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Infranor XtrapulsPac, User Manual

The Infranor XtrapulsPac is an advanced motion control system designed for precise automation applications. Ensure optimum performance and seamless integration by referring to the comprehensive user manual available for free download on our website. Master the product's features and functionalities effortlessly at manualshive.com.

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208 

XtrapulsPac – User Guide 

Chapter 3 - Reference

Sub Index 

5 

Description 

Capture Position Filter 

Data Type 

Unsigned32 

Access rw 
PDO Mapping 

No 

Unit Position 

unit 

  
   
Sub Index 

6 

Description Capture 

Position 

Data Type 

Integer32 

Access ro 
PDO Mapping 

Yes 

Unit Position 

unit 

  
  
Sub Index 

7 

Description 

Rising Edge Capture Position 

Data Type 

Integer32 

Access ro 
PDO Mapping 

Yes 

Unit Position 

unit 

  
  
Sub Index 

8 

Description 

Falling Edge Capture Position 

Data Type 

Integer32 

Access ro 
PDO Mapping 

Yes 

Unit Position 

unit 

 
 
 

Summary of Contents for XtrapulsPac

Page 1: ...Digital drive for sinusoidal synchronous AC motors XtrapulsPac User Guide ...

Page 2: ...ied in the manual will immediately cancel the warranty INFRANOR reserves the right to change any information contained in this manual without notice INFRANOR December 2013 All rights reserved Issue 1 2 1 202 CAUTION Any contact with electrical parts even after power down may involve physical damage Wait for at least 10 minutes after power down before handling the drives a residual voltage of sever...

Page 3: ...Logic Outputs 23 2 4 9 Logic I Os extension 24 2 4 10 Braking Resistor 24 2 5 DRIVE PARAMETER SAVING 24 2 6 OSCILLOSCOPE 25 2 7 DIALOG TERMINAL 25 CHAPTER 3 REFERENCE 26 3 1 CANOPEN COMMUNICATION 27 3 1 1 Communication objects 27 3 1 1 1 CAN Telegram 27 3 1 1 2 Default COB ID 28 3 1 1 3 Network Management Objects 28 3 1 1 4 Synchronisation Object 29 3 1 1 5 Process Data Objects PDO 31 3 1 1 6 Serv...

Page 4: ...2 3 2 3 6 Profile Velocity Mode 134 3 2 3 7 Profile Torque Mode 137 3 2 3 8 Sequence Mode 138 3 2 3 8 1 Positioning Sequence 140 3 2 3 8 2 Homing Sequence 142 3 2 3 8 3 Speed Sequence 142 3 2 3 8 4 Torque Sequence 144 3 2 3 8 5 Gearing Sequence 145 3 2 3 8 6 Sequence Chaining 147 3 2 3 8 7 Sequence Parameters 149 3 2 3 8 8 Sequence File Format 161 3 2 3 9 Stepper Emulation Mode 163 3 2 3 10 Analog...

Page 5: ...apulsPac version with CANopen interface can be used in the following application types Axes controlled by CANopen fieldbus according to the DS402 protocol Stand alone operation as a motion sequencer with control by means of logic I Os Traditional analog speed amplifier with 10 V command and position output by A B Z encoder signal emulation Stepper motor emulation with PULSE and DIR command signals...

Page 6: ...nd sensor parameters communication parameters and I O configuration parameters The configuration parameters can be stored into the drive non volatile memory The XtrapulsPac drive can be controlled via the fieldbus CANopen or EtherCAT via the analog input analog speed drive via the PULSE and DIR inputs stepper emulation or via the digital I Os stand alone positioner according to the selected operat...

Page 7: ... description 1 3 OTHER DOCUMENTS XtrapulsPac Installation guide XtrapulsPac Safe Torque Off specification XtrapulsPac Templates Gem Drive Studio Quick Start guide EtherCAT fieldbus interface GDPS manual for the use of the GDPS power supply unit ...

Page 8: ...e or USB RS232 adapter cable Important note If using a USB RS232 adapter it is highly recommended to choose an industrial product rather than a consumer product because of reliability and performances It is in particular mandatory to have shielded cables see application note regarding the use of USB RS232 adapters Restrictions Under Windows 7 Professional 64 bit the Service Pac 1 must be installed...

Page 9: ...t module is trying to establish a communication with a drive o The server is commissioning the drivers of the hardware peripherals o The server stops when the last connected client is stopped o The format of the exchanged data is the same whichever the communication type RS232 CAN Serial port or CAN port Drive 1 rive 2 Drive N Communication server m s Client module Gem Drive Studio 1Client module ...

Page 10: ...each of these directories will contain the parameter files and the sequence files Object dictionary Each parameter object of the drive can be defined by an Index a Sub index and several properties Save type Data type Unit Min value Max value Default value The drive supported object list with the corresponding properties is the object dictionary file in XML format This file named EEDS for Extended ...

Page 11: ...pert mode in the Device Config window 2 4 2 CONFIGURATION OF THE MOTOR If the motor is referenced in the Gem Drive Studio motor catalog it can be simply selected in the proposed motor list If the motor is not referenced in the Gem Drive Studio motor catalog the motor parameters can be manually adjusted or calculated by using the drive s built in procedures current loop calculation auto phasing The...

Page 12: ...ing ohmic value will be lower than or equal to the triggering ohmic value Current limit adjustment The Maximum current parameter defines the maximum output current value of the drive It may vary between 20 and 100 of the drive current rating The Rated current parameter defines the limitation threshold of the drive output RMS current I 2 t It can vary between 20 and 50 of the drive current rating I...

Page 13: ...urrent limitation in an extreme case motor overloaded or shaft locked The maximum current duration before warning t1 t0 and before limitation at the rated current t2 t0 is calculated the same way as in the Fusing mode Speed limit adjustment The Maximum speed parameter defines the speed limit of the motor This value is given in the motor catalog according to the rated supply voltage and the rated l...

Page 14: ...edure proceed as follows Check that the values of the Maximum current and Rated current parameters are compatible with the motor Otherwise modify them according to the motor specifications Select the I t protection in fusing mode The Fusing mode should be used for the commissioning phases Uncouple the motor from the mechanical load and check that the motor shaft is free and for free rotation 1 rev...

Page 15: ...lly compatible with SinCos encoders and are connected to the drive resolver input For a Transmitter resolver type Enter the Pole pairs for a rotating resolver number of Sine or Cosine signal periods over one shaft revolution generally the value is 1 This parameter affects only the motor RPM speed display For a SinCos tracks resolver type Enter the Pole pairs for a rotating motor number of Sine or ...

Page 16: ... automatically calculated when the Auto phasing procedure is performed Select Reverse direction in order to reverse the counting direction of the encoder if required Adjust the encoder Zero mark shift and Zero mark width parameter values if the encoder has got a zero mark channel Hiperface encoder setting The command Read encoder configuration allows reading the encoder parameter values stored in ...

Page 17: ...to tuning procedure can be executed with the drive disabled or enabled for a vertical load When the drive is enabled the Auto tuning can only be executed if the motor is at standstill Auto tuning of the drive regulator Select the Controller type according to the application In Velocity mode only the speed loop gains are calculated In Position mode all gains of both speed and position regulators ar...

Page 18: ...ad If possible make a control in speed mode otherwise close the position loop with a stable gain Move the axis until a stall position where one motor revolution is not dangerous for operator and machine far enough from the mechanical stops Then execute the Auto tuning procedure with the motor at standstill If the axis is moving the Auto tuning procedure has not been accepted by the drive Regulator...

Page 19: ...ed 2 gain is set equal to the damping gain value if a following error as small as possible is required The viscous friction compensation term can be calculated by measuring the current speed ratio at various motor speed values Feedforward acceleration gain KAv defines the feedforward acceleration amplitude corresponding to the acceleration input command This term allows reducing the following erro...

Page 20: ...E DRIVE ENABLE When Enable control by SOFTWARE is selected the drive is enabled and disabled by using the control word On Off command in GemDriveStudio or fieldbus control When Enable control by HARDWARE is selected the drive is enabled and disabled by using the ENABLE logic input 2 4 6 QUICK TEST OF THE SERVO DRIVE The servo loop stability can be tested on line by moving the motor in speed profil...

Page 21: ...cies with the most appropriate values Move the axis in both directions higher velocity set point value and check the servo loop time response In case of undesired overshoot for a step like velocity set point change increase the Damping speed gain value and reduce the Proportional speed gain value accordingly In position mode Disable the motor brake enable the drive and check the servo loop stabili...

Page 22: ...ting direction selection For checking the wiring of the limit switch inputs move the motor in one direction activate the limit switch placed in the rotation direction artificially if necessary then check the motor stopping if the motor goes on moving reverse the wiring of the limit switch inputs Notes When activating a limit switch input the motor is stopped with maximum deceleration The limit swi...

Page 23: ... selected 2 4 8 LOGIC OUTPUTS Any drive state signal can be connected to a digital output BRAKE OUTPUT This signal is useful for the motor brake control when the drive is enabled or disabled FAULT OUTPUT This signal indicates that a fault is released inside the drive WARNING OUTPUT This signal indicates that a warning is released inside the drive UNDERVOLTAGE WARNING OUTPUT This signal indicates t...

Page 24: ...cycle limit parameter value is limited at 70 per thousand This means a maximum braking transistor conduction of 70 ms over a period of 1 second The parameter Braking resistor duty cycle limit allows limiting the external braking resistor average power in order to protect it against overheating and failure The Duty cycle limit parameter value is calculated according to the external braking resistor...

Page 25: ...ulti axis channel operation can be selected See Gem Drive Studio Quick Start manual for more details 2 7 DIALOG TERMINAL The dialog terminal can be launched in the Gem Drive Studio software or in stand alone mode This terminal allows Reading a parameter value on a selected axis continuous value monitoring can also be performed Writing a parameter value on a selected axis It is possible to read and...

Page 26: ...e has a single identifier There are 2032 different identifiers in a CAN network NMT Network Management One of the services of the application layer It performs initialisation configuration and error handling in a CAN network PDO Process Data Object A CANopen message used to exchange process data SDO Service Data Object A CANopen message for parameterization pp Profile Position Mode pv Profile Velo...

Page 27: ...n 0x3129 0 Analog Input 0x31F1 1 16 bit Analog Input 0x31F1 2 32 bit The CAN bus Example Interpolated data 0x30C1 0 32 bit An internal signal Examples Profile Speed Function Block output 0x3526 0 32 bit User variable 0x3710 3 32 bit 3 1 CANOPEN COMMUNICATION 3 1 1 COMMUNICATION OBJECTS 3 1 1 1 CAN Telegram CAN TELEGRAM SOM COB ID RTR CTRL Data segment CRC ACK EOM SOM Start Of Message COB ID COB Id...

