 0 0 0x2...

Page 558: ...y index control unit UINT16 ro Tx P0 254 0 0 0x210B 0A Serial number control unit STRING 9 ro Tx P0 266 0 0 8 0x210B 0C Major version control unit data set STRING 2 ro Tx P0 2208 0 0 1 0x210B 0D Minor...

Page 559: ...5 Storage option in error log UINT8 rw Rx P0 4890 0 0 0x2114 18 Current warning threshold DC link voltage FLOAT32 ro Tx P0 56799 0 0 0x2114 19 Current upper limit value DC link voltage FLOAT32 ro Tx P...

Page 560: ...1B 01 Axis ID data trigger UINT16 rw Rx P0 6000 0 0 0x211B 02 Data ID data trigger UINT32 rw Rx P0 6001 0 0 0x211B 03 Data instance ID data trig ger UINT16 rw Rx P0 6002 0 0 0x211B 04 Array ID data tr...

Page 561: ...801 0 0 0x2125 03 Storage option in error log UINT8 rw Rx P0 802 0 0 0x2126 01 Transmit PDO number of objects EtherCAT UINT8 rw Rx P0 880 0 0 0x2126 02 Transmit PDO number of objects EtherCAT UINT8 rw...

Page 562: ...mit value power output stage tem perature FLOAT32 ro Tx P0 9323 0 0 0x2128 23 Current lower limit value warning threshold power output stage temperature FLOAT32 ro Tx P0 9324 0 0 0x2128 24 Current low...

Page 563: ...8 Sync Delay Time FLOAT32 ro Tx P0 1057 0 0 0x212E 09 Sync0 Cycle Time FLOAT32 rw Rx P0 1058 0 0 0x212E 0A Sync SM Event Missed UINT16 ro Tx P0 1059 0 0 0x212E 0B Sync cycle time too small UINT16 ro T...

Page 564: ...0 0x2130 39 Electrical angular fre quency filtered FLOAT32 ro Tx P0 3234 0 0 0x2130 3D Deactivation motor change check BOOL rw Rx P0 3236 0 0 0x2130 3F Encoder permanently homed BOOL rw Rx P0 3237 0...

Page 565: ...97 Filter time constant accel eration filter FLOAT32 rw Rx P0 71502 0 0 0x2133 02 Operating hour counter FLOAT32 ro Tx P0 1423 0 0 0x2136 01 EtherCAT explicit device ID UINT16 rw Rx P0 7600 0 0 0x2136...

Page 566: ...INT32 ro Tx P0 10152 0 0 0x213D 03 Internal interface status UINT32 ro Tx P0 10153 0 0 0x213F 01 DC link recovery deactiva tion FLOAT32 ro Tx P0 10181 0 0 0x213F 02 DC link recovery status BOOL ro Tx...

Page 567: ...andler Control and State Register UINT32 ro Tx P0 10314 0 0 0x2141 10 Reset status list UINT32 ro Tx P0 10315 0 0 0x2141 11 Operating system specific UINT32 ro Tx P0 10316 0 0 0x2142 01 Axis ID diagno...

Page 568: ...er 10 UINT8 rw Rx P0 9303 0 0 0x214C 04 Test user 20 UINT8 rw Rx P0 9304 0 0 0x214C 05 Test user 30 UINT8 rw Rx P0 9305 0 0 0x214D 01 Activate DHCP BOOL rw Rx P0 12000 0 0 0x214D 02 Activate DHCP BOOL...

Page 569: ...Tx P1 39 0 0 0x2151 0B Actual phase V current value FLOAT32 ro Tx P1 310 0 0 0x2151 0C Voltage limiting filter time constant FLOAT32 rw Rx P1 52679 0 0 0x2151 0D Voltage limiting Ud active BOOL ro Tx...

Page 570: ...7 0 0 0x2153 09 Maximum output voltage FLOAT32 ro Tx P1 88 0 0 0x2153 0A Actual Clarke Transforma tion la current value FLOAT32 ro Tx P1 89 0 0 0x2153 0B Actual Clarke Transforma tion lb current value...

Page 571: ...154 0D Total inertia FLOAT32 rw Rx P1 973 0 0 0x2154 0E Setpoint value friction compensation FLOAT32 ro Tx P1 974 0 0 0x2154 0F Setpoint value inertia com pensation FLOAT32 ro Tx P1 975 0 0 0x2154 10...

