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Contents and general instructions

Festo P.BE−SEC−AC−CO−E N en 0802a

5.4

Current control and motor adaptation

5−32

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.1

Survey

5−32

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.2

Objects

5−33

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5

Velocity controller and overspeed protection

5−43

. . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1

Survey

5−43

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2

Objects

5−43

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6

Position Control Function

5−48

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.1

Survey

5−48

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2

Objects

5−51

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7

Encoder settings

5−63

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5.7.1

Survey

5−63

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.2

Objects

5−64

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8

Sources for demand / actual value

5−78

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.1

Survey

5−78

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.2

Objects

5−78

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9

Digital inputs and outputs

5−80

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9.1

Survey

5−80

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9.2

Objects

5−80

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10

Homing switches (Limit / Reference switch)

5−84

. . . . . . . . . . . . . . . . . . . . . . . . . .

5.10.1

Survey

5−84

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10.2

Objects

5−84

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Device Control/State diagram (State machine)

6−1

. . . . . . . . . . . . . . . . . . . . . .

6.1

State diagram (State machine)

6−3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.1

Survey

6−3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.2

The state diagram of the servo controller (State machine)

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.4

Auslesen des Reglerzustands

6−15

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.5

Statusword

6−17

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.6

Objects

6−21

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Summary of Contents for SEC-AC-305-CO

Page 1: ...Manual Commissioning of the Servomotor Controller Type SEC AC 305 CO SEC AC 508 CO Fieldbus protocol CANopen Manual 534 277 en 0802a 715 651 Smart Electromotor Controller...

Page 2: ......

Page 3: ...c of Germany 2008 Internet http www festo com E Mail service_international festo com The reproduction distribution and utilisation of this docu ment as well as the communication of its contents to oth...

Page 4: ...Contents and general instructions II Festo P BE SEC AC CO EN en 0802a...

Page 5: ...mportant user instructions XI 1 Introduction 1 1 1 1 About this manual 1 3 1 2 How to use the CAN interface 1 3 2 Cabling and pin assignment 2 1 2 1 Description 2 3 2 2 Pin assignment and setting of t...

Page 6: ...ccesses via RS232 4 8 4 3 PDO Message 4 10 4 3 1 Description of objects 4 12 4 3 2 Objects for parametrizing PDOs 4 16 4 3 3 Activation of PDOs 4 18 4 4 SYNC Message 4 19 4 5 EMERGENCY message 4 20 4...

Page 7: ...1 Survey 5 63 5 7 2 Objects 5 64 5 8 Sources for demand actual value 5 78 5 8 1 Survey 5 78 5 8 2 Objects 5 78 5 9 Digital inputs and outputs 5 80 5 9 1 Survey 5 80 5 9 2 Objects 5 80 5 10 Homing swi...

Page 8: ...7 3 7 1 2 Objects 7 3 7 2 Operating Mode Homing mode 7 7 7 2 1 Survey 7 7 7 2 2 Objects 7 8 7 3 Operating Mode Profile Position Mode 7 25 7 3 1 Survey 7 25 7 3 2 Objects 7 27 7 4 Profile Velocity Mod...

Page 9: ...e Controllers may only be used as follows in accordance with designated use in its original state without any modifications by the user in faultless technical condition If additional commercially avai...

Page 10: ...ledge However devi ations between this document and the product cannot be excluded entirely The manufacturer does not accept liability for any resulting errors or consequential damage Neither will any...

Page 11: ...ting and installing the motor controller SEC AC Commis sioning manual CommisioningSEC AC type P BE SEC AC SW Information on commissioning and diagnosing the motor controller SEC AC Field bus coupling...

Page 12: ...is not necessary in general to acquire the DS201 207 CiA Draft Standard 301 In this book the basic structure of the object dictionary of a CANopen device and the access to this directory are described...

Page 13: ...ween the following danger warnings Warning This means that failure to observe this instruction may result in serious personal injury or damage to property Caution This means that failure to observe th...

Page 14: ...d references to other information sources The parameters thus marked affect the internal controller structure and must be used with caution Accessories Information on necessary or sensible accessories...

Page 15: ...s in order that the intermediate circuit can discharge before you con nect or disconnect any plugs Warning During installation commissioning and maintenance you must observe the safety and accident pr...

Page 16: ...Contents and general instructions XIV Festo P BE SEC AC CO EN en 0802a...

Page 17: ...Introduction 1 1 Festo P BE SEC AC CO EN en 0802a Chapter 1...

Page 18: ...1 Introduction 1 2 Festo P BE SEC AC CO EN en 0802a Contents 1 1 About this manual 1 3 1 2 How to use the CAN interface 1 3...

Page 19: ...terface The CAN interface is a unit of components which can be ac quired as a plug in module for the servo controllers of the family SEC AC The plug in unit is delivered already installed in the servo...

Page 20: ...1 Introduction 1 4 Festo P BE SEC AC CO EN en 0802a...

Page 21: ...Cabling and pin assignment 2 1 Festo P BE SEC AC CO EN en 0802a Chapter 2...

Page 22: ...2 2 Pin assignment and setting of the node address 2 3 2 3 Absolute Maximum Ratings 2 5 2 4 General values 2 5 2 5 CAN Bus 2 5 2 5 1 Function 2 5 2 5 2 Electrical features 2 5 2 6 A D converter 2 6 2...

Page 23: ...AN bus output X306 as well as a differential 12 bit analogue input with a 5 V auxiliary output voltage X303 By means of 5 DIP switches 16 differ ent node addresses can be set or a 120 W terminating re...

Page 24: ...X306 Sub D Stecker 9 pol male Pin Designation switch Designation Pin Designation 1 AIN 1 Knoten Nr LSB 1 nc 2 AIN 2 Knoten Nr 2 CAN L 3 AGND 3 Knoten Nr 3 CAN GND 4 5V Output 4 Knoten Nr MSB 4 nc 5 12...

Page 25: ...Voltage 36 to 36 VDC 2 4 General values SYMBOL PARAMETER Min Typ Max UNIT Pges Complete power output 560 mW with unswitched inputs 2 5 CAN Bus 2 5 1 Function The pin assignment of the sub D plug is co...

Page 26: ...OL PARAMETER Min Typ Max UNIT VOUT Output voltage 4 75 5 0 5 25 VDC Inenn Output rated current 50 mA IKS Short circuit current limitation 20 C 110 mA Analogue input SYMBOL PARAMETER Min Typ Max UNIT f...

Page 27: ...2 Cabling and pin assignment 2 7 Festo P BE SEC AC CO EN en 0802a 1 2 1 Amplifier fault LSB 2 Input voltage V Fig 2 3 Typical curve of amplifier fault vs input voltage example measured values...

Page 28: ...abling and pin assignment 2 8 Festo P BE SEC AC CO EN en 0802a 3 4 3 Fault LSB 4 Temperature C Fig 2 4 Typical curve of the offset dotted line and am plifier fault vs temperature example measured valu...

Page 29: ...sy and safe way to connect all parts of a plant As condition all following instructions have to be respected carefully Fig 2 5 Cabling schematically All nodes of a network are principally connected in...