Page 28: ...7Fh 1400h PDO2 TX 0101 641 281h 767 2FFh 1801h PDO2 RX 0110 769 301h 895 37Fh 1401h PDO3 TX 0111 897 381h 1023 3FFh 1802h PDO3 RX 1000 1025 401h 1151 47Fh 1402h PDO4 TX 1001 1153 481h 1279 4FFh 1803h PDO4 RX 1010 1281 501h 1407 57Fh 1403h SDO TX 1011 1409 581h 1535 5FFh 1200h SDO RX 1100 1537 601h 1663 67Fh 1200h TX Transmit from drive to master RX Receive by drive from master 3 1 1 3 Network Mana...

Page 29: ...dex 0x1005 Name COB ID Sync Message Object Code VAR Data Type Unsigned32 Object Class all Access rw PDO Mapping No Default Value 0x00000080 This object defines the COB ID of the synchronisation object SYNC The Xtrapuls drive does not support 29 bit ID Bit number Value Meaning 31 MSB No Bootup message 30 0 1 Device does not generate SYNC message Device generates SYNC message 29 0 11 bit ID CAN 2 0 ...

Page 30: ...trol A PLL allows the internal cycle to be synchronized on SYNC message This object allows adjusting the PLL parameters Index 0x2006 Name Sync control Object Code ARRAY Number of Elements 4 Value Description Sub Index 1 Description Sync Phase defines the phase shift between local clock and SYNC Data Type Integer16 Object Class all Access rw PDO Mapping No Unit µs Default value 0 Sub Index 2 Descri...

Page 31: ... in each PDO are defined by a list of objects PDO mapping There are 4 PDOs TPDO1 RPDO1 TPDO2 RPDO2 TPDO3 RPDO3 TPDO4 and RPDO4 Each PDO is defined by PDO communication parameters with object 0x1400 0x1401 0x1402 0x1403 for RPDOs object 0x1800 0x1801 0x1802 0x1803 for TPDOs PDO mapping with object 0x1600 0x1601 0x1602 0x1603 for RPDOs object 0x1A00 0x1A01 0x1A02 0x1A03 for TPDOs Communication param...

Page 32: ...ger PDO transmissions Transmission type 253 means that the PDO is only transmitted on remote transmission request Transmission type 255 is event trigger The PDO will be transmitted when the first object must be 16 bit mapped in PDO has changed PDO transmission modes Synchronous the message is transmitted in synchronisation with the SYNC message A synchronous message must be transmitted within a pr...

Page 33: ...lues 16 bit absolute with one RPDOn Therefore the controller must modify the COB ID of RPDOn of each axis to the same cob ID For example see also the following diagram for axis 1 object 60C1 1 is mapped into the first mapped object object 1602 1 for axis 2 object 60C1 1 is mapped into the 2nd mapped object object 1602 2 and so on For each axis the balance of the mapped objects must be mapped with ...

Page 34: ...t 1600 3 0x60C10110 Object Value RPDO1 COB ID object 1400 1 0x501 Number of mapped objects object 1600 0 0x4 1 st Mapped Object object 1600 1 0x00060010 dummy 2 nd Mapped Object object 1600 2 0x00060010 dummy 3 rd Mapped Object object 1600 2 0x37100110 4th Mapped Object object 1600 4 0x60C10110 Receive PDO Communication Parameter Object 0x1400 1st Receive PDO Communication Parameter Index 0x1400 N...

Page 35: ...Value 0x300 Node ID Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 253 Object 0x1402 3rd Receive PDO Communication Parameter Index 0x1402 Name 3rd Receive PDO Communication Parameter RPDO3 Object Code RECORD Number of Elements 2 Value Description Sub Index 1 Description COB ID Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x400 No...

Page 36: ... 0x500 Node ID Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 0 Receive PDO Mapping Object 0x1600 1st Receive PDO Mapping Index 0x1600 Name 1st Receive PDO Mapping Object Code RECORD Number of Elements 0 4 Value Description Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1 Sub Index 1 ...

Page 37: ... 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x60FF0020 target velocity Object 0x1602 3rd Receive PDO Mapping Index 0x1602 Name 3rd Receive PDO Mapping Object Code RECORD Number of Elements 0 4 Value Description Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1 Sub Index 1 Description 1st ma...

Page 38: ...Sub Index 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value Transmit PDO Parameter Object 0x1800 1st Transmit PDO Parameter Index 0x1800 Name 1st Transmit PDO Communication Parameter TPDO1 Object Code RECORD Number of Elements 2 Value Description Sub Index 1 Description COB ID Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x180 Node ID Sub In...

Page 39: ...Value 0x280 Node ID Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 253 Object 0x1802 3rd Transmit PDO Parameter Index 0x1802 Name 3rd Transmit PDO Communication Parameter TPDO3 Object Code RECORD Number of Elements 2 Value Description Sub Index 1 Description COB ID Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x380 Node ID Sub In...

Page 40: ...Node ID Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 1 Transmit PDO Mapping Object 0x1A00 1st Transmit PDO Mapping Index 0x1A00 Name 1st Transmit PDO Mapping Object Code RECORD Number of Elements 0 4 Value Description Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1 Sub Index 1 Desc...

Page 41: ...ex 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x606C0020 velocity value Object 0x1A02 3rd Transmit PDO Mapping Index 0x1A02 Name 3rd Transmit PDO Mapping Object Code RECORD Number of Elements 0 4 Value Description Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1 Sub Index 1 Description 1st...

Page 42: ... purpose of this mode is to control the number of cyclic TPDOn for each axis TPDOn_Control is preset for each axis TPDO_Count is counter value of the host For each axis when TPDO_Count is equal to TPDOn_Control it will transmit the TPDOn in synchronisation with the SYNC message The transmission type for the TPDOn must be 254 Example RPDO1 is used to transmit TPDO_Count value To be sure that all ax...

Page 43: ...pload download thus triggering the server to perform a certain task After finishing the task the server answers the request Object Dictionary All objects variables constants records of the server are defined as a list of objects where each element is appointed by an index and a sub index This object list is called object dictionary This object dictionary allows the client accessing all objects of ...

Page 44: ...must not be another device in the CANopen network with node ID n 64 to avoid conflict with the re direction SDO message of the Xtrapuls drive 3 1 1 7 Emergency Objects Byte 0 1 2 3 4 5 6 7 Content Emergency Error Code Error register object 1001h Manufacturer Specific Error Field Error Code See object 0x3022 for the Error Code EMCY message behaviour Index 0x205F Name EMCY message Behaviour Object C...

Page 45: ...1 2 1 NMT State Machine The NMT state machine defines the communication status 1 At Power on the initialisation state is automatically entered 2 Once the Initialisation over Pre Operational is automatically entered 3 6 Start_Remote_Node indication 4 7 Enter_Pre Operational_State indication 5 8 Stop_Remote_Node indication 9 10 11 Reset_Node indication 12 13 14 Reset_Communication indication Minimum...

Page 46: ...e 0 This object defines the reset behaviour of the drive Value Description 0 Communication Reset only 1 Communication Reset and re load drive parameters file This operation can take some more time several seconds 2 Full drive reset like when applying 24V NMT Message Start Pre Op Remote Nodes Index 0x2000 Name Start Pre Op Remote Nodes Object Code VAR Data Type Unsigned16 Object Class all Access rw...

Page 47: ...ootup configuration Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0 This object defines the bootup behaviour of the drive Value Description 0 No Bootup message 1 Bootup message is sent when the drive goes into Pre Op state 3 1 2 3 Initialisation procedure 0 0 1 NMT Master NMT Slave s Request Indication COB ID 1792 Node ID Configuration of all device p...

Page 48: ...ized or is running self test A brake if present has to be applied in this state The drive function is disabled SWITCH ON DISABLED Drive initialization is complete The drive parameters have been set up Drive parameters may be changed High voltage may not be applied to the drive e g for safety reasons The drive function is disabled Power Disabled Fault Power enabled Not Ready to Switch On Switch On ...

Page 49: ... High voltage switch on off depends on the application The drive function is disabled State Transitions State transitions are caused by internal events in the drive or by commands from the host via the control word State Transition 0 START NOT READY TO SWITCH ON Event Reset Action The drive self tests and or self initializes State Transition 1 NOT READY TO SWITCH ON SWITCH ON DISABLED Event The dr...

Page 50: ...VE SWITCH ON DISABLED Event Quick Stop is completed or Disable Voltage command received from host This transition is possible if the Quick Stop Option Code is different from 5 stay in the state Quick Stop Active Action The power section is switched off State Transition 13 All states FAULT REACTION ACTIVE A fault has occurred in the drive Action Execute appropriate fault reaction State Transition 1...

Page 51: ...ion Shutdown X X 1 1 0 2 6 8 Switch On X X 1 1 1 3 Disable Voltage X X X 0 X 7 9 10 12 Quick Stop X X 0 1 X 7 10 11 Disable Operation X 0 1 1 1 5 Enable Operation X 1 1 1 1 4 16 Fault Reset X X X X 15 Bit 4 5 6 are operation mode specific Mode Bit 4 Bit 5 Bit6 Profile Position Mode new set point change_set_immediately 0 absolute 1 relative Homing Mode Homing Operation Start reserved reserved Inter...

Page 52: ...nsmission type Bit Number Function 0 Ready to Switch On 1 Switch On 2 Operation Enabled 3 Fault 4 Voltage Enabled 5 Quick Stop 6 Switch On Disabled 7 Warning 8 Manufacturer Specific user programmable see object 0x3044 9 Remote 10 Target Reached 11 12 Operation Mode Specific 13 Operation Mode Specific 14 Manufacturer Specific user programmable see object 0x3044 15 Manufacturer Specific Drive Busy D...

Page 53: ... the variable defined by its index and sub index will be copied into bit 8 of the status The index sub index must correspond to an object type variable can be mapped in a TPDO Sub Index 2 Description Source signal link for bit 14 in status word Data Type Unsigned32 Object Class All Access Rw PDO Mapping No Default Value 0x00000000 The structure of the source signal entries is the following MSB LSB...

Page 54: ...31 The state of bit 11 of the control word will be copied the bit n of the variable defined by its index and sub index The index sub index must correspond to an object type variable can be mapped in a RPDO Sub Index 2 Description Target signal link for bit 12 of control word Data Type Unsigned32 Object Class All Access Rw PDO Mapping No Default Value 0x00000000 The structure of the target signal e...

Page 55: ...iting the drive inrush current that can damage the mains circuit breaker external to the drive When the DC bus voltage decreases below the Undervoltage threshold value the soft start system is automatically activated So the manual activation is not required Others Reserved Device Status Index 0x3441 Name Device Status Object Code VAR Data Type Unsigned16 Object Class all Access ro PDO Mapping Poss...

Page 56: ...elocity threshold time 0x6070 0 When zero speed is detected bit 6 of Device status is set 7 15 Reserved In position signal configuration Index 0x306B Description In position signal delay Object Code VAR Data Type Unsigned16 Object Class pp ip hm eg Access rw Unit ms PDO Mapping No Default Value 0 Index 0x306E Description In position signal threshold Object Code VAR Data Type Unsigned16 Object Clas...