Page 572: ...x P1 526797 0 0 0x2159 0A Activation background mode BOOL rw Rx P1 1130224 0 0 0x215B 01 Position controller amplific ation gain FLOAT32 rw Rx P1 220 0 0 0x215B 02 Dead zone position con troller SINT6...

Page 573: ...Tx P1 2852 0 0 0x215E 28 Lower limit value servo drive temperature FLOAT32 ro Tx P1 2853 0 0 0x215E 46 Upper limit value minimum load voltage FLOAT32 ro Tx P1 28120 0 0 0x215E 47 Lower limit value mi...

Page 574: ...Rx P1 14 0 0 0x2162 02 Current pole pairs UINT32 ro Tx P1 719 0 0 0x2162 03 Current motor inertia FLOAT32 ro Tx P1 7112 0 0 0x2162 04 Current phase sequence BOOL ro Tx P1 7115 0 0 0x2162 05 Current no...

Page 575: ...0 0 0x2162 1A Motor type UINT8 ro Tx P1 71428 0 0 0x2162 1B Diagnostic category UINT16 rw Rx P1 71429 0 0 0x2162 1C Storage option in error log UINT8 rw Rx P1 71433 0 0 0x2164 01 STO hysteresis time F...

Page 576: ...Rx P1 4615 0 0 0x2166 11 Diagnostic category UINT16 rw Rx P1 4616 0 0 0x2166 12 Storage option in error log UINT8 rw Rx P1 4617 0 0 0x2166 13 Diagnostic category UINT16 rw Rx P1 4618 0 0 0x2166 14 St...

Page 577: ...2 rw Rx P1 4660 0 0 0x2166 31 Diagnostic category UINT16 ro Tx P1 4661 0 0 0x2166 33 Monitoring window push back FLOAT32 rw Rx P1 4663 0 0 0x2166 34 Damping time pushback FLOAT32 rw Rx P1 4664 0 0 0x2...

Page 578: ...ing time velocity fol lowing error FLOAT32 rw Rx P1 4690 0 0 0x2166 4B Diagnostic category UINT16 rw Rx P1 4691 0 0 0x2166 4C Storage option in error log UINT8 rw Rx P1 4692 0 0 0x2166 4D Diagnostic c...

Page 579: ...n troller FLOAT32 rw Rx P1 855 0 0 0x2168 07 Limit value total current closed loop controller FLOAT32 rw Rx P1 856 0 0 0x2168 08 Resulting lower limit value velocity closed loop con troller FLOAT32 ro...

Page 580: ...o drive FLOAT32 ro Tx P1 622 0 0 0x2169 06 Nominal current servo drive FLOAT32 ro Tx P1 623 0 0 0x2169 07 Resulting maximum current FLOAT32 ro Tx P1 624 0 0 0x2169 08 Resulting minimum current FLOAT32...

Page 581: ...ve at stand still FLOAT32 ro Tx P1 6315 0 0 0x216A 0F Actual value I t monitoring power output stage at standstill FLOAT32 ro Tx P1 6316 0 0 0x216A 10 Scaling factor warning limit I t monitoring drive...

Page 582: ...ine commutation finding UINT32 ro Tx P1 660 0 0 0x216B 02 Commutation finding status UINT32 ro Tx P1 661 0 0 0x216B 04 Increments FLOAT32 rw Rx P1 664 0 0 0x216B 06 Mode UINT32 rw Rx P1 668 0 0 0x216B...

Page 583: ...216C 0C Winding temperature user defined FLOAT32 rw Rx P1 7147 0 0 0x216C 0D Temperature sensor user defined UINT32 rw Rx P1 7153 0 0 0x216C 0E Holding brake user defined BOOL rw Rx P1 7159 0 0 0x216C...

Page 584: ...achine profile homing CiA402 UINT32 ro Tx P1 738 0 0 0x216D 0A Internal status state machine profile torque mode CiA402 UINT32 ro Tx P1 526782 0 0 0x216D 0B Status record table CiA402 UINT32 ro Tx P1...

Page 585: ...OAT32 rw Rx P1 8136 0 0 0x216F 0A Target velocity CiA402 FLOAT32 rw Rx P1 8137 0 0 0x216F 0B Velocity offset CiA402 FLOAT32 rw Rx P1 8138 0 0 0x216F 0C Positioning option code CiA402 UINT16 rw Rx P1 8...

Page 586: ...2 0 0 0x2172 04 Search for reference mark setpoint velocity FLOAT32 rw Rx P1 843 0 0 0x2172 05 Search for reference mark setpoint acceleration FLOAT32 rw Rx P1 844 0 0 0x2172 06 Search for reference m...