Page 30: ...line If it is still necessary to use connectors assure that the connection of the shield is done by using metallic cases For less noise injection principally never place motorcables parallel to signal...

Page 31: ...Activation of CANopen 3 1 Festo P BE SEC AC CO EN en 0802a Chapter 3...

Page 32: ...n of CANopen 3 2 Festo P BE SEC AC CO EN en 0802a Contents 3 1 Survey 3 3 3 2 Activation by Terminal program 3 4 3 3 Examples for the activation of CANopen communication 3 6 3 4 Activation by Transfer...

Page 33: ...lities are described more exact in the follow ing chapter Altogether 3 parameters have to be entered Basic Node Number For unmistakable identification each user within the net work has to have an uniq...

Page 34: ...his command will be built as follows All parameters have to be entered hexadecimal BUS NN BBBB MMMM Writecommand MODE The mode parameters is set bit by bit Bit Value Meaning 0 0001h Special function 1...

Page 35: ...ed to the basic node number Add AIN1to basic node address Additional AIN1 can be added with valence 32 For a high level the input has to be connected to Vref 10V The Bits 0 and 1 as well as 6 to 15 al...

Page 36: ...te 1000 kB Mode CANopen with node verification BUS 01 03E8 000C Node number 10 Baudrate 500 kB Mode CANopen with node verification BUS 0A 01F4 000C Node number 1 Value of digital inputs Baudrate 1000...

Page 37: ...be found in menu under File Transfer If this command is not available greyed it is necessary to change the user level under Options User level to Expert Fig 3 1 After entering the BUS command in the...

Page 38: ...3 Activation of CANopen 3 8 Festo P BE SEC AC CO EN en 0802a...

Page 39: ...Access methods SDO access 4 1 Festo P BE SEC AC CO EN en 0802a Chapter 4...

Page 40: ...essages 4 7 4 2 3 Simulation of SDO accesses via RS232 4 8 4 3 PDO Message 4 10 4 3 1 Description of objects 4 12 4 3 2 Objects for parametrizing PDOs 4 16 4 3 3 Activation of PDOs 4 18 4 4 SYNC Messa...

Page 41: ...an be accessed via CAN bus in primar ily two ways A confirmed access with so called SDOs and a unconfirmed access using so called PDOs with no hand shake 1 1 1 2 2 2 4 3 5 6 1 Superimposed control 4 C...

Page 42: ...f the servo controller NMT Network Management Used for network services NODE GUARDING Node Guarding Used for observing all nodes by cyclic messages Every message sent via CAN bus contains an address t...

Page 43: ...swered by the servo controller either sending the requested parameter or confirming the write request Every command has to be sent with a definite identifier so that the servo controller knows what co...

Page 44: ...the same token whereas the answer of the servo controller starts with a token depending on the parameters data type For all numerical values the hexadecimal notation is used read command write command...

Page 45: ...12h Writing of Obj 6040_00h Data 03E8h 2Bh 40h 60h 00h E8h 03h 60h 40h 60h 00h UINT32 INT32 Command Answer Reading of Obj 6093_01h Returning data 12345678h 40h 93h 60h 01h 43h 93h 60h 01h 78h 56h 34h...

Page 46: ...d subindex does not exist 06 09 00 30 h The data value is out of range 06 09 00 31 h The transferred data is too big for the object 06 09 00 32 h The transferred data is too small for the object 08 00...

Page 47: ...er XXXXSU XXXXSU WWWWWWWW5 XXXXSU WWWWWWW XXXXSU WWWWWWWW 1 Index hex 2 Subindex hex 3 8 bit data hex 4 16 bit data hex 5 32 bit data hex Please note that the commands are composed of chars with out s...

Page 48: ...oes not need cyclically inquiry of the objects embedded in a PDO which mean strong reduction of bus load EXAMPLE The host computer wants to know when the servo controller has reached the target positi...

Page 49: ...mple composed of the velocity actual value the position actual value or the like Before a PDO can be used the servo controller has to know what data shall be transmitted because a PDO only contains us...

Page 50: ...mitted number_of_mapped_objects The object determines how many objects are mapped into the specific PDO Following restrictions has to be respected A maximum of 4 objects can be mapped into a PDO The t...

Page 51: ...ission_type and inhibit_time For each PDO it can be parametrized which event results in sending Transmit PDO resp evaluating Receive PDO the PDO Value Meaning Admitted for 00h 8Ch SYNC Message The val...

Page 52: ...has changed Sometimes it is useful to send the TPDO only if a defined bit has changed Therefore it is possible to mask the TPDO Thereby only TPDO bits with an 1 in the corresponding bit of the mask w...

Page 53: ...ject 60640020h Index 60FDh Subin 00h Length 10h third_mapped_object 60FD0010h 3 Parametrize transmission_type The PDO should be sent if a digital input changes transmission_type FFh The PDO have to be...

Page 54: ...A00h_02h second mapped object UINT32 rw 00000000h 1A00h_03h third mapped object UINT32 rw 00000000h 1A00h_04h fourth mapped object UINT32 rw 00000000h 2 Transmit PDO2 Index Comment Type Acc Default Va...

Page 55: ...ries UINT8 ro 02h 2015h _01h tpdo_2_transmit_mask_low UINT32 rw FFFFFFFFh 2015h _02h tpdo_2_transmit_mask_high UINT32 rw FFFFFFFFh 1 Receive PDO Index Comment Type Acc Default Value 1400h_00h number o...

Page 56: ...NT32 rw 60400010h 1601h_02h second mapped object UINT32 rw 60600008h 1601h_03h third mapped object UINT32 rw 00000000h 1601h_04h fourth mapped object UINT32 rw 00000000h 4 3 3 Activation of PDOs The f...

Page 57: ...All connected servo controller receive these mess ages and use them for the treatment of the PDOs see chapter 4 3 The identifier the servo controller receives SYNC messages is fixed to 080h The identi...

Page 58: ...priority the least number is always displayed 4 5 1 Structure of an EMERGENCY message If an error occurs the servo controller always sends an EMERGENCY message The identifier of this message is 080h p...

Page 59: ...llowing error see Object 6510h_22h 18 6300h Error during precalculation of a positioning motion 20 7306h Incremental input fault change of angle exceeds upper range 21 5400h Current measurement fault...

Page 60: ...read access to the object pre_defined_error_field you can find out how many error messages are recorded in the error memory at the moment The error memory is deleted by writing the value 00h into the...

Page 61: ...oduct of the object guard_time 100Ch and of the object life_time_factor 100Dh As these two objects are evaluated in the servo controller only together as a product it is always possible to set the obj...

Page 62: ...f the following requirements are fulfilled Object 100Ch guard_time 0000h Object 100Dh life_time_factor 00h NMT State operational see chapter 4 7 Network management NMT service Object 6510h_12h node_gu...

Page 63: ...value Access rw PDOMapping no Units Value Range 0 255 Default Value 0 Object 100Eh node_guarding_ID The identifier used for the node guarding can be read via the object 100Eh node_guarding_ID This ide...