Page 57: ...ame bit in objects 0x3025 5 and 0x3025 6 allows triggering a stop 3 when the corresponding error in 0x3022 1 and 0x3022 2 occurs An error can be cleared by Reset Fault bit in control word 0x6040 Error control Object 0x3025 allows the inhibition of some errors or triggering a stop 2 or stop 3 when the corresponding error occurs Index Object Name Type Attr 0x3022 ARRAY Error ro 0x3025 ARRAY Error Co...

Page 58: ... sizing of the braking resistor with regard to the motor deceleration phases 6 0x00000040 7 Internal Communication 2 Error Check that the DNC PLC amplifier motor ground connections and shield answer the Installation manual requirements Check the application EMC disturbances level 7 0x00000080 8 IGBT module Check for no short circuit in the motor wiring and at the motor terminals Check for no short...

Page 59: ...oder fault release 22 0x00400000 23 Encoder Z marker Check the marker pulse connection on the amplifier X3 connector If the motor encoder is not providing a marker pulse channel the amplifier counting protection must be disabled by setting at 0 the Zero mark pitch parameter Check that the Motor encoder resolution and the Zero mark pitch parameter values are correct Remark In the incremental encode...

Page 60: ...2 Drive parameters file error If the firmware has been upgraded execute the procedure save parameter to Flash memory the new parameters will be saved with their default value in the new DRIVEPAR TXT file If the firmware has been downgraded the execution of the procedure save parameter to Flash memory will definitely loose some parameters in the new DRIVEPAR TXT file In this case reload the correct...

Page 61: ...llation manual For the SinCos encoder with CD tracks configuration Check for the correct SinCos encoder supply voltage value Check that the encoder CD channels are correctly wired on the amplifier X3 connector Check the parameter Reverse CD track and toggle it if not correct Check that the parameter Motor encoder resolution value is correct Check for the correct encoder C and D channels signal wav...

Page 62: ...No These 2 elements 0x3025 1 and 0x3025 2 allow the inhibition of the corresponding error Sub Index 3 Description Error Stop 2 mask 1 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Value See 0x3022 1 Default value No Sub Index 4 Description Error Stop 2 mask 2 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Value See 0x3022 2 Default value No These 2 elements 0x3025 ...

Page 63: ...uires a correct motion control chaining when the fault occurs The conditions for a possible Stop 2 operation are listed below motor power control is fully operating motor position feedback signal is not corrupted position and speed set point are not corrupted The Stop 2 or Stop 3 selection requires a careful failure case analysis The drive operating mode the application context and the machine saf...

Page 64: ...l fault occurrence analysis 50 Fieldbus IP reference underflow overflow Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful fault occurrence analysis 51 Fieldbus guarding error Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful fault occurrence analysis 58 CAN Extension Module communication lost or not found Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful faul...

Page 65: ...mental sensor 1 fault 20 Resolver tracking error 0x7303 Resolver 1 fault 21 Resolver cable interrupted 0x7303 Resolver 1 fault 22 Encoder cable interrupted 0x7305 Incremental sensor 1 fault 23 Encoder Z marker 0x7305 Incremental sensor 1 fault 24 reserved 0x1000 25 reserved 0x1000 26 reserved 0x1000 27 Motor Brake Error not for standard XtrapulsPac 0x7120 Motor 28 Power Stage Controller Error 0xFF...

Page 66: ... Code Error 0x6282 User Software 58 CAN Extension Module communication lost or not found 0x7580 Communication 59 reserved 0x1000 60 Stop Operation failed or speed position monitoring failed 0xFF10 Manufacturer specific 61 Encoder Commutation channel Incremental channel error 0x7305 Incremental sensor 1 fault 62 Encoder Absolute channel error 0x7305 Incremental sensor 1 fault 63 User Program Error ...

Page 67: ... 0x01000000 25 Position limit 25 0x02000000 26 CAN Extension Module communication lost or not found 26 27 28 0x10000000 29 Multi turn Absolute Encoder not Initialized 29 0x20000000 30 Cannot read write to encoder 30 0x40000000 31 Motor phasing Init not ok 31 3 2 1 2 3 I t Protection I t Function Index 0x3404 Name I t Function Object Code RECORD Number of Elements Value Description Sub Index 1 Desc...

Page 68: ...a period of 1 second When the Internal resistor operation is selected the duty cycle value is limited at 25 per thousand This means a maximum braking transistor conductionof 25 ms over a period of 1 second This selection allows protecting the drive internal 35 W braking resistor against overheating and failure Data Type Unsigned16 Object Class All Access rw PDO Mapping No Value Range 0 External br...

Page 69: ...peed ramp the motor is slowed down in speed loop with a quick stop speed ramp The initial speed is defined with the current motor speed Stop 3 stop on current limit the motor is slowed down in velocity loop with a current limitation Velocity Slow down ramp Motor brake t Disable power Current Velocityt2 Slow down with limited current Motor brake t Disable power Current Velocity quick stop ramp Moto...

Page 70: ...bit input stops the drive with a parameter defined in object 0x305A Hardware limit switches stop with slow down speed ramp with parameter in 0x3300 1 Stop on current limit uses the current limit value defined in object 0x3301 1 Stop on slow down speed ramp uses the speed ramp defined in object 0x3300 1 Stop on quick stop speed ramp uses the speed ramp defined in object 0x6085 0 Object definitions ...

Page 71: ...sabled 3 Stopped on current limit and disabled 5 Stopped on Slow down speed ramp and stay in Quick Stop state 6 Stopped on Quick Stop speed ramp and stay in Quick Stop state 7 Stopped on current limit and disabled and stay in Quick Stop state Shut Down Option Code Index 0x605B Name Shut Down Option Code Object Code VAR Data Type integer16 Object Class all Access rw PDO Mapping No Default Value 0 T...

Page 72: ... code Action 0 Disable operation 1 Stopped on Slow down speed ramp 2 Stopped on Quick Stop speed ramp 3 Stopped on current limit Inhibit Option Code Index 0x305A Name Inhibit Option Code Object Code VAR Data Type integer16 Object Class all Access rw PDO Mapping No Default Value 1 This object defines the stop behaviour when an Inhibit logic input is activated see Digital Inputs 0x60FD Inhibit optio...

Page 73: ...32 Object Class all Access rw PDO Mapping No Unit Acceleration unit Default Value Sub Index 2 Description Slow Down Ramp 2 reserved for future use Data Type Unsigned32 Object Class all Access rw PDO Mapping No Unit Acceleration unit Default Value Quick Stop Ramp Index 0x6085 Name Quick Stop Ramp Object Code VAR Data Type Unsigned32 Object Class all Access rw PDO Mapping No Unit Acceleration unit D...

Page 74: ...Sub Index 2 Description Stop Current Limit 2 Data Type Unsigned16 Object Class all Access rw PDO Mapping No Unit per thousand of rated current Value Range 100 6000 Default Value 1000 This parameter is reserved for future use Stop Time Limit Index 0x3302 Name Stop Time Limit Object Code ARRAY Number of Elements 2 These parameters define the time limit for a stop operation When a stop on current lim...

Page 75: ...the resolver wiring or adjustment is not correct The auto phasing procedure will calculate these parameters of object 0x3410 The motor inductance parameter of the catalogue 0x6410 13 will be copied in object 0x340F 0 and will be used for calculating the current loop gains 0x60F6 Object 0x340F 0 can be possibly modified before calculating the gains if inductances are serially mounted with the motor...

Page 76: ...84 Sub Index 5 Description Modification Date Code Data Type Unsigned16 Access rw PDO Mapping No Sub Index 6 Description Motor Type Data Type Unsigned16 Access rw PDO Mapping No Value Bits Description 0 7 Axis Type 0 Rotating 1 Linear 8 15 Motor Type 0 Brushless motor 4 Induction motor 8 DC motor The motor type will be copied in 0x6402 0 Sub Index 7 Description Motor Max Speed Data Type Unsigned32 ...

Page 77: ... Mapping No Unit 0 001Nm A Sub Index 12 Description Inertia Data Type Unsigned16 Access rw PDO Mapping No Unit 0 001gm Sub Index 13 Description Inductance Data Type Unsigned16 Access rw PDO Mapping No Unit 0 1mH When writing to this parameter its value will also be written to 0x340F 0 Sub Index 14 Description Number of motor pole pairs Data Type Unsigned16 Access rw PDO Mapping No Value 1 24 When ...

Page 78: ...16 Access rw PDO Mapping No Value Sub Index 19 Description Motor Temperature Error Threshold Data Type Unsigned16 Access rw PDO Mapping No Value Sub Index 20 Description Motor Pole Pitch Data Type Unsigned16 Access rw PDO Mapping No Value Sub Index 21 Description Magnetization Current Data Type Unsigned32 Access rw PDO Mapping No Unit mA Value When writing to this parameter its value will also be ...

Page 79: ...itten to 0x3420 4 Sub Index 25 Description Saturation Model Data Type Unsigned16 Access rw PDO Mapping No Unit Value When writing to this parameter its value will also be written to 0x3420 5 Index 0x3410 Name Motor Control Parameters Object Code ARRAY Object Class all Number of Elements 3 This object defines the parameters which control the motor Value Description Sub Index 1 Description Number of...

Page 80: ...the operation status Read Value Meaning 0 Procedure never executed 1 Cannot execute 2 Procedure running 3 Procedure aborted by user 4 Procedure stopped on error 5 Procedure performed When running the BUSY bit of status word 0x6041 is set The auto phasing procedure calculates these parameters number of pole pairs 0x3410 1 motor phase 0x3410 2 motor offset 0x3410 3 Motor phasing procedure Index 0x34...

Page 81: ...dex Object Name Type Attr 0x3304 VAR Amplifier Reaction Time Unsigned16 rw 0x3305 VAR Motor Brake Reaction Time Unsigned16 rw Note The motor brake control is automatic with Switch On Off by the control_word To disable the motor brake control it is necessary to set at 1 bit 0 of object 60FE sub index 2 digital output bitmask The motor brake is then manually controlled by bit 0 of object 60FE sub in...

Page 82: ...r Rated Current 0x6075 The motor parameters Motor Peak Current 0x6410 10 and Motor stall Current 0x6410 9 will be used for calculating the internal limitations of the drive according to the drive maximum and rated currents 0x6510 The values of the drive internal limitations can be displayed by object 0x30F4 The current loop gains are accessible in object 0x60F6 Object 0x3411 allows calculating the...

Page 83: ... Type Unsigned32 Access ro PDO Mapping No Unit mA Sub Index 3 Description Drive Voltage gives the drive voltage AC value Data Type Unsigned16 Access ro PDO Mapping No Unit V Sub Index 4 Description Drive Operating Voltage Defines the drive operating voltage AC value Data Type Unsigned16 Access rw Backup drive s parameter file PDO Mapping No Unit V Value Possible values 400 230 34 or 17 And must be...

Page 84: ...rrent loop parameters In order to avoid running this operation by mistake the user must write a specific signature to this object to make the calculation The signature is calc Signature 0x636C6163 The parameters calculated are in object 0x60F6 This procedure also calculatess the current limit values 0x6073 and 0x6075 Index 0x3412 Name Current Limitation Calculation Object Code VAR Data Type Unsign...