Page 587: ...453 0 0 0x2172 1D Diagnostic category UINT16 rw Rx P1 8454 0 0 0x2172 1E Storage option in error log UINT8 rw Rx P1 8455 0 0 0x2173 01 Status auto tuning UINT8 ro Tx P1 860 0 0 0x2173 02 Result amplif...

Page 588: ...umber of validation movements UINT8 rw Rx P1 8630 0 0 0x2174 0E Movement stroke during validation movement SINT64 rw Rx P1 8631 0 0 0x2174 0F Maximum velocity during validation movement FLOAT32 rw Rx...

Page 589: ...ator output current FLOAT32 ro Tx P1 105 0 0 0x217A 08 Fine interpolator status UINT32 ro Tx P1 107 0 0 0x217B 01 IPO mode position SINT64 ro Tx P1 1140 0 0 0x217B 02 IPO mode velocity FLOAT32 ro Tx P...

Page 590: ...Phase rotation BOOL rw Rx P1 1172 0 0 0x217D 03 Reversing the direction of rotation validation status BOOL rw Rx P1 1173 0 0 0x217D 04 Validation status of phase rotation BOOL rw Rx P1 1175 0 0 0x217...

Page 591: ...time FLOAT32 ro Tx P1 12202 0 0 0x2181 05 Status Stop ramp UINT32 ro Tx P1 12205 0 0 0x2181 06 Factor extrapolation stop ramp FLOAT32 rw Rx P1 12206 0 0 0x2182 01 Database ID gear unit 1 UINT32 rw Rx...

Page 592: ...a tion FLOAT32 rw Rx P1 1307 0 0 0x2183 08 Lower limit torque limita tion FLOAT32 rw Rx P1 1308 0 0 0x2184 01 Mileage SINT64 rw Rx P1 1411 0 0 0x2184 05 Mileage warning threshold SINT64 rw Rx P1 1417...

Page 593: ...FLOAT32 rw Rx P1 214535 0 0 0x2186 13 Slow jog 2 acceleration FLOAT32 rw Rx P1 214536 0 0 0x2186 14 Slow jog 2 jerk FLOAT32 rw Rx P1 214537 0 0 0x2186 15 Relative position jog 2 SINT64 rw Rx P1 214538...

Page 594: ...ly used fast jog 2 jerk FLOAT32 ro Tx P1 214556 0 0 0x2188 01 Current ramp FLOAT32 rw Rx P1 1555 0 0 0x2188 02 Conversion factor torque FLOAT32 rw Rx P1 1556 0 0 0x2188 03 Setpoint generator output po...

Page 595: ...Storage option in error log UINT8 rw Rx P1 101105 0 0 0x2189 07 Diagnostic category UINT16 rw Rx P1 101106 0 0 0x2189 08 Storage option in error log UINT8 rw Rx P1 101107 0 0 0x2189 09 Diagnostic cate...

Page 596: ...threshold react ive current braking FLOAT32 rw Rx P1 102108 0 0 0x218D 09 End value reactive current braking FLOAT32 rw Rx P1 102109 0 0 0x218E 01 Device status UINT32 ro Tx P1 10231 0 0 0x218E 02 Con...

Page 597: ...ault value target velo city FLOAT32 rw Rx P1 10366 0 0 0x2190 07 Default value activation stroke limitation BOOL rw Rx P1 10367 0 0 0x2190 08 Default value negative stroke limit SINT64 rw Rx P1 10368...

Page 598: ...Cam controller source UINT16 rw Rx P1 112701 0 0 0x2192 04 Cam controller source UINT16 rw Rx P1 112701 1 0 0x2192 05 Upper limit value modulo SINT64 rw Rx P1 112702 0 0 0x2192 06 Upper limit value mo...

Page 599: ...er limit value modulo SINT64 ro Tx P1 112716 0 0 0x2192 18 Current lower limit value modulo SINT64 ro Tx P1 112716 1 0 0x2192 19 Current inactive time first switching point FLOAT32 ro Tx P1 112717 0 0...

Page 600: ...modulo cycles UINT32 ro Tx P1 112731 1 0 0x2192 2D Offset modulo position SINT64 rw Rx P1 112732 0 0 0x2192 2E Offset modulo position SINT64 rw Rx P1 112732 1 0 0x2192 2F Initialisation of modulo SINT...