Page 64: ...o controller supports messages with RTR bit insufficiently an additional mode was implemented here This mode has to be activated so that only normal telegrams are interchanged between the servo con tr...

Page 65: ...r example to make a reset in all devices at the same time The servo controller does not quit the NMT commands It is only indirectly poss ible to decide if a reset was successful e g through the boot u...

Page 66: ...dent ifier Object Type Identifier hexadecimal Remarks SDO Host to controller 600h node number SDO Controller to host 580h node number T PDO1 181h Standard values Can be changed on demand T PDO2 281h C...

Page 67: ...Adjustment of parameters Load and save set of parameters 5 1 Festo P BE SEC AC CO EN en 0802a Chapter 5...

Page 68: ...t control and motor adaptation 5 34 5 4 1 Survey 5 34 5 4 2 Objects 5 35 5 5 Velocity controller and overspeed protection 5 45 5 5 1 Survey 5 45 5 5 2 Objects 5 45 5 6 Position Control Function 5 50 5...

Page 69: ...ontrol can be managed by the servo controller several parameters have to be adjusted according to the used motor and the specific application Therefore the chronological order suggested by the followi...

Page 70: ...his is the unmodifiable default parameter set of the servo controller given by the manufacturer The default parameter set can be copied to the current parameter set through a write process into the CA...

Page 71: ...s are possible concerning the parameter set administration The parameter set is made up with the parameter set up program and also transferred to the single servo con troller by the parameter set up p...

Page 72: ...parameters After wards only those objects are transferred which vary The complete process only lasts about 0 3 seconds per drive It is advantageous that this method also works for non parametrized ser...

Page 73: ...the string load is to be passed as data set in hexadecimal form This command is only executed while the output power stage is deactivated Otherwise the SDO error The controller is in wrong operation...

Page 74: ...as application parameter set the object 1010h_01h save_all_parameters has to be used Object attribute Attribute value Index 1010h Name store_parameters Object Code ARRAY Number of Elements 1 Data Typ...

Page 75: ...velocity refer to the driven side of the plant The necessary calculation is done by the servo controller Consequently it is possible to enter values directly in e g millimetre per second if a linear...

Page 76: ...parameter Therefore the Factor Group should be adjusted once before commissioning the servo controller and not to be changed during parametrization The default setting of the Factor Group is as follow...

Page 77: ...actor UINT32 rw 6097h ARRAY acceleration_factor UINT32 rw 607Eh VAR polarity UINT8 rw Object 6093h position_factor The object position_factor converts all values of length of the application from posi...

Page 78: ...scription divisor Access rw PDO Mapping Possible Units position_units Value Range 1 232 1 Default Value 1 To calculate the position_factor the following values are necessary gear_ratio Ratio between r...

Page 79: ...ow ing equation position_factor numerator divisor 65536 gear_ratio feed_constant Numerator and divisor of the position_factor has to be en tered separately Therefore it may be necessary to extend the...

Page 80: ...16384 div 25 1 100 Rev U 100 1 ROUT 100 R 100 2 3 65536 Inc R 2R 3R 100R 100 1R 131072Inc 300R 100 num 32768 div 75 1 10 mm mm 10 1 ROUT 631 5 mm 10 1 1 65536 Inc R 1R 1R 631 5mm 10 1R 655360Inc 6315m...

Page 81: ...tor Object Code ARRAY Number of Elements 2 Data Type UINT32 Object attribute Attribute value Sub Index 01h Description numerator Access rw PDO Mapping Possible Units increments Value Range 1 232 1 Def...

Page 82: ...IN and rev olutions on the driven side ROUT feed_constant Ratio between revolutions on the driven side ROUT and equivalent motion in position_units e g 1 rev 360 velocity_encoder_resolution 65536 Inc...

Page 83: ...div 375 1 100 RPM R 100min 1 ROUT 100 R 100 1 min 60 s 2 3 65536 Inc R 2R 3R 1min 60s 100R 100 1R 131072Inc s 18000U 100min num 8192 div 1125 1 10 mm s mm 10s 1 ROUT 631 5 mm 10 1 s 1 s 1 1 65536 Inc...

Page 84: ...r Object Code ARRAY Number of Elements 2 Data Type UINT32 Object attribute Attribute value Sub Index 01h Description numerator Access rw PDO Mapping Possible Units increments Value Range 1 232 1 Defau...

Page 85: ...etween revolutions on the driving side RIN and rev olutions on the driven side ROUT feed_constant Ratio between revolutions on the driven side ROUT and equivalent motion in position_units e g 1 rev 36...

Page 86: ...min2 R 100 min2 1 ROUT 100 U 100 1 min2 60 s 60 s 3600s2 1 1 65536 Inc R 1R 1R 1min2 3600s2 100R 100 1R 65536Inc s2 360000R min2 num 1024 div 5625 1 100 R min2 R 100min2 1 ROUT 100 U 100 1 min2 60 s...

Page 87: ...the same desired values In most applications it makes sense to set the position_polarity_flag and the velocity_polarity_flag to the same value The conversion factors will be used when reading or writ...

Page 88: ...a number of security functions which can be parametrized in part Servo controller enable logic software and hardware enabling Overvoltage control of the intermediate circuit Undervoltage control of th...

Page 89: ...isting holding brake The signal of the input enable controller is processed by the microcontroller of the servo controller Depending on the mode of operation the servo controller reacts differently af...

Page 90: ...enable_logic is always set to two after a reset if a CAN module is plugged However it can be repro grammed Object attribute Attribute value Index 6510h Name drive_data Object Code REC Number of Elemen...

Page 91: ...ible while the power stage is switched off Object attribute Attribute value Sub Index 30h Description pwm_frequency Data Type UINT16 Access rw PDO Mapping no Units Hz Value Range 10000 bei SEC AC 305...

Page 92: ...fault Value 0 Object 6510h_31h power_stage_temperature The temperature of the power stage can be read via the ob ject power_stage_temperature If the temperature specified in the object 6510h_32h max_p...

Page 93: ...eeded the power stage is switched off and an error message is sent Object attribute Attribute value Sub Index 32h Description max_power_stage_temperature Data Type INT16 Access ro PDO Mapping no Units...

Page 94: ...be read via the object actual_dc_link_circuit_voltage Object attribute Attribute value Sub Index 34h Description actual_dc_link_circuit_voltage Data Type UINT32 Access ro PDO Mapping no Units mV Value...

Page 95: ...h min_dc_link_circuit_voltage The servo controller has an undervoltage control This control can be activated via the object 6510h_37h en able_dc_link_undervoltage_error The object 6510h_36h min_dc_lin...

Page 96: ...e_error In object 6510h_36h min_dc_link_circuit_voltage you must specify the lowest possible intermediate circuit voltage at which the controller should work Object attribute Attribute value Sub Index...

Page 97: ...oller Default Value dependent of servo controller Object 6510h_41h peak_current The peak current device can be read via this object It is also the upper limit for the object 6073h max_current It is al...