Page 85: ...CORD Number of Elements 5 Value Description Sub Index 1 Description Regulator Type Data Type Unsigned16 Object Class all Access rw PDO Mapping No Value Range 0 65535 Default Value 0 Sub Index 2 Description q Loop Proportional Gain Data Type Unsigned16 Object Class all Access rw PDO Mapping No Value Range 0 65535 Default Value Sub Index 3 Description q Loop Integral Gain Data Type Unsigned16 Object...

Page 86: ...ding an offset to the current command Object Code VAR Data Type Integer16 Object Class all Access rw PDO Mapping Yes Unit per thousand of rated current 0x6075 Default Value 0 The Current Actual Value gives the value of the DC current in the drive This signal is filtered by a low pass filter 0x3078 Index 0x6078 Name Current Actual Value Object Code VAR Data Type Integer16 Object Class all Access ro...

Page 87: ...x30DA The default value of object 0x30D1 is 0x3FFF and corresponds to the maximum current set by the user 0x6073 Dynamic Current Limit Input Source Index 0x30DA Name Dynamic Current Limit Input Source Description Index sub index of input data Data Type Unsigned32 Object Class all Access rw PDO Mapping No Default Value 0x30D10000 Value See below This object allows connecting any dataflow as the sou...

Page 88: ...namic Current Limit signal 0x3FFF current is limited at 0 0 corresponds to the maximum current 0x6073 1 15 reserved Current Monitor Index 0x30D4 Name Current monitor Object Code VAR Data Type Integer16 Object Class all Access ro PDO Mapping Yes Unit of drive max current 0x6510 0x3FFF 100 Imax Value Range Default Value 3 2 2 5 Motor temperature probe Index 0x3324 Name Motor temperature probe config...

Page 89: ...ing No Unit Ω ohm Default value 2400 This parameter defines the threshold of the equivalent resistor corresponding to the temperature at which an error will be triggered Index 0x3323 Name Motor temperature probe monitoring Object Code VAR Data Type Unsigned32 Object Class all Access ro Unit Ω ohm PDO Mapping No The returned value gives an image of the equivalent resistance in Ω 3 2 2 6 IGBT temper...

Page 90: ...he feedback sensor which will be used to close the position loop Value Function 0 Resolver Feedback 1 Encoder Feedback When motor feedback and position feedback are different resolver for motor feedback and encoder for position feedback for example both sensors must count in the same direction Motor Feedback Sensor Select Index 0x3070 Name Motor Feedback Sensor Select Object Code VAR Data Type Uns...

Page 91: ...Res_Cal Resolver Calibration procedure 0x3105 Res_CalV Resolver Calibration parameters 0x3107 0 Res_TopZ Resolver Virtual Top Z Unsigned16 ro 0x3108 0 Res_ofs Resolver Offset user position unit Integer32 rw 0x3109 0 Res_pos Resolver Position user position unit Integer32 ro 0x310A 0 Res_vel Resolver Velocity user velocity unit Integer32 ro 0x310C 0 Res_raw Resolver raw position Integer32 ro Resolve...

Page 92: ... encoder increments 4096 increments revolution Sub Index 4 Description Resolver Virtual Top Z size Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0 This parameter defines the width of the virtual marker Z The value is given in encoder increments 4096 increments revolution The virtual marker Z is working with polling technique the width of the virtual marker Z allows i...

Page 93: ...rs the resolver position Resolver_Position Resolver_Internal_Position Resolver_Position_Offset Resolver_Position 0x3109 in user position unit is the position given by the resolver If the position loop feedback is resolver and the modulo function Position Limit is not activated then the resolver position is the same as 0x6064 Resolver_Internal_Position in user position unit is the resolver position...

Page 94: ...22 Enc1Err Encoder 1 Error Control 1 Enc1Cnt Unsigned32 rw 2 Enc1Thrs Unsigned16 rw 3 Enc1Lim Unsigned16 rw 4 Enc1Zlim Unsigned16 rw 5 Enc1Clim Unsigned16 rw 6 Enc1Vlim Unsigned32 rw 0x3124 Enc1CalP Encoder 1 Calibration 0x3127 0 Enc1TopZ Encoder 1 Virtual Top Z Unsigned16 ro 0x3128 0 Enc1ofs Encoder 1 Offset user position unit Integer32 rw 0x3129 0 Enc1pos Encoder 1 Position user position unit In...

Page 95: ...ual Top Z shift Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0 This parameter defines the offset between marker Z of the encoder and the virtual marker Z The value is given in encoder increments encoder resolution x 4 Sub Index 4 Description Encoder Virtual Top Z size Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0 This parameter defin...

Page 96: ...1 Default Value This object monitors the encoder position Encoder_Position Encoder_Internal_Position Encoder_Position_Offset Encoder _Position 0x3129 in user position unit is the position given by the encoder If the position loop feedback is encoder and modulo function Position Limit is not activated then the encoder position is the same as 0x6064 Encoder_Internal_Position in user position unit is...

Page 97: ...ng load Position Feedback If the encoder is used as a position feedback only motor feedback is resolver then the encoder resolution defined in object 0x608F must be the encoder counts for one motor revolution 3 2 2 7 4 Sin Cos Encoder An incremental SinCos encoder can be used with Xtrapuls drives as an incremental TTL encoder An internal SinCos interpolation allows the drive working at a higher re...

Page 98: ...n be done with Gem Drive Studio Select Hiperface Encoder Check Enable encoder input Read Encoder Configuration to read encoder parameters Apply Move the motor by hand if there is an Encoder Commutation channel Incremental channel Error then toggle Reverse Incremental Track Setup Hiperface encoder manually Enabling and selecting Hiperface encoder are defined with object 0x3121 1 Writting a 1 to obj...

Page 99: ...e encoder absolute position range Encoder Position Range The absolute encoder gives a position value between 0 and a maximum position value depending on the encoder type For a Hiperface encoder the max position value is given by Number_of_revolutions x Number_of_periods x 4 x 8 1 Number_of_revolutions is the maximum revolution for that encoder Number_of_periods is the number of Sin Cos periods per...

Page 100: ...be out of the axis travel range as shown below Correct encoder absolute position range adjustment Wrong encoder absolute position range adjustment If the encoder 0 position is inside the axis travel range uncouple the motor and adjust manually the encoder position range 2 Adjust the motor position range by using the object 0x312B 1 reset motor position The displayed motor position range can be adj...

Page 101: ...on reference related to the mechanical machine can be defined with a homing operation as usual The encoder position offset from homing operation can be read with object 0x3128 0 After the homing operation parameters need to be saved object 0x3128 0 is saved in the parameter file This operation needs to be carried out only once in the machine life time The encoder position in user unit is defined b...

Page 102: ...ctor Unsigned32 rw 0x3089 VAR Position Display Factor Unsigned16 rw 0x308A VAR Position Unit Name String rw Index 0x608F Name Encoder Position Resolution Object Code ARRAY Number of Elements 2 Value Description Sub Index 1 Description Encoder Increments Data Type Unsigned32 Object Class all Access rw PDO Mapping No Unit inc Value Range Default Value 0x1000 This parameter defines the encoder positi...

Page 103: ... No Default Value 4096 Sub Index 2 Description Position Factor Denominator Data Type Unsigned32 Object Class all Access rw PDO Mapping No Default Value 4096 The Denominator defines the increments in user unit for one motor revolution The Numerator defines the increments in motor unit for one motor revolution This value must be set at 4096 Motor_position Numerator Denominator User_position Example ...

Page 104: ...cing the speed loop overshoot in response to a step like set point change Derivative speed gain KDv defines the derivative gain of the controller which acts only on the speed feedback Derivator high frequency limit KDvf in Hz defines the high frequency value from which the controller derivative term is saturated Gain scaling factor KJv defines a multiplying factor for all speed regulator gains exc...

Page 105: ...he current speed ratio at various motor speed values Feedforward acceleration gain KAv defines the feedforward acceleration amplitude corresponding to the acceleration input command This term allows reducing the following error during the motor acceleration and deceleration phases Its value is calculated by the amplifier during the auto tuning procedure if a following error as small as possible is...

Page 106: ...ard rw 0x60F9 RECORD Speed Loop Parameters 0x30F9 ARRAY Speed Error Low pass Filter Unsigned16 rw 0x30FA VAR Speed measurement filter Unsigned16 rw 0x606C VAR Actual Velocity Integer32 ro 0x306C VAR Actual Velocity Filter Unsigned16 rw 0x60F6 RECORD Current Loop Parameters 0x60B2 VAR Current Offset Integer16 rw 0x6078 VAR Actual Current Integer16 ro 0x3078 VAR Actual Current Filter Unsigned16 rw V...

Page 107: ...amping Gain KCv Data Type Unsigned16 Object Class pp ip hm pv eg Access rw PDO Mapping No Value Range 0 65535 Default Value Sub Index 6 Description Derivative Gain KDv Data Type Unsigned16 Object Class pp ip hm pv eg Access rw PDO Mapping No Value Range 0 65535 Default Value Sub Index 7 Description Derivative Gain Filter Data Type Unsigned16 Object Class pp ip hm pv eg Access rw PDO Mapping No Uni...

Page 108: ...Class pp ip hm pv eg Access rw PDO Mapping No Unit Hz Value Range 20 1000 Hz 0 not active Default Value Sub Index 2 Description Speed Loop Low pass filter 2 Data Type Unsigned16 Object Class pp ip hm pv eg Access rw PDO Mapping No Unit Hz Value Range 20 1000 Hz 0 not active Default Value Sub Index 3 Description Speed Loop Low pass filter 3 Data Type Unsigned16 Object Class pp ip hm pv eg Access rw...

Page 109: ... Name Actual Velocity Filter Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Unit 0 1Hz Value Range Default Value 800 80Hz The filter is applied on Velocity Actual Value 0x606C 0 Actual Velocity without this filtering Velocity Feedback 0x30F8 2 Index 0x306D Name Speed Following Error Object Code VAR Data Type Unsigned32 Object Class pv pp ip hm sq sm se gb cm Access ...

Page 110: ...orward Speed 1 Gain Defines the feedforward term amplitude KF1 corresponding to the speed input command derivation of the position input command This feedforward term allows reducing the following error during the motor acceleration and deceleration phases Data Type Unsigned16 Object Class pp ip hm eg Access rw PDO Mapping No Value Range 0 65535 Default Value Sub Index 4 Description Feedforward Ac...

Page 111: ...s ro PDO Mapping Yes Unit position unit Default Value This object gives the internal position value in entry of position loop Index 0x60F4 Name Following Error Actual Value Object Code VAR Data Type Integer32 Object Class pp ip hm sq sm se gb cm Access rw PDO Mapping Yes Unit User position unit Default Value This object gives the difference between position demand value and position actual value F...

Page 112: ...r detection mode Object Code VAR Data Type Unsigned16 Object Class pp ip hm sq sm se gb cm Access rw PDO Mapping No Value Range Position error detection mode 0 Absolute value 1 Relative To dynamic model Default Value 0 External Feedforward Index 0x31FF Name External Feedforward Object Code RECORD Object Class pp ip hm sq se gb Number of Elements 3 Value Description Sub Index 1 Description External...