Page 601: ...Rx P1 113005 1 0 0x2193 0D Upper limit value trigger event SINT64 rw Rx P1 113006 0 0 0x2193 0E Upper limit value trigger event SINT64 rw Rx P1 113006 1 0 0x2193 0F Current touch probe mode UINT16 ro...

Page 602: ...initiated BOOL ro Tx P1 113016 0 0 0x2193 22 Trigger event initiated BOOL ro Tx P1 113016 1 0 0x2193 23 Trigger event NOT initiated BOOL ro Tx P1 113017 0 0 0x2193 24 Trigger event NOT initiated BOOL...

Page 603: ...ch probe position positive CiA402 UINT64 ro Tx P1 113027 0 0 0x2193 38 Time stamp touch probe position positive CiA402 UINT64 ro Tx P1 113027 1 0 0x2193 39 Time stamp touch probe position negative CiA...

Page 604: ...T32 ro Tx P1 113037 0 0 0x2193 4C Current delay time FLOAT32 ro Tx P1 113037 1 0 0x2194 01 Resolution position SINT8 rw Rx P1 7841 0 0 0x2194 02 Resolution velocity SINT8 rw Rx P1 7842 0 0 0x2194 03 R...

Page 605: ...x P0 12012 0 0 0x219A 02 Maximum connection access UINT16 ro Tx P0 12013 0 0 0x219B 01 Connection active BOOL ro Tx P0 12014 0 0 0x219B 02 Connection active BOOL ro Tx P0 12014 1 0 0x219B 03 Connectio...

Page 606: ...factor FLOAT32 rw Rx P1 4028 0 0 0x219F 01 Activation of field weaken ing BOOL rw Rx P1 102201 0 0 0x219F 02 Field weakening status BOOL ro Tx P1 102202 0 0 0x219F 03 Field weakening reactive current...

Page 607: ...0 0 0x21A2 01 Resolution single turn UINT32 rw Rx P0 3601 0 0 0x21A2 02 Resolution multiturn UINT32 rw Rx P0 3602 0 0 0x21A2 03 Single turn position UINT32 ro Tx P0 3603 0 0 0x21A2 04 Multi turn numer...

Page 608: ...factor FLOAT32 rw Rx P1 204803 0 0 0x21A7 01 Activation current reduc tion holding brake BOOL rw Rx P1 40001 0 0 0x21A7 02 Delay time FLOAT32 rw Rx P1 40002 0 0 0x21A7 03 Supply voltage holding brake...

Page 609: ...0 7 0x2210 01 08 Current array ID trace data UINT16 ro P0 5509 0 0 7 0x2213 01 05 Sync manager communica tion type EtherCAT UINT8 rw P0 750 0 0 4 0x2214 01 10 Receive PDO Mapped Objects EtherCAT UINT3...

Page 610: ...FLOAT32 rw P1 977 0 0 15 0x2227 01 03 Amplification gain position controller FLOAT32 rw P1 226 0 0 2 0x2228 01 03 Velocity controller amplific ation gain FLOAT32 rw P1 2210 0 0 2 0x2229 01 03 Velocit...

Page 611: ...0 Record table field 5 SINT64 rw P1 1816 0 0 127 0x2237 01 80 Record table field 6 SINT64 rw P1 1817 0 0 127 0x2238 01 80 Record table field 7 SINT64 rw P1 1818 0 0 127 0x2239 01 80 Record step enabli...

Page 612: ...0 Next event field 4 SINT64 rw P1 526786 0 0 15 0x2248 01 10 Next event field 5 SINT64 rw P1 526787 0 0 15 0x2249 01 10 Next event field 6 SINT64 rw P1 526788 0 0 15 0x224A 01 10 Next event field 7 SI...

Page 613: ...P1 1171 0 0 9 0x226F 01 04 Selection of switching func tion UINT16 rw P1 112708 0 0 3 0x226F 05 08 Selection of switching func tion UINT16 rw P1 112708 1 0 3 0x2270 01 04 Selection of switching char...

Page 614: ...rst switching point SINT64 ro P1 112723 1 0 3 0x2277 01 04 Current second switching point SINT64 ro P1 112724 0 0 3 0x2277 05 08 Current second switching point SINT64 ro P1 112724 1 0 3 0x2278 01 04 C...

Page 615: ......

Page 616: ...ization is prohibited Offenders will be liable for damages All rights reserved in the event that a patent utility model or design patent is registered Copyright Festo AG Co KG 73734 Esslingen Ruiter S...

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