Page 98: ...Overload Depending on motor Pairs of poles Depending on motor Current controller Depending on motor Additional if a resolver is used Direction of rotation Depending on motor and the phase sequence in...

Page 99: ...city controller and overspeed protection 5 4 2 Objects Index Object Name Type Attr 6075h VAR motor_rated_current UINT32 rw 6073h VAR max_current UINT16 rw 604Dh VAR pole_number UINT8 rw 6410h RECORD m...

Page 100: ...073h max_current Servo motors may be overloaded for a certain period of time The maximum permissible motor current is set via this object It refers to the nominal motor current object 6075h motor_rate...

Page 101: ...Units per thousand of rated current Value Range Default Value 1750 Object 604Dh pole_number The number of poles of the motor can be taken from the motor datasheet or the parameter set up program The...

Page 102: ...may be overloaded for a certain period of time This object indicates how long the motor may receive a cur rent specified in the object 6073h max_current After the expiry of the IIT time the current is...

Page 103: ...d and save set of parameters 5 37 Festo P BE SEC AC CO E N en 0802a Object attribute Attribute value Sub Index 03h Description iit_time_motor Data Type UINT16 Access rw PDO Mapping no Units ms Value R...

Page 104: ...mit Either this will only be displayed in the statusword or Error 31 will be generated and the power stage will be switched off Object attribute Attribute value Index 6510h Name drive_data Object Code...

Page 105: ...it currently determines the rotor position with an angle encoder resolver etc If a resolver is used the resolver_offset_angle determines the orientation of the zero impulse of the angle encoder to war...

Page 106: ...abling one This value can be taken from the parameter set up program Object attribute Attribute value Sub Index 10h Description phase_order Data Type UINT16 Access rw PDO Mapping no Units Value Range...

Page 107: ...s before it can be trans ferred into the object torque_control_time In case of a speci fied time of 0 6 milliseconds a value of 600 has to be entered into the object torque_control_time Object attribu...

Page 108: ...attribute Attribute value Sub Index 02h Description torque_control_time Data Type UINT16 Access rw PDO Mapping no Units s Value Range 400 65536 Default Value 1000 Please note The resolution of the obj...

Page 109: ...o operation Warning Incorrect setting of the velocity control parameters may lead to strong vibrations and destroy parts of the plant this way 5 5 2 Objects Index Object Name Type Attr 60F9h RECORD ve...

Page 110: ..._time In case of a specified time of 2 0 milliseconds a value of 2000 has to be written into the object velocity_control_time The velocity_control_filter_time can also be taken from the parameter set...

Page 111: ...g no Units s Value Range 600 20000 Default Value 6150 Object attribute Attribute value Sub Index 04h Description velocity_control_filter_time Data Type UINT16 Access rw PDO Mapping no Units s Value Ra...

Page 112: ...set angle that has been parametrized incorrectly It also operates in case of disturbed signals on the zero impulse line of an incremental encoder and even works if the servo con troller does not actua...

Page 113: ...nd motor cables phase break and against an offset angle that has been parame trized incorrectly It also operates in case of disturbed signals on the zero impulse line of an incremental encoder and eve...

Page 114: ...l_effort in order to keep the position control system stable The output quan tity is supplied to the speed controller as desired speed value In the Factor Group all input and output quantities are con...

Page 115: ...error The range between xi x0 and xi x0 is defined symmetrically around the desired position position_demand_value xi For example the positions xt2 and xt3 are outside this window following_error_win...

Page 116: ...5 11 Position reached Functional overview Fig 5 11 shows how the window function is defined for the message position reached The position range between xi x0 and xi x0 is defined symmetrically around...

Page 117: ...ts are defined in this chapter Index Object Name Type Attr 6062h VAR position_demand_value INT32 ro 6063h VAR position_actual_value INT32 ro 6064h VAR position_actual_value INT32 ro 6065h VAR followin...

Page 118: ...s Factor Group 6093h VAR position_factor UINT32 5 2 Conversion factors Factor Group 6094h ARRAY velocity_encoder_factor UINT32 5 2 Conversion factors Factor Group 6096h ARRAY acceleration_factor UINT3...

Page 119: ...bject position_control_gain Normally the position controller can work without an integra tor In this case 0 has to be written into the object posi tion_control_time Otherwise the time constant of the...

Page 120: ...ect Code RECORD Object attribute Attribute value Sub Index 01h Description position_control_gain Data Type UINT16 Access rw PDO Mapping no Units 256 Gain 1 Value Range 0 5120 Default Value 102 Object...

Page 121: ...Units speed units Value Range 0 232 1 Default Value 487 Object attribute Attribute value Sub Index 05h Description position_error_tolerance_window Data Type UINT32 Access rw PDO Mapping no Units posit...

Page 122: ...e Access ro PDO Mapping Possible Units position units Value Range 231 231 1 Default Value Object 60FCh position_demand_value The current position demand value in the internal unit in crements can be r...

Page 123: ...ue Range 231 231 1 Default Value Object 6064h position_actual_value The actual position can be read by this objects The unit of this object is position_units Object attribute Attribute value Index 606...

Page 124: ...ex 6063h Name position_actual_value Object Code VAR Data Type INT32 Object attribute Attribute value Access ro PDO Mapping Possible Units increments Value Range 231 231 1 Default Value Object 6065h fo...

Page 125: ...he object following_error_window is too low The position controller is not parametrized correctly If the value of the trailing error window is set to 232 1 then the trailing error window is deactivate...

Page 126: ...value Index 6066h Name following_error_time_out Object Code VAR Data Type UINT16 Object attribute Attribute value Access rw PDO Mapping Possible Units milliseconds Value Range 0 20000 Default Value 0...

Page 127: ...etrical range around the target position target_posi tion is defined by the object position_window If the actual position value position_actual_value is within this range the target position target_po...

Page 128: ...rive is within the positioning win dow position_window as long as defined in this object bit 10 target_reached will be set in the statusword Object attribute Attribute value Index 6068h Name position_...

Page 129: ...the incremental input X10 you can connect an external position encoder op tionally e g on the driving side of a gear or feed in an addi tional position demand value to synchronise two motors Caution I...

Page 130: ...troller_resolution Only for experienced users The object position_controller_resolution defines the in crements per unit of length angle the position controller is calculating with This resolution sho...

Page 131: ...esto P BE SEC AC CO E N en 0802a Object attribute Attribute value Index 2020h Name position_controller_resolution Object Code VAR Data Type UINT32 Object attribute Attribute value Access rw PDO Mappin...

Page 132: ...ect synchronization_filter_time determines the time constant of a low pass used to smooth the synchronisation velocity Suggestive values are 400 20000 s Object attribute Attribute value Index 2023h Na...

Page 133: ..._numerator and encoder_X2_divisor are used for the conversion of encoder increments object encoder_X2_counter into the unit of the position controller object position_controller_selection Also possibl...

Page 134: ...ECORD Number of Elements 7 Object attribute Attribute value Sub Index 01h Description encoder_X2_resolution Data Type UINT32 Access Heidenhain ro see Object 2029h Other rw PDO Mapping no Units increme...