Page 113: ...to tuning Parameters Index 0x3425 Name Auto tuning parameters Object Code ARRAY Number of Elements 4 Value Description All these parameters must be set before starting the auto tuning by 0x3426 Sub Index 1 Description Auto tuning Bandwidth Data Type Unsigned16 Object Class Access rw PDO Mapping No Value Range 0 2 Default Value This parameter defines the auto tuning bandwidth Value Bandwidth 0 Low ...

Page 114: ...n Requirements Data Type Unsigned16 Object Class Access rw PDO Mapping No Value Range 0 1 Default Value Value Application Requirements 0 Minimum tracking error 1 Minimum overshoot Auto tuning Procedure Index 0x3426 Name Start Auto tuning procedure Object Code Data Type Unsigned32 Object Class all Access rw PDO Mapping No Parameters for Auto tuning 0x3425 must be previously set In order to avoid ru...

Page 115: ...ed DRIVEPAR TXT Writing to object 0x1011 initiates the restoring procedure which re loads the drive parameters from its internal flash memory from the previously saved DRIVEPAR TXT file Store parameters Index 0x1010 Name Store parameters Object Code RECORD Number of Elements This command saves the drive parameters in a volatile memory ram in a file located in an internal flash memory Value Descrip...

Page 116: ...i Loading of the manufacturer s parameters 0x6E616D6C lman Loading of the calibration parameters 0x6C61636C lcal Loading of the drive parameters DRIVEPAR TXT 0x64616F6C load Loading of the USER_PAR TXT file loads parameters from USER_PAR TXT file into memory 0x7273756C lusr Loading of the SEQUENCE TXT file loads parameters from SEQUENCE TXT file into sequence memory 0x7165736C lseq Merging of the ...

Page 117: ...elocity Mode vm 2 2 Profile Velocity Mode pv 3 speed and current loops AK ET 3 Profile Torque Mode pt 4 current loop AK ET 4 reserved 5 Homing Mode hm 6 position speed and current loops AK ET 6 Interpolated Position Mode ip 7 position speed and current loops AK ET 7 Cyclic Synchronous Position csp 8 position speed and current loops ET 8 Cyclic Synchronous Velocity csv 9 speed and current loops ET ...

Page 118: ...oming Mode HM 7 Interpolated Position Mode IP 1 Analog Speed Mode AS Not supported by the EtherCAT model 2 Stepper Emulation Mode SE Not supported by the EtherCAT model 3 Sequence Mode SQ 4 Reserved 5 Analog Torque Mode AT 6 Master Slave Gearbox Mode GB Not supported by the EtherCAT model 7 Master Slave Cam Mode CM Only for PPAC 22 customization The actual mode is reflected in the operation mode d...

Page 119: ... change set immediately 6 0 absolute 1 relative The movement will be triggered by a rising edge of bit 4 new_set_point of the control word The acknowledgement of the new set point is confirmed by bit 12 setpoint acknowledgement of the status word The target position will be taken as relative to the current position if bit 6 of control word 1 The speed profile is trapezoidal motion profile type 0 o...

Page 120: ...w 0x6068 VAR Position Window Time Unsigned16 rw 0x607F VAR Max Profile Velocity Unsigned32 rw 0x3081 VAR Speed Modulation Source Unsigned32 rw Index 0x607A Name Target Position Object Code VAR Data Type Integer32 Object Class pp Access rw PDO Mapping Yes Unit User Position Unit Value Range 2 31 2 31 1 Default Value 0 Target position is the final position where the motor will move to in profile pos...

Page 121: ...Data Type Unsigned32 Object Class pp Access rw PDO Mapping Possible Unit User Velocity Unit Value Range Default Value 0x1000 The Profile Velocity is the running velocity for a positioning If the positioning is too short the profile velocity may not be reached Index 0x6082 Name End Velocity Object Code VAR Data Type Unsigned32 Object Class pp Access rw PDO Mapping Possible Unit User Velocity Unit V...

Page 122: ...arabolic Index 0x6067 Name Postion Window Object Code VAR Data Type Unsigned32 Object Class pp Access rw PDO Mapping No Unit User Position Unit Default Value 0 The Position Window defines a symmetrical range of accepted positions relatively to the target position If the motor current position is within the position window this target position is considered as reached bit 10 or status word Target R...

Page 123: ...rofile velocity function block in servo mode Position Profile Speed Modulation Input Source Index 0x3081 Name Position Profile Speed Modulation Input Source Description Index sub index of input data Data Type Unsigned32 Object Class sm pp sq Access rw PDO Mapping No Default Value 0 Value See below This object allows connecting any dataflow as a speed modulation of the Profile generator in Profile ...

Page 124: ...rammed speed 1 reverse effect of the Position Profile Speed Modulation signal 0x7FFF speed is limited at 0 0 100 of programmed speed 1 15 reserved Index 0x3083 Name Position Profile Speed Modulation Description This object can be connected as the dataflow of the Position Profile Speed Modulation Input Source 0x3081 Data Type Integer16 Object Class all Access rw PDO Mapping Yes Default Value 0 Axis...

Page 125: ...solute position the homing mode is the right way to set up the motor to a known position This position can be detected by using several signals such as positive or negative limit switch home switch index pulse or mechanical limit The choice of the homing method depends on those signals and on the direction of the starting movement The drive generates the trajectory according to the homing method T...

Page 126: ...t 0 1 0 1 Homing error occurred velocity is 0 1 1 X reserved If Bit 10 is set this indicates that the velocity is 0 If bit 12 is set this indicates that the home position is known but not available Bit 12 is reset at 0 at power up if a sensor fault occurs on homing error when homing is starting when bit 4 of the Control Word is at 0 Bit 13 indicates a homing error homing launched whereas the drive...

Page 127: ...r 3 Reference Homing Method The Homing Method defines various ways of the drive to search the homing position Index 0x6098 Name Homing Method Object Code VAR Data Type Integer8 Object Class hm Access rw PDO Mapping No Default Value 23h ...

Page 128: ...de Interior Negative Initial Move Reverse direction on Negative Limit Switch 13 Home Switch Negative Side Interior Negative Initial Move Reverse direction on Negative Limit Switch 14 Home Switch Negative Side Exterior Negative Initial Move Reverse direction on Negative Limit Switch 17 Negative Limit Switch 18 Positive Limit Switch 19 Positive Home Switch 20 Positive Home Switch 21 Negative Home Sw...

Page 129: ... has been found the speed is the slowest home speed namely the Index Pulse Speed Once the deactivation of the home switch has been found the drive reverses to position to look for the Index Pulse At this stage depending on the position sensor the home position will directly be reached for example a resolver For sensors like incremental encoders a search of Index Pulse is achieved in the positive d...

Page 130: ...hm Access rw PDO Mapping No Unit User velocity unit Default Value 0000000Ah Homing Acceleration Index 0x609A Name Homing Acceleration Object Code VAR Data Type Unsigned32 Object Class hm Access rw PDO Mapping No Unit User acceleration unit Default Value 00010000h Homing Current Limit The Homing current limit defines the limit of current during the homing on the mechanical limit The value is define...

Page 131: ...bject 607Ch can be used to preset the homing position value Methods 1 and 2 define the homing on the mechanical limit with index pulse Methods 3 and 4 define the homing on the mechanical limit End on Home Position This parameter allows the drive not reversing at the end of the homing If set at 1 it makes a move towards the home position when the homing is over If cleared the home position is found...

Page 132: ...e elementary set point could be only position if linear interpolation is chosen The PV interpolation mode requires position and velocity for each set point The P3 cubic interpolation mode requires only position set point because the interpolator is using the three last position set points However the interpolation error is inherent when the acceleration is changing with the P3 cubic interpolation ...

Page 133: ...n PV interpolation mode the first parameter of the interpolation data record must contain the position reference and the second parameter of the interpolation data record contains the velocity reference Note The velocity reference for each set point must be the instantaneous velocity at this point not the average velocity Interpolation data record Index 0x60C1 Name Interpolation data record Object...

Page 134: ...the upper word At the beginning it is necessary to set the upper word with object 60C1 1 via SDO Integer32 The mapping of RPDO must be changed to object 60C1 sub index 1 with 16 bit length 3 2 3 6 Profile Velocity Mode Profile Velocity Mode The profile velocity mode authorizes the drive to operate with a velocity reference Only speed loop and current loop are closed in this mode Index Object Name ...

Page 135: ...If the motor current velocity is within the velocity window this target velocity is considered as reached bit 10 of status word Target Reached is set If the velocity window value is 0 the velocity window control is not active Index 0x606D Name Velocity Window Object Code VAR Data Type Unsigned32 Object Class pv Access rw PDO Mapping No Unit Velocity Unit Default Value 0 When the actual velocity is...

Page 136: ...locity Threshold Time the corresponding bit 12 Velocity 0 in the StatusWord will be set at 1 Index 0x6070 Name Velocity Threshold Time Object Code VAR Data Type Unsigned16 Object Class pv Access rw PDO Mapping Possible Unit ms Value Range 0 32767 Default Value 0 Profile Velocity Mode Input Source Index 0x30FF Name Profile Velocity Mode Input Source for Target Velocity Description Index sub index o...

Page 137: ...Torque is the input value for the current loop in profile torque mode The value is given per thousand of the rated current 0x6075 Index 0x6071 Name Target Torque Object Code VAR Data Type Integer16 Object Class pt Access rw PDO Mapping Possible Unit per thousand of rated current 0x6075 Value Range Default Value 0 Profile Torque Mode Input Source Index 0x3071 Name Profile Torque Mode Input Source f...

Page 138: ...ose of the sequencer mode is to allow basic moves A basic move is called sequence and a list of sequences can be pre programmed and stored in the drive Each sequence is identified with a number sequence number The maximum number of sequences for a given drive is shown in object 0x3612 The different sequence types are the following Positioning sequence Homing sequence Speed sequence Torque sequence...

Page 139: ...us Control Word 0x6040 Bit Action 4 start sequence 5 1 stop sequence 6 reserved Status Word 0x6041 Bit Action 10 Target Reached 12 POS 13 SEQ Sequence Chaining The sequence chaining is controlled by the SeqNext SeqCount SeqLink and StartCond parameters Sequence Parameters The parameters of all sequences are stored in a RAM memory sequence memory These sequence parameters can be set by parameter va...

Page 140: ...s allow the direct access to any parameter of any sequence The selected sequence number is defined by object 0x3610 and all sequence parameters are accessed by object 0x3611 Index Object Name Type Attr 0x3610 VAR Sequence Parameters Number integer16 rw 0x3611 RECORD Sequence Parameters rw 3 2 3 8 1 Positioning Sequence The main parameters of a positioning sequence are The position to be reached ab...

Page 141: ...qLink 0x3611 4 see sequence parameters Trigger 0x3611 5 see sequence parameters Output 0x3611 6 0x3611 7 0x3611 8 see sequence parameters StartCond 0x3611 9 0x3611 10 see sequence parameters Tempo 0x3611 23 see sequence parameters Speed 0x3611 15 defines the speed setpoint of the sequence in velocity unit Speed2 0x3611 16 defines the speed setpoint at the end of the sequence in velocity unit Accel...

Page 142: ...nce parameters Output 0x3611 6 0x3611 7 0x3611 8 see sequence parameters StartCond 0x3611 9 0x3611 10 see sequence parameters Method 0x3611 22 defines various ways of the drive to search the homing position Home offset 0x3611 13 defines the position value when the motor reaches the homing position Speed 0x3611 15 defines the speed during search of switch velocity unit Speed2 0x3611 16 defines the ...

Page 143: ...ng several sequences for a special profile Example of combined sequences Sequence 1 SeqType SPEED Speed 150000 AccelTime 400 RunTime 0 DecelTime 0 NextSeq 2 Sequence 2 SeqType SPEED Speed 250000 AccelTime 400 RunTime 0 DecelTime 0 NextSeq 3 Sequence 3 SeqType SPEED Speed 140000 RunTime 0 AccelTime 400 DecelTime 150 The speed setpoint of the Speed Sequence is also limited by the value of the Speed ...

Page 144: ...s 3 2 3 8 4 Torque Sequence The torque sequence allows moving the axis with a profile speed and a current limit The main parameters of a torque sequence are Speed setpoint Acceleration Running Time Current limit Torque Limit In the torque control sequence the motor is running at the speed setpoint value until the current rises up to the limit value The motor running direction depends on the sign o...

Page 145: ...gearbox function see Gearbox Function for more information Gearing sequence parameters The main parameters for a gearing sequence are Config Defines the gearing behaviour Exit Mode Trigger Mode Start Mode Ratio Set Select Ratio Modulation Enable This parameter is defined like in the gearbox configuration 0x3928 1 Factor Defines the gearing ratio factor value Acceleration Defines the acceleration v...

Page 146: ...word Direct parameter entry Description SeqType 0x3611 1 value GEAR for SEQUENCE TXT file or value 5 for direct parameter object NextSeq 0x3611 2 see sequence parameters SeqCount 0x3611 3 see sequence parameters SeqLink 0x3611 4 see sequence parameters Trigger 0x3611 5 see sequence parameters Output 0x3611 6 0x3611 7 0x3611 8 see sequence parameters StartCond 0x3611 9 0x3611 10 see sequence parame...

Page 147: ...ond is not defined the sequence will be executed and then link SeqNext COUNTER LOOP The sequence linkage is controlled by the SeqNext SeqCount and SeqLink parameters Application example Sequence 1 SeqCount 0 SeqNext 2 SeqLink 1 Sequence 2 SeqCount 2 SeqNext 3 SeqLink 1 Sequence 3 SeqCount 0 SeqNext 1 SeqLink 1 Note SeqNext 1 or SeqLink 1 corresponds to an empty field in the Gem Drive Studio softwa...

Page 148: ...ctivated the program will be the following If the execution is starting at sequence 1 and logic input 8 is deactivated the program will be the following Sequence 1 Start of sequence 1 then connection to sequence 2 parameter SeqNext Execution of sequence 2 then connection to sequence 3 start condition valid and parameter SeqNext Execution of sequence 3 then end of the program Sequence 3 Sequence 2 ...

Page 149: ...hich will be reset Defines the output bit which will be set Defines the output bit which will be toggled StartCond 0x3611 9 0x3611 10 Defines the condition bit which starts the sequence when equal to 0 Defines the condition bit which starts the sequence when equal to 1 Tempo 0x3611 23 Defines the delay time in ms at the end of the positioning EndCond 0x3611 11 0x3611 12 Defines the condition bit w...

Page 150: ...t Code RECORD Number of Elements 4 Value Description Sub Index 1 Description Programmable Logic Outputs Data Type Unsigned16 Object Class sq Access rw PDO Mapping Yes Default Value Sub Index 2 Description Programmable Logic Outputs Polarity Data Type Unsigned16 Object Class sq Access rw PDO Mapping No Default Value 0 Value Description 0 For a positive polarity 1 For a negative polarity Sub Index 3...

Page 151: ...Sub Index 4 Description Dedicated Logic Outputs Polarity Data Type Unsigned16 Object Class sq Access rw PDO Mapping No Default Value 0 Value Description 0 For a positive polarity 1 For a negative polarity Minimum Sequence Pulse This function is useful for the detection of a sequence with a short duration Index 0x3603 Name Minimum Sequence Pulse Object Code VAR Data Type Unsigned16 Object Class Sq ...

Page 152: ...t Pulse Data Type Unsigned16 Object Class sq Access rw PDO Mapping No Value Range 0 the bit number is configured as Output 1 the bit number is configured as Output Pulse Default Value 0 Sub Index 2 Description Output Pulse Duration Data Type Unsigned16 Object Class sq Access rw PDO Mapping No Unit ms Value Range 1 16000 Default Value 0 This parameter defines the duration of the output activation ...

Page 153: ...sequence Index 0x3605 Name Sequence Phase Object Code VAR Data Type Unsigned16 Object Class sq Access ro PDO Mapping Yes Data Description Bit Number Function 0 begin 1 cruise 2 decel 3 hold 4 inpos 5 end Sequence Captured Position This object gives the value of the position captured by the torque sequence Index 0x360B Name Sequence Captured Position Object Code VAR Data Type Integer32 Object Class...

Page 154: ...ce supported 3 Torque sequence supported 4 Gearbox sequence supported 5 Cam sequence supported Maximum Sequences supported This object gives the maximum sequences supported by a given device The sequence number is between 0 and maximum sequences supported 1 Index 0x3612 Name Maximum sequence supported Object Code VAR Data Type Unsigned16 Object Class sq Access ro PDO Mapping No Value See below Seq...

Page 155: ... allows reading writing the type of a sequence Check object 0x360F for supported sequence types The value is the sequence type Value Function 0 Not defined 1 Positioning sequence 2 Homing sequence 3 Speed sequence 4 Torque sequence 5 Gear sequence if device supports 6 Cam sequence if device supports Sub Index 2 Description Next sequence Data Type Integer16 Object Class sq Access rw PDO Mapping No ...

Page 156: ...1 127 Default Value Sub Index 5 Description Output Trigger Data Type Unsigned16 Object Class sq Access rw PDO Mapping No Value Range Default Value Bit Number Function Description 0 BEGIN 1 CRUISE 2 DECEL 3 HOLD 4 INPOS The output is triggered according to the parameter Position Window see 0x6067 5 END The output is triggered after Temporization at the end of the positioning Sub Index 6 Description...

Page 157: ...ption Start Condition Bits 0 Data Type Unsigned16 Object Class sq Access rw PDO Mapping No Value Range Default Value 0 Sub Index 10 Description Start Condition Bits 1 Data Type Unsigned16 Object Class sq Access rw PDO Mapping No Value Range Default Value 0 Sub Index 11 Description End Condition Bits 0 Data Type Unsigned16 Object Class sq Access rw PDO Mapping No Value Range Default Value 0 Sub Ind...

Page 158: ... sq Access rw PDO Mapping No Unit Position Unit Value Range Sub Index 15 Description Speed Data Type Integer32 Object Class sq Access rw PDO Mapping No Unit Speed Unit Value Range Default Value 0 Sub Index 16 Description Speed 2 Position 3 reserved for future use Data Type Integer32 Object Class sq Access rw PDO Mapping No Unit Speed Unit Position Unit Value Range Default Value 0 Sub Index 17 Desc...

Page 159: ...efault Value 0 Sub Index 20 Description Deceleration Time Data Type Unsigned16 Object Class sq Access rw PDO Mapping No Unit ms Value Range 0 65535 Default Value 0 Sub Index 21 Description Configuration Data Type Unsigned16 Object Class sq Access rw PDO Mapping No Default Value 0 For a position sequence this parameter defines the positioning type Value Function 0 Absolute positioning 1 Relative po...

Page 160: ... ms Value Range Default Value 0 For a speed sequence or a torque sequence if the Running Time is 65535 maximum of 16 bit then the running phase will be executed forever An End Condition can be used to exit this sequence Sub Index 25 Description Analog In Data Type Integer16 Object Class sq Access rw PDO Mapping No Unit 16 bit scaled value Value Range Default Value 0 For a torque sequence this para...

Page 161: ...rameters or values out of the limits will generate an error 9 In a sequence parameters which are not declared will have a default value The default value can be changed by means of the Default keyword 10 The sequencer can load sequence files in two ways LOAD load declared sequences from the sequence file into memory Sequences that are not declared will be cleared MERGE load declared sequences from...

Page 162: ... Sequence Key word Signification PosType Positioning type ABS REL Pos Positioning value Speed Move Speed Speed2 End Speed Accel Acceleration Decel Deceleration Tempo Temporization at the end of positioning Homing Sequence Key word Signification HomeOfs Position Offset Speed Speed during search for switch Speed2 Speed during search for Zero Accel Acceleration Decel Deceleration Method Homing method...

Page 163: ...Name Function 12 PULSE_OK Pulse following ok 13 PULSE_CNT Pulse Count The PULSE_OK is set when drive is enabled and PULSE_ENA or COUNT_ENA is set The PULSE_CNT is active only with PULSE_OK active The PULSE_CNT signal is described in object 0x3681 The motor Maximum speed value is calculated according to the host controller pulse frequency limit as follows Maximum speed rpm 60 x pulse frequency limi...

Page 164: ...ber of Elements 6 This object allows setting up the stepper emulation mode parameters Value Description Sub Index 1 Description Stepper control reserved for future use Data Type Unsigned16 Access rw PDO Mapping Yes Sub Index 2 Description Stepper status Data Type Unsigned16 Access ro PDO Mapping Yes Bit Name Description 0 PULSE_OK Pulse following ok 1 PULSE_CNT Pulse Count These 2 bits are exactly...

Page 165: ...IR or B polarity 6 Reserved Must be 0 7 PULSE_DBL Pulse Count Mode only for PULSE DIR input 0 Simple count Count on rising edge of PULSE Motor Speed rpm 60 Pulse_Frequency User position scaling 0x6093 2 1 Double count Count on rising edge and falling edge of PULSE Motor Speed rpm 120 Pulse_Frequency User position scaling 0x6093 2 8 COUNT_ENA Count Enable 11 FILTER_ENA Low pass filter 0 Filter disa...

Page 166: ...Mapping No Value 0 65535 Remark This parameter value is automatically calculated when a cut off frequency value is selected see 0x3683 Low pass filter acting on the Stepper input position Index 0x3683 Name Stepper input filter cut off frequency Object Code VAR Data Type Integer16 Object Class se Access rw PDO Mapping No Unit Hz Possible values 200 100 40 20 Default Value 40 Remark Stepper input fi...

Page 167: ...o 4 The auto tuning must be executed with minimum position overshoot After the auto tuning the Kav Feedforward acceleration Gain term 0x60FB 4 must be reset at 0 3 2 3 10 Analog Speed Mode Analog Speed Mode In this mode the Xtrapuls drive operates as a variable speed drive The speed reference is the analog input 1 The maximum speed defined by 0x6080 is reached with 10 V input The acceleration time...