Page 135: ...rator Data Type INT16 Access rw PDO Mapping no Units Value Range 32767 Default Value 1 Object attribute Attribute value Sub Index 03h Description encoder_X2_divisor Data Type INT16 Access rw PDO Mappi...

Page 136: ...ribute Attribute value Sub Index 05h Description encoder_X2_position Data Type INT32 Access rw PDO Mapping Possible Units position units Value Range 231 231 1 Default Value Object attribute Attribute...

Page 137: ...e set of parameters 5 71 Festo P BE SEC AC CO E N en 0802a Object attribute Attribute value Sub Index 07h Description encoder_X2_status Data Type INT32 Access ro PDO Mapping Possible Units Value Range...

Page 138: ..._div isor are used for the conversion of encoder increments ob ject encoder_X10_counter into the unit of the position con troller object position_controller_selection Also possibly available gears can...

Page 139: ...exceeds the value in max_X2_X10_ position_difference the power stage will be switched off im mediately and error 17 will be displayed CANopen error code 7124 Parametrizing 0 will disable this function...

Page 140: ...rator Data Type INT16 Access rw PDO Mapping no Units Value Range 32767 Default Value 1 Object attribute Attribute value Sub Index 03h Description encoder_X10_divisor Data Type INT16 Access rw PDO Mapp...

Page 141: ...1 Default Value 0 Object attribute Attribute value Sub Index 05h Description encoder_X10_position Data Type INT32 Access rw PDO Mapping Possible Units position units Value Range 231 231 1 Default Val...

Page 142: ...x 07h Description encoder_X10_status Data Type INT32 Access rw PDO Mapping Possible Units Value Range 1 northmarker appeared Default Value 0 Object attribute Attribute value Sub Index 08h Description...

Page 143: ...d the value in encoder_X2_resolution Otherwise the entered value will be limited to this value Object attribute Attribute value Index 2028h Name encoder_emulation_resolution Object Code VAR Data Type...

Page 144: ...nal position encoder is used e g on the driving side of a gear it is possible to use the signals of the incre mental input X10 as actual value It is also possible to use signals of X10 as additional p...

Page 145: ...2022h synchronization_encoder_select The object synchronization_encoder_select determines the input for the additional position demand value It can be used to synchronise two motors Object attribute...

Page 146: ...tal output can be set or reset using the can bus In addition to it several state messages can be mapped to the outputs 5 9 2 Objects Object 60FDh digital_inputs Using object 60FDh the digital inputs c...

Page 147: ...h Negative limit switch 1 00000002h Positive limit switch 2 00000004h Reference switch 3 00000008h Power stage locked Either the signal controller enable or power stage enable is not set 16 23 Additio...

Page 148: ...d that a delay of up to 15 milliseconds may occur between sending the command and a real reaction of the outputs when the brake and the default outputs DOUT 1 DOUT 3 are triggered When the outputs are...

Page 149: ...ct attribute Attribute value Sub Index 02h Description digital_outputs_mask Access rw PDO Mapping Possible Units Value Range 0 232 1 Default Value 16711680 00FF0000h Bit Digital output 0 Brake 16 23 A...

Page 150: ...an be used Further information concerning reference methods can be found in chapter 7 2 Operating Mode Homing mode 5 10 2 Objects Object 6510h_11h limit_switch_polarity The polarity of the limit switc...

Page 151: ...itch_polarity The polarity of the homing switch can be parametrized by the object 6510h_14h homing_switch_polarity For B contacts normally closed zero has to be entered for A contacts nor mally opened...

Page 152: ..._selector determines if the reference switch is connected either to the START or the SAMPLE input of the servo controller Object attribute Attribute value Index 6510h Sub Index 13h Name homing_switch_...

Page 153: ...ute value Index 6510h Sub Index 15h Name limit_switch_deceleration Object Code VAR Data Type UINT32 Object attribute Attribute value Access rw PDO Mapping Possible Units acceleration units Value Range...

Page 154: ...5 Adjustment of parameters Load and save set of parameters 5 88 Festo P BE SEC AC CO E N en 0802a...

Page 155: ...Device Control State diagram State machine 6 1 Festo P BE SEC AC CO EN en 0802a Chapter 6...

Page 156: ...BE SEC AC CO EN en 0802a Contents 6 1 State diagram State machine 6 3 6 1 1 Survey 6 3 6 1 2 The state diagram of the servo controller State machine 6 4 6 1 3 Controlword 6 11 6 1 4 Auslesen des Regl...

Page 157: ...n will be explained in this chapter Example SWITCH_ON_DISABLED State Transition Just as the states it is defined as well how to move from one state to another e g to reset an error These state transi...

Page 158: ...mportant states have been highlighted in the Fig ure After switching on the servo controller initialises itself and reaches the state SWITCH_ON_DISABLED after all In this state CAN communication is po...

Page 159: ...for instance an emergency stop FAULT_REAC TION_ACTIVE To execute the mentioned state transitions defined bit com binations have to be set in the controlword To that the lower 4 bits of the controlwor...

Page 160: ...led ac cording to modes_of_operation 9 Command Disable Voltage Disable Voltage x x 0 x Power stage is dis abled The motor is freely rotatable 15 Cause of fault remedied Command Fault Reset Fault Reset...

Page 161: ...h New state OPERATION_ENABLE 1 Please note The example implies that no more bits in the control word are set For the state transitions only the bits 0 3 are necessary The state transitions 3 and 4 can...

Page 162: ...able logic digital input and CAN SWITCHED_ON 1 The power stage is live OPERATION_ENABLE 1 The motor is under voltage and will be controlled according to modes_of_operation QUICKSTOP_ACTIVE 1 The Quick...

Page 163: ...ed on 4 Command Enable Operation EnableOperation 1 1 1 1 Motor is controlled ac cording to modes_of_operation 5 Command Disable Operation Disable Operation 0 1 1 1 Power stage is disabled Motor is fre...

Page 164: ...otatable 15 Cause of fault remedied Command Fault Reset Fault Reset Bit 7 Reset fault Rising edge Warning Power stage disabled This means the transistors are not driven anymore If this state is reache...

Page 165: ...or a designated action e g starting homing oper ation can be executed directly The meaning of the bits 4 5 6 and 8 depends on modes_of_operation which will be ex plained in the chapter hereafter Objec...

Page 166: ...relative 7 0080h reset_fault 8 0100h halt 9 0200h reserved set to 0 10 0400h reserved set to 0 11 0800h reserved set to 0 12 1000h reserved set to 0 13 2000h reserved set to 0 14 4000h reserved set to...

Page 167: ...Fig 6 4 Survey of all commands x not relevant Please note As some state transitions take time for processing all changes written into the controlword have to read back from the statusword Only when t...

Page 168: ...on ing order will be added to the position_demand_value of the position controller Bit 7 reset_fault On a rising edge the servo controller tries to reset the pres ent errors This will only succeed if...

Page 169: ...ate diagram and their respective bit combination occurring in the statusword State Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Mask Value 0040h 0020h 0008h 0004h 0002h 0001h NOT_READY_TO_SWITCH_ON 0 x 0 0 0 0...