Page 168: ...C AnalogIn1Offset AnalogIn1Gain 256 ADC value 0x7FF0 for 10 V AnalogIn1Offset is the offset of the analog input and is defined by object 0x30F1 3 AnalogIn1Gain is defined by object 0x30F1 4 The current reference is set with Analog_Input_1 A value of 0x7FFF corresponds to drive size 0x6510 1 If HALT bit in control word 0x6040 is set then the current reference is reset at 0 The object 0x3077 0 allow...

Page 169: ...e gearing ratio factor value acceleration 0x392A 0 Defines the acceleration value of the slave for the acceleration phase deceleration phase and adjustment phase speed 0x392C 0 Defines the relative speed for the slave phase shift adjustment master distance 0x3925 1 Defines the distance of the master from the start to the synchronization point slave distance 0x3925 2 Defines the distance of the sla...

Page 170: ...input with a true encoder or an encoder emulation output from another drive Signal from fieldbus master or from another drive via CAN bus Internal virtual master The Internal Master Signal is used as master position for all master slave functions of the drive The master offset signal is a continuous signal which can be locally added to the master signal in each drive The master offset signal can b...

Page 171: ...art the slave operation When the master slave function is executed the slave s movement can be triggered immediately as soon as the master slave function is executed with rising edge on logic inputs Start Mode defines where to start the slave s movement When the slave is triggered the slave s movement is started with the master position relative to the start position or absolute to the master posi...

Page 172: ...shift acceleration Unsigned32 rw 0x392C VAR Slave phase shift differential speed Integer32 rw 0x392D VAR Slave phase shift distance Integer32 rw 0x3942 VAR Slave Jog Speed Integer32 rw 0x3943 VAR Slave Offset Signal Integer32 rw 0x3944 VAR Slave Offset Source Unsigned32 rw Master Input Source Index 0x3910 Name Master Input Source Description Index sub index of input data Data Type Unsigned32 Class...

Page 173: ...f offset signal Data Type Unsigned32 Class sq gb cm Access Rw PDO Mapping No Value See below Default Value 0 This object allows connecting any 32 bit dataflow as master offset signal The master signal must be a 32 bit signal The structure of the entries is the following MSB LSB Index 16 bit Sub index 8 bit 0 Example 0x3913 0 0x30F20200 connects the second analog input to the master offset signal t...

Page 174: ...ll Access ro PDO Mapping Yes Unit master position unit s Default Value This object gives the value of the internal master speed value Index 0x391B Name Master phase shift acceleration Object Code VAR Data Type Unsigned32 Object Class all Access ro PDO Mapping No Unit master position unit s Default Value This object defines the acceleration for the master phase shift movement Index 0x391C Name Mast...

Page 175: ...rved 7 Master Phase Shift 8 Selection For gear function 0 gearing ratio set 1 1 gearing ratio set 2 This bit has effect only if gearbox configuration bit 9 is set Gearbox configuration is defined by 0x3928 1 for gearing mode or directly defined in sequence parameters for gearing sequence This bit allows selecting and changing the ratio set on the fly For cam function 0 cam profile 0 1 cam profile ...

Page 176: ...12 Gearing function ratio set 0 ratio set 1 selected 1 ratio set 2 selected 13 Ratio changing 14 Gearing scaling 15 Reserved Index 0x392A Name Slave Acceleration Object Code VAR Data Type Unsigned32 Object Class gb cm sq Access rw PDO Mapping No Unit User acceleration unit Value Range Default Value This object defines the acceleration used in master slave functions when the slave accelerates to ca...

Page 177: ...d 0x6084 Object Code VAR Data Type Integer32 Object Class gb Access rw PDO Mapping No Unit User Velocity Unit Value Range Default Value Index 0x3943 Name Slave Offset Object Code VAR Data Type Integer32 Object Class gb sq cm Access rw PDO Mapping No Unit Position unit Default Value 0 This object defines the position offset value added to the slave output Slave Offset Source Index 0x3944 Name Slave...

Page 178: ...d is reset at 0 The virtual master output object can be used as master slave input signal or distributed over CAN bus via PDO Virtual Master Objects Definition Index Object Name Type Attr 0x3901 VAR Virtual Master Speed Source Unsigned32 rw 0x3902 VAR Virtual Master Speed Integer32 rw 0x3903 VAR Virtual Master Acceleration Integer32 rw 0x3906 VAR Virtual Master Output Integer32 rw Virtual Master S...

Page 179: ...03 Name Virtual Master Acceleration defines the acceleration for virtual master Object Code VAR Data Type Unsigned32 Object Class Access rw PDO Mapping No Unit User acceleration unit Default Value Index 0x3906 Name Virtual Master Output Object Code VAR Data Type Integer32 Object Class Access ro PDO Mapping Yes Unit position unit Default Value This object gives the output value of the virtual maste...

Page 180: ...he adjustment is over the motor position is locked in frequency and phase with the master position according to the gearing ratio value The Gearing ratio is defined by a numerator denumerator During a gearing sequence execution this value can be multiplied by the sequence gearing ratio factor In gearing mode when the gearbox function is not active a jog input can be used to manually move the slave...

Page 181: ...nstant acceleration to reach the ratio of the master s speed and then a slave phase shift adjustment will be automatically performed to adjust the slave phase to the master phase with a parameter defined in Master Distance and Slave Distance After adjustment the slave is synchronized with the master in the same phase The master distance and slave distance must be defined so that the slave is synch...

Page 182: ... the distance for the slave that the slave must be synchronized in position If the synchronization distance is 0 then the slave will synchronize with the master indefinitely An exit command can be used to exit the gearing function Trigger Mode immediately executed command rising edge of a logic input Start Mode relative to initial position absolute to master position modulo Exit Mode exit gearbox ...

Page 183: ... rw 0x3925 ARRAY Gearbox Distances Integer32 rw 0x3926 VAR Gearbox Output Integer32 rw 0x3927 VAR Slave Modulo Unsigned32 rw 0x3928 ARRAY Gearbox Configuration Factor Unsigned16 rw 0x392A VAR Slave Acceleration Integer32 rw 0x392C VAR Slave Differential Speed Integer32 rw 0x392D VAR Slave Phase Shift Distance Integer32 rw 0x392F ARRAY Gearbox Monitoring Integer32 ro Gearbox Ratio Modulation Source...

Page 184: ...et 2 numerator Data Type Unsigned32 Access rw PDO Mapping No Range 1 to 65536 Sub Index 4 Description Gearbox ratio set 2 denominator Data Type Unsigned32 Access rw PDO Mapping No Range 1 to 65536 Gearing ratio 2 value Numerator2 Denominator2 Gearing ratio range is from 1 256 to 256 Gearbox Distances Parameter This object defines Master Distance Slave Distance and Synchronization Distance for the ...

Page 185: ... Default Value Gearbox Configuration Factor Index 0x3928 Name Gearbox Configuration Factor Object Code ARRAY Class gb Number of Elements 2 Value Description Sub Index 1 Description Gearbox Configuration Data Type Unsigned16 Access rw PDO Mapping No This parameter allows defining the behaviour of the gearbox function for gearbox mode In gearbox mode object 0x3928 1 is taken into account when the ge...

Page 186: ... set 2 9 0 ratio set selection by bit 8 1 allows ratio set selection by master slave control 0x3940 0 bit 8 10 Ratio modulation Enable 11 Reserved 12 Forward only prevents from slave moves in negative direction If master goes in negative direction an error will be notified in master slave status 0x3941 0 13 Reverse direction reverse slave direction 14 15 Reserved Sub Index 2 Description Gearbox Ra...

Page 187: ...guration Unsigned32 rw 0x3051 VAR Digital Inputs Polarity Unsigned16 rw 0x60FE ARRAY Gem Digital Outputs Unsigned32 rw 0x3054 ARRAY Digital Outputs Configuration Unsigned32 rw 0x3055 VAR Digital Outputs Polarity Unsigned16 rw 0x3058 ARRAY Digital User Inputs Outputs Unsigned16 rw 0x3059 ARRAY Virtual Inputs Outputs Unsigned16 rw 0x3043 ARRAY Enable Configuration Unsigned16 rw Example realize an EN...

Page 188: ...itch Function 0 running 1 stopped in positive direction with stop on current limit 2 Logic Input HOME 0 1 Home switch activated 3 Logic Input INHIBIT 0 1 drive is disabled 12 Logic Input RESET fault reset 13 Logic Input ENABLE 0 drive is disabled drive is enabled 14 Logic Input Motor Phasing start motor phasing 15 1 QuickStop 16 Physical intput IN1 17 Physical intput IN2 18 Physical intput IN3 19 ...

Page 189: ...ject for the corresponding digital input Data Type Unsigned32 Access rw PDO Mapping No Value Range Default Value The structure of the entries is the following MSB LSB Index 16 bit Sub index 8 bit Bit number n 0 15 The state of the physical input will be copied into bit n of the object indicated by index and sub index Digital Inputs Polarity Index 0x3051 Name Digital Inputs Polarity Object Code VAR...

Page 190: ...otor Brake 1 2 3 14 15 16 OUT1 Physical Output 1 17 OUT2 Physical Output 2 18 OUT3 Physical Output 3 19 20 21 22 23 24 25 26 27 28 29 30 31 Sub Index 2 Description Digital Output Bitmask Data Type Unsigned32 Access rw PDO Mapping No Default Value 0 If the Digital Output Bitmask corresponding to Motor Brake bit 0 is set the sub 1 allows the manual control of the motor brake Otherwise the motor brak...

Page 191: ...s the source for digital output Data Type Unsigned32 Access rw PDO Mapping No Value Range Default Value The structure of the entries is the following MSB LSB Index 16 bit Sub index 8 bit Bit number n 0 31 The state of bit n of the object index and sub index will be copied to the physical output Digital Outputs Polarity Index 0x3055 Name Digital Outputs Polarity Object Code VAR Data Type Unsigned16...

Page 192: ... MSB of 0x60FD 0 Sub Index 2 Description Digital Outputs 16b Data Type Unsigned16 Access rw PDO Mapping Possible Default Value 0 Corresponds to the 16 MSB of 0x60FE 1 Sub Index 3 Description Physical Digital Inputs 16b status of hardware digital inputs Data Type Unsigned16 Access ro PDO Mapping Possible Default Value No bit Function 0 Hardware physical input IN1 1 Hardware physical input IN2 2 Har...

Page 193: ...o bit 5 These virtual outputs can be connected to drive signal with object 0x3054 in the same manner as for a physical output Sub Index 3 Description Virtual link Data Type Unsigned16 Access rw PDO Mapping No Default Value 0 This parameter allows connecting the virtual outputs to the virtual inputs bit Function 0 2 reserved 3 0 no connection 1 connect OUT4 to IN6 4 0 no connection 1 connect OUT5 t...