Page 170: ...e READY_TO_SWITCH_ON occurs in the statusword Transition 2 controlword 0006h Wait until statusword 006Fh 0021h 1 3 The state transitions 3 and 4 can be written combined into the controlword 4 Wait unt...

Page 171: ...SEC AC CO EN en 0802a 6 1 5 Statusword Object 6041h statusword Object attribute Attribute value Index 6041h Name statusword Object Code VAR Data Type UINT16 Object attribute Attribute value Access ro...

Page 172: ...f the servo controller see Fig 6 5 6 0040h State of the servo controller see Fig 6 5 7 0080h warning 8 0100h unused 9 0200h remote 10 0400h target_reached 11 0800h internal_limit_active 12 1000h set_p...

Page 173: ...nufacturer specific This bit is undefined It must not be evaluated Bit 9 remote This bit indicates that the power stage can be enabled via the can bus It is set if the object enable_logic is set accor...

Page 174: ...an error Bit 13 Depends on modes_of_operation following_error On Profile Position Mode This bit will be set if the position_actual_value differs from the position_demand_value so much that the differ...

Page 175: ...rw 605Eh VAR fault_reaction_option_code INT16 rw Object 605Bh shutdown_option_code The object shutdown_option_code determines the behaviour if the state transition 8 from OPERATION ENABLE to READY TO...

Page 176: ...etermines the behaviour if the state transition 5 from OPERATION ENABLE to SWITCHED ON will be executed Object attribute Attribute value Index 605Ch Name disable_operation_option_code Object Code VAR...

Page 177: ...k_stop_option_code determines the behav iour if a Quick Stop will be executed Object attribute Attribute value Index 605Ah Name quick_stop_option_code Object Code VAR Data Type INT16 Object attribute...

Page 178: ...ult Notwithstanding the power stage will al ways be switched off on a critical fault Object attribute Attribute value Index 605Eh Name fault_reaction_option_code Object Code VAR Data Type INT16 Object...

Page 179: ...Operating modes Adjustment of the Operating Mode 7 1 Festo P BE SEC AC CO EN en 0802a Chapter 7...

Page 180: ...ode 7 3 7 1 1 Survey 7 3 7 1 2 Objects 7 3 7 2 Operating Mode Homing mode 7 7 7 2 1 Survey 7 7 7 2 2 Objects 7 8 7 3 Operating Mode Profile Position Mode 7 25 7 3 1 Survey 7 25 7 3 2 Objects 7 27 7 4...

Page 181: ...e set into a great number of operat ing modes Only some are specified in detail under CANopen torque controlled operation speed controlled operation homing operation search for reference positioningop...

Page 182: ...060h Name modes_of_operation Object Code VAR Data Type INT8 Object attribute Attribute value Access wo PDOMapping Possible Units Value Range 1 3 4 6 Default Value 255 Value Action 1 Unknownorinvalid o...

Page 183: ...will have to wait until the new se lected mode appears in the object modes_of_oper ation_display Object 6061h modes_of_operation_display The current operating mode of the servo controller can be read...

Page 184: ...r with setpoint ramp 4 Torque Profile Mode torque controller with setpoint ramp 6 Homing mode homing operation Please note The operating mode can only be set via the object modes_of_operation As a cha...

Page 185: ...e methods the zero impulse of the used encoder resolver incremental encoder etc can be included to achieve a state that can be reproduced as well as possible Fig 7 1 Homing operation The user can dete...

Page 186: ...nown no physical motion will be executed 7 2 2 Objects Objects treated in this chapter Index Object Name Type Attr 607Ch VAR home_offset INT32 rw 6098h VAR homing_method INT8 rw 6099h ARRAY homing_spe...

Page 187: ...set determines the displacement of the zero position to the limit resp reference switch position Fig 7 2 Home Offset Object attribute Attribute value Index 607Ch Name home_offset Object Code VAR Data...

Page 188: ...Code VAR Data Type INT8 Object attribute Attribute value Access rw PDOMapping Possible Units Value Range 18 17 2 1 1 2 7 11 17 18 23 27 32 33 34 Default Value 17 homing_method Direction Target Referen...

Page 189: ...gative Zero impulse Zero impulse 33 Positive Zero impulse Zero impulse 34 No run Actual position Please note Using method 34 is only possible if at least one time a zero impulse has been detected by t...

Page 190: ...Index 01h Description speed_during_search_for_switch Access rw PDOMapping Possible Units speed units Value Range 0 232 1 Default Value 100 min 1 Object attribute Attribute value Sub Index 02h Descrip...

Page 191: ...eration determine the acceleration which is used for all acceleration and deceleration during the search for reference Object attribute Attribute value Index 609Ah Name homing_acceleration Object Code...

Page 192: ...operation the negative and positive limit switch the reference switch and the periodic zero impulse of the angle encoder Besides this the controller can refer to the negative or positive endstop with...

Page 193: ...efers to the first zero impulse of the angle encoder in positive direction from the limit switch Fig 7 3 Homing operation to the negative limit switch including evaluation of the zero impulse Method 2...

Page 194: ...which is only active over parts of the distance These reference methods are particularly useful for round axis applications where the reference switch is activated once per revolution In case of meth...

Page 195: ...operation to the reference switch evaluating the zero impulse for a positive start motion Please note When using homing operations to the reference switch the limit switches keep its normal function F...

Page 196: ...the exact position of the limit switch The zero position refers to the descending edge from the negative limit switch Fig 7 7 Homing operation to the negative limit switch Method 18 Homing operation t...

Page 197: ...ctive over part of the distance These reference methods are particularly useful for round axis applications where the ref erence switch is activated once per revolution In case of method 23 the drive...

Page 198: ...ion Fig 7 10 Homing operation to the reference switch for a negative start motion Methods 32 and 33 Homing operation to the zero impulse For the methods 32 and 33 the direction of the homing oper atio...

Page 199: ...s not damaged in case of the parame trized maximum current The zero position refers to the first zero impulse of the angle encoder in positive direction from the stop Fig 7 12 Homing operation to the...

Page 200: ...ion to the negative stop If this method is used the drive moves into negative direction until it reaches the stop The servo controller needs ca 1 sec ond to identify the stop The stop has to be mechan...

Page 201: ...od is used the drive moves into positive direction until it reaches the stop The servo controller needs ca 1 sec ond to identify the stop The stop has to be mechanically di mensioned so that it is not...

Page 202: ...it 13 in the object statusword indicates that an error has occurred during the homing operation The error reason can be identi fied by the objects error_register and predefined_error_field Bit 4 Meani...

Page 203: ...7 16 The target position target_position is passed to the trajec tory generator This generator generates a desired position value position_demand_value for the position controller that is described i...

Page 204: ...of the trajectory generator are converted into internal quantities of the controller by means of the quantities of the Factor group see chapter 5 2 Conversion factors Factor Group The internal quanti...

Page 205: ...T32 rw 6084h VAR profile_deceleration UINT32 rw 6085h VAR quick_stop_deceleration UINT32 rw 6086h VAR motion_profile_Type INT16 rw 6510h RECORD position_range_limit_enable rw Affected objects from oth...

Page 206: ...eration of the deceler ation and the kind of motion profile motion_profile_type have to be considered The target position target_position is interpreted either as an absolute or relative position This...

Page 207: ...automatically jumps to the other limit of the positioning range This is particularly useful for rotary axes The position limits which correspond to the same position e g 0 and 360 have to be entered T...

Page 208: ...mined by the object 607Bh can be activated In addition to the so far existing mode two new modes have been implemented from firmware Rev 8e onwards The mode Shortest distance will be activated by writ...

Page 209: ...limit and max_position_limit For ab solute positioning motions each new target position target_position is checked if it is within these limits i e writing values out of these limits leads to an error...

Page 210: ...value Sub Index 01h Description min_position_limit Access rw PDOMapping Possible Units positionunits Value Range 231 231 1 Default Value 231 Object attribute Attribute value Sub Index 02h Description...

Page 211: ...is specified in speed_units If the ratio between profile_velocity and the corresponding acceleration or deceleration exceeds circa 26 sec the error Overflow of an internal value occurs In this case e...

Page 212: ...d_velocity is specified in speed_units like the object profile_velocity If the ratio between end_velocity and the corresponding acceleration or deceleration exceeds circa 26 sec the error Overflow of...

Page 213: ..._units If the ratio between profile_acceler ation and the corresponding velocity exceeds circa 26 sec the error Overflow of an internal value occurs In this case either the acceleration is too small o...

Page 214: ...ject profile_acceler ation If the ratio between profile_deceleration and the corresponding velocity exceeds circa 26 sec the error Over flow of an internal value occurs In this case either the accel e...

Page 215: ...if a Quick Stop will be executed and the quick_stop_op tion_code 605Ah is set to 2 The object quick_stop_deceleration is specified in acceler ation_units Object attribute Attribute value Index 6085h...

Page 216: ...positioning profile Besides a linear profile also a jerkless profile is available Object attribute Attribute value Index 6086h Name motion_profile_Type Object Code VAR Data Type INT16 Object attribute...

Page 217: ...ition before starting a move to the next setpoint Set of setpoints After reaching the target_position the servo controller im mediately processes the next target_position which results in a move where...

Page 218: ...ervo controller by setting the bit setpoint_acknowledge in the statusword 3 when the positioning data has been copied into the internal buffer Afterwards the host can start to transfer a new positioni...

Page 219: ...re joined together gaplessly For this operating mode the object end_velocity of the first job should be parametrized to the same value as the object profile_velocity of the following job so that the s...

Page 220: ...e ramp generator Speed recording via the angle encoder by differentiation Speed control with suitable input and output signals Limitation of the desired torque value torque_de mand_value Control of th...

Page 221: ...7 Operating modes Adjustment of the Operating Mode 7 43 Festo P BE SEC AC CO EN en 0802a...

Page 222: ...g 7 21 Structure of the profile velocity mode 7 4 2 Objects Objects treated in this chapter Index Object Name Type Attr 6069h VAR velocity_sensor_actual_value INT32 ro 606Ah VAR sensor_selection_code...

Page 223: ...l_value INT32 5 6 Position Control Function 6069h VAR velocity_sensor_actual_value INT32 5 6 Position Control Function 6071h VAR target_torque INT1 7 8 Profile Torque Mode 6072h VAR max_torque_value U...

Page 224: ...ity_sen sor_actual_value The value is normalised in increments per second Also the object 606Ch can be used to determine the actual velocity value Object attribute Attribute value Index 6069h Name vel...

Page 225: ...d by this object Currently no separate speed sensor will be provided by the servo con troller Therefore only the default angle encoder can be se lected Object attribute Attribute value Index 606Ah Nam...

Page 226: ...influenced by the ramp generator and the trajectory gen erator respectively Besides this the correction speed of the position controller is added if it is activated Object attribute Attribute value I...

Page 227: ...actual_value The actual velocity value can be read via the object veloc ity_actual_value Object attribute Attribute value Index 606Ch Name velocity_actual_value Object Code VAR Data Type INT32 Object...

Page 228: ...rget_velocity object 60FFh If the difference is smaller than the velocity window for a longer time than specified by the object velocity_window_time bit 10 target_reached will be set in the object sta...

Page 229: ...he target_velocity object 60FFh If the difference is smaller than specified by velocity_window for a longer time than specified by the object velocity_window_time bit 10 target_reached will be set in...

Page 230: ...s regarded as stationary As soon as the veloc ity_actual_value exceeds the velocity_threshold longer than the velocity_threshold_time bit 12 is cleared in the statu sword Object attribute Attribute va...

Page 231: ...e exceeds the velocity_threshold longer than the velocity_threshold_time bit 12 is cleared in the statu sword Instantaneous this object will not be evaluated by the servo controller Therefore the regu...

Page 232: ...an be taken from the motor specifica tions If a higher value as specified by max_motor_speed is written into the object target_velocity an error message re turns The velocity_demand_value will not be...

Page 233: ...target_velocity The object target_velocity is the setpoint for the ramp gener ator Object attribute Attribute value Index 60FFh Name target_velocity Object Code VAR Data Type INT32 Object attribute A...

Page 234: ...the torque controlled operation This operating mode offers the chance to demand an external torque value target_torque which can be smoothed by the integrated ramp generator So it is also possible to...

Page 235: ...7 Operating modes Adjustment of the Operating Mode 7 57 Festo P BE SEC AC CO EN en 0802a Fig 7 22 Structure of the Profile Torque Mode...

Page 236: ...e target_torque if bit 8 is cleared In both cases this will be done under consideration of the ramp generator All definitions within this document refer to rotatable motors If linear motors are used a...

Page 237: ...ro 6078h VAR current_actual_value INT16 ro 6079h VAR DC_link_circuit_voltage UINT32 ro 6087h VAR torque_slope UINT32 rw 6088h VAR torque_profile_Type INT16 rw 60F7h RECORD power_stage_parameters rw 60...

Page 238: ...for the torque controller in Profile Torque Mode It is specified as thousandths of the nominal torque object 6076h Object attribute Attribute value Index 6071h Name target_torque Object Code VAR Data...

Page 239: ...le for a short while the value 2000 has to be entered Hinweis The Object 6072h max_torque corresponds with object 6073h max_current You are only allowed to write to one of these objects once the objec...

Page 240: ...r_rated_torque 6076h via this object The internal li mitations of the servo controller will be considered current limit values and iit control Object attribute Attribute value Index 6074h Name torque_...

Page 241: ...ifies the nominal torque of the motor This value can be taken from the motor plate It has to be entered by the unit 0 001 Nm Object attribute Attribute value Index 6076h Name motor_rated_torque Object...

Page 242: ...value of the motor can be read via this ob ject in thousandths of the nominal torque object 6076h Object attribute Attribute value Index 6077h Name torque_actual_value Object Code VAR Data Type INT16...

Page 243: ...value of the motor can be read via this object in thousandths of the nominal current object 6075h Object attribute Attribute value Index 6078h Name current_actual_value Object Code VAR Data Type INT1...

Page 244: ...e The voltage in the intermediate circuit of the regulator can be read via this object The voltage is specified in millivolt Object attribute Attribute value Index 6079h Name DC_link_circuit_voltage O...

Page 245: ...the desired torque value target_torque is raised from 0 Nm to the value motor_rated_torque If the output value of the intercon nected torque ramp is to reach this value within a second the value 1000...

Page 246: ...which shape of curve a setpoint step is executed Instantaneous only the linear ramp is implemented in the servo controller so only 0 can be written to this object Object attribute Attribute value Inde...

Page 247: ...Technical appendix A 1 Festo P BE SEC AC CO EN en 0802a Appendix A...

Page 248: ...A Technical appendix A 2 Festo P BE SEC AC CO EN en 0802a Contents A 1 Recommended components A 3...

Page 249: ...cables Suitable cables are available at Friedrich L tze GmbH Tel 49 07151 6053 0 Fax 49 07151 6053 277 Designation Loop resistance Capacity 800 Hz Char impe dance Order no Remark L tze Electronic Bus...

Page 250: ...A Technical appendix A 4 Festo P BE SEC AC CO EN en 0802a...

Page 251: ...Index B 1 Festo P BE SEC AC CO EN en 0802a Appendix C...

Page 252: ...B Index B 2 Festo P BE SEC AC CO EN en 0802a C 1 Index B 3...

Page 253: ...ent of the Operating Mode 7 3 B Behaviour with command disable operation 6 22 Behaviour with command quick stop 6 23 Behaviour with command shutdown 6 21 boot_up_message 4 22 C Cabling notes 2 9 CAN i...

Page 254: ...of Features 7 14 Designated use VII Device Control 6 3 Digital inputs 5 80 Digital outputs 5 82 Maske 5 83 digital_inputs 5 80 digital_outputs 5 82 digital_outputs_data 5 82 digital_outputs_mask 5 83...

Page 255: ...Encoder output X11 Resolution 5 77 encoder_emulation_resolution 5 77 encoder_X10_control 5 75 encoder_X10_counter 5 74 encoder_X10_divisor 5 74 encoder_X10_numerator 5 74 encoder_X10_position 5 75 enc...

Page 256: ...Factor Group 5 9 acceleration_factor 5 17 polarity 5 21 position_factor 5 11 velocity_encoder_factor 5 14 Fault 6 8 Fault Reaction Active 6 8 fault_reaction_option_code 6 24 Filter time constant Sync...

Page 257: ...rity 5 84 5 85 homing_acceleration 7 13 homing_method 7 10 homing_speeds 7 11 homing_switch_polarity 5 85 homing_switch_selector 5 86 I Identifier NMT service 4 27 node_guarding 4 25 iit limit 5 38 ii...

Page 258: ...max_current 5 34 max_dc_link_circuit_voltage 5 28 max_motor_speed 7 54 max_position_limit 7 32 max_position_range_limit 7 30 max_power_stage_temperature 5 27 max_torque 7 61 max_X2_X10_position_differ...

Page 259: ...Node Guarding 4 23 node_guarding_ID 4 25 node_guarding_without_rtr_bit 4 26 Nominal current 5 30 Motor 5 33 Nominal device voltage 5 27 nominal torque of the motor 7 63 nominal_current 5 30 nominal_dc...

Page 260: ...2020 h 5 64 Object 2021 h 5 78 Object 2022 h 5 79 Object 2023 h 5 66 Object 2024 h 5 67 Object 2024 h_01 h 5 68 Object 2024 h_02 h 5 69 Object 2024 h_03 h 5 69 Object 2024 h_04 h 5 69 Object 2024 h_05...

Page 261: ...065 h 5 58 Object 6066 h 5 60 Object 6067 h 5 61 Object 6068 h 5 62 Object 6069 h 7 46 Object 606A h 7 47 Object 606B h 7 48 Object 606D h 7 50 Object 606E h 7 51 Object 606F h 7 52 Object 6070 h 7 53...

Page 262: ...ject 6084 h 7 36 Object 6086 h 7 38 Object 6087 h 7 67 Object 6088 h 7 68 Object 6093 h 5 11 Object 6094 h 5 14 Object 6097 h 5 17 Object 6098 h 7 10 Object 6099 h 7 11 Object 6099 h_01 h 7 12 Object...

Page 263: ...6410 h_03 h 5 36 Object 6410 h_10 h 5 40 Object 6410 h_11 h 5 39 Object 6510 h_10 h 5 23 Object 6510 h_11 h 5 84 Object 6510 h_12 h 4 26 Object 6510 h_13 h 5 86 Object 6510 h_14 h 5 85 Object 6510 h_1...

Page 264: ...h 7 49 Objekt 6085 h 7 37 Operating Mode 7 7 Adjustment of the 7 3 Positioning 7 25 Operating mode 7 4 Operation enable 6 8 over_speed_protection_limit_speed 5 46 Overspeed protection 5 43 P Parameter...

Page 265: ...PDO 4 16 first mapped object 4 16 fourth mapped object 4 16 inhibit time 4 16 number of mapped objects 4 16 second mapped object 4 16 third mapped object 4 16 transmission type 4 16 PDO Message 4 4 4...

Page 266: ...ance_window 5 55 position_factor 5 11 position_range_limit 7 29 position_range_limit_enable 7 30 position_window 5 61 position_window_time 5 62 Positioning 7 25 Power stage parameter Intermediate circ...

Page 267: ..._value 7 64 torque_demand_value 7 62 torque_profile_type 7 68 torque_slope 7 67 Profile Velocity Mode 7 42 max_motor_speed 7 54 sensor_selection_code 7 47 target_velocity 7 55 velocity_actual_value 7...

Page 268: ...output X11 5 77 resolver_offset_angle 5 39 restore_default_parameters 5 7 S Safety instructions XIII SAMPLE input as reference switch 5 86 save_all_parameters 5 8 SDO 4 4 4 5 Access 4 5 error message...

Page 269: ...tate diagram of the servo controller 6 4 State machine 6 3 6 4 Statusword 6 17 Bit assignment 6 18 Object description 6 17 Stop 7 21 7 22 7 23 store_parameters 5 8 Switch On Disabled 6 8 Switched On 6...

Page 270: ...7 67 tpdo_1_transmit_mask 4 17 tpdo_2_transmit_mask 4 17 Trailing error Time out 5 60 Trailing error window 5 58 Trajectory generator 7 26 transfer_PDO_1 4 16 transfer_PDO_2 4 16 U Undervoltage contr...

Page 271: ...802a velocity_sensor_actual_value 7 46 velocity_threshold 7 52 velocity_threshold_time 7 53 velocity_window 7 50 velocity_window_time 7 51 Voltage range Minimum 5 29 W WMEMOC value 5 39 Z Zero impulse...

Page 272: ...B Index B 22 Festo P BE SEC AC CO EN en 0802a...

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