Page 194: ...g Yes Value Range No Default Value No Sub Index 2 Description Analog Input 32 bit Value Data Type Integer32 Access ro PDO Mapping Yes Value Range No Default Value No Analog_Input_32bit_Value Analog_Input_16bit_Value Offset Gain 256 The Gain value is signed Example using analog input as speed reference The speed reference is 32 bits so the 32 bit value will be used Let s say that the maximum speed ...

Page 195: ...is applied on Analog Input 16 bit Value Sub Index 6 Description Analog In Level 0 Data Type Integer16 Access rw PDO Mapping No Value Range Default Value This parameter defines level 0 for position capture with analog input see diagram below Sub Index 7 Description Analog In Level 1 Data Type Integer16 Access rw PDO Mapping No Value Range Default Value This parameter defines level 1 for position ca...

Page 196: ...67 for 0 V to 5 V on physical analog output Output value can be directly written e g over Fieldbus but you have to make sure that there is no source connected Index sub index of Analog Output source 0 The output value is defined by Physical_Analog_Output Analog Output Analog_Output_Offset Analog_Output_Gain 256 Sub Index 2 Description Index sub index of Analog Output source Data Type Unsigned32 Ob...

Page 197: ...oder output with the resolver position or the encoder position sends any value from a different of 2 variables to the incremental output output signal as quadrature signals or pulse dir signals Two A and B channels in quadrature with one Z marker pulse per revolution allow closing the position loop via the DNC The Output encoder resolution parameter is chosen according to following table Maximum m...

Page 198: ...ject Class all Access rw PDO Mapping No Value See below Default value 0x31000400 This object allows connecting any dataflow as input source of the Encoder Output module The structure of the entries is the following MSB LSB Index 16 bit Sub index 8 bit 0 Sub Index 2 Description Index sub index of input source 2 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Value See above Default v...

Page 199: ...ping No Unit 65536 corresponds to an encoder revolution Default Value 0 Sub Index 6 Description Encoder Output Configuration Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 1 Bit Number Function 0 0 Encoder Output disable 1 Encoder Output Enable 1 1 Encoder Emulation emulates an encoder output with Encoder Output Resolution 0 direct output the value of Source1 Source2 ...

Page 200: ...ables encoder output To emulate the encoder output with An Encoder Input just set 0x3160 1 0x31200400 3 2 5 4 Digital Cam Digital Cam Index Object Name Type Attr 0x30E0 ARRAY Digital Cam positions Integer32 rw 0x30E1 ARRAY Digital Cam configuration register Unsigned16 rw Cams are fully defined by objects 0x30E0 and 0x30E1 No parameter can be changed if Cam Enable Register is not 0 Cam Polarity Eac...

Page 201: ...es Value Range No Default Value No Sub Index 2 Description Second Position of Cam number 1 Data Type Integer32 Access rw PDO Mapping Yes Value Range No Default Value No Digital Cam Configuration Registers Index 0x30E1 Name Digital Cam Configuration Registers Object Code ARRAY Number of Elements 5 Registers with sub indexes 2 to 4 can only be changed when Cam Enable Register 0 Value Description Sub...

Page 202: ...16 Access rw PDO Mapping No Value Range Default Value 0 Each bit of Cam Polarity register corresponds to a Digital Cam max 16 cams 0 Cam with normal polarity 1 Cam with reversed polarity Sub Index 4 Description Cam Hysteresis Data Type Unsigned16 Access rw PDO Mapping No Value Range Unit position unit Default Value 0 Sub Index 5 Description Cam Enable Data Type Unsigned16 Access rw PDO Mapping No ...

Page 203: ... resolver position value or an encoder position value The trigger input signal can be any of the physical logic inputs any of the analog inputs or the encoder marker Z The capture can be triggered on rising edge falling edge or both The trigger input signal can be filtered by a time filter The data signal can be filtered by a space filter Capture Function Data signal input Data captured Trigger in...

Page 204: ...ace Filter This parameter defines the value in distance threshold of the capture position filter If the position gap between rising and falling edges is less than the threshold then the signal is the following Time interval threshold Input Signal Filtered Signal Latch position Latch position Capture validated Capture validated Capture of motor position while motor running with a logic input signal...

Page 205: ...RAY Touch Probe Source rw Capture objects Capture Status Index 0x3370 Description Capture Status Data Type Unsigned16 Access ro PDO Mapping Possible Value Default value Bit Number Function 0 Capture 1 enabled 1 Capture Input 1 image 2 Change state a capture on rising edge of input 1 occurred 3 Change state a capture on falling edge of input 1 occurred 4 Capture 2 enabled 5 Capture Input 2 image 6 ...

Page 206: ...e Input 3 image 10 A capture on rising edge of input 2 occurred 11 A capture on falling edge of input 2 occurred 12 Capture 4 enabled 13 Capture Input 4 image 14 A capture on rising edge of input 2 occurred 15 A capture on falling edge of input 2 occurred Capture indicators bit 2 3 6 7 10 11 14 15 are cleared when this object is sent by a PDO Capture Parameters Index 0x3371 for capture 1 0x3372 fo...

Page 207: ... index 8 bit 0 Example Capture 1 data is connected to resolver position 0x3371 2 0x31090000 Sub Index 3 Description Capture 1 2 3 4 Input Data Type Unsigned16 Access rw PDO Mapping No This parameter allows defining a logic input as capture trigger signal Value Function 0 IN1 1 IN2 2 IN3 3 IN4 4 IN5 5 6 7 8 9 10 11 12 Analog In 1 13 Analog In 2 14 Encoder Top Z 15 Resolver 0 IN1 IN5 are physical in...

Page 208: ...tion unit Sub Index 6 Description Capture Position Data Type Integer32 Access ro PDO Mapping Yes Unit Position unit Sub Index 7 Description Rising Edge Capture Position Data Type Integer32 Access ro PDO Mapping Yes Unit Position unit Sub Index 8 Description Falling Edge Capture Position Data Type Integer32 Access ro PDO Mapping Yes Unit Position unit ...

Page 209: ...uch Probe 2 9 0 Trigger First Event 1 Continuous 11 10 00 Trigger with Touch Probe 2 Input IN5 for XtrapulsPac 01 Trigger with TopZ 10 Touch Probe Source defined by object 0x60D0 2 11 reserved 12 Enable sampling at positive edge of touch probe 2 13 Enable sampling at negative edge of touch probe 2 14 15 Not used Touch Probe Status Index 0x60B9 Description Touch Probe Status Data Type Unsigned16 Ac...

Page 210: ...ue Object Code VAR Data Type Integer32 Object class All Access ro PDO Mapping Possible Unit User Position Unit Default value Touch Probe Pos2 Pos Value Index 0x60BC Description Touch Probe Pos2 Pos Value Object Code VAR Data Type Integer32 Object class All Access ro PDO Mapping Possible Unit User Position Unit Default value Touch Probe Pos2 Neg Value Index 0x60BD Description Touch Probe Pos2 Neg V...

Page 211: ...e 1 Source Data Type Integer16 Access rw PDO Mapping No Value See table above Default Value 3 Sub Index 2 Description Touch Probe 2 Source Data Type Integer16 Access rw PDO Mapping No Value See table above Default Value 5 3 2 5 6 Modulo function Index 0x307B Name Modulo configuration Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0 The motor position c...

Page 212: ...ositive direction CLEAR input function The CLEAR input function allows using the HOME input 0x60FD to reset the position value CLEAR input function and modulo function must not be activated at the same time The motor position can be limited by the position limit function or modulo function The modulo function is enabled disabled by object 0x307B Minimum Position Limit Motor Position Maximum Positi...

Page 213: ... manage an external CANopen I O module in order to get more inputs and outputs Features Each XtrapulsPac ak servo drive can handle one and only one CANopen I O module DS 401 with or without CANopen master Each I O module can have up to extra I Os are ignored 16 digital inputs 16 digital outputs 1 analog input 1 analog output Communication with I O can be SDO only about 10 ms PDO only down to 2 ms ...

Page 214: ...ndex Object Name Type Attr 0x3821 RECORD Digital Inputs Assignment rw 0x3822 RECORD Digital Outputs Assignment rw 0x3823 RECORD Analog Input Assignment rw 0x3824 RECORD Analog Output Assignment rw 0x3825 RECORD Communication Parameters rw 0x3828 RECORD Control Parameters rw 0x3829 RECORD Inputs Outputs values rw IO IO Pac CAN bus Pac Pac IO IO Pac CAN bus Pac PLC Pac ...

Page 215: ...arameter allows connecting digital inputs to a drive variable The structure of the entries is the following MSB LSB Index 16 bit Sub index 8 bit size bits Sub Index 2 Description Mask 1 Data Type Unsigned16 Access rw Save Yes PDO Mapping No Default Value 0 Sub Index 3 Description Shift 1 Data Type integer16 Access rw Save Yes PDO Mapping No Default Value 0 Sub Index 4 Description Target Object 2 D...

Page 216: ...0 1 2 3 4 so the bit mask is 0x001F There is no shift between the digital inputs and the target object bits so the shift value is 0 0x3821 1 0x36010100 0x3821 2 0x001F 0x3821 3 0 The target object is sequence condition input 0x3601 3 The second group of 3 bits are digital input bits 5 6 7 so the bit mask is 0x00E0 The digital input bits start from bit 5 and the target bits start from bit 2 so the ...

Page 217: ...er allows connecting a drive s variable to digital outputs The structure of the entries is the following MSB LSB Index 16 bit Sub index 8 bit size bits Sub Index 2 Description Mask 1 Data Type Unsigned16 Access rw Save Yes PDO Mapping No Default Value 0 Sub Index 3 Description Shift 1 Data Type integer16 Access rw Save Yes PDO Mapping No Default Value 0 Sub Index 4 Description Source Object 2 Data...

Page 218: ...m 2 3 to output bits 6 7 so the shift value is 4 The mask for the output bits 6 7 is 0xC0 0x3822 1 0x60410000 0x3822 2 0x00C0 0x3822 3 4 The source object is sequence outputs 0x3602 1 The second group of 6 bits are from 3 4 5 6 7 8 to outputs bits 0 1 2 3 4 5 so the shift value is 3 The mask for the output bits 0 1 2 3 4 5 is 0x3F 0x3822 4 0x36020100 0x3822 5 0x003F 0x3822 6 3 Remark if 2 source o...

Page 219: ... Save Yes PDO Mapping No Default Value 0 This parameter allows connecting the analog input to a drive s variable The structure of the entries is the following MSB LSB Index 16 bit Sub index 8 bit size bits Sub Index 2 Description Offset Data Type integer16 Access rw Save Yes PDO Mapping No Default Value 0 Sub Index 3 Description Gain Data Type integer16 Access rw Save Yes PDO Mapping No Default Va...

Page 220: ...lements 3 Value Description Analog input can be assigned to a drive s variable analog_output variable x gain 256 offset Sub Index 1 Description Source Variable Data Type Unsigned32 Access rw Save Yes PDO Mapping No Default Value 0 This parameter allows connecting a drive s variable to the analog output The structure of the entries is the following MSB LSB Index 16 bit Sub index 8 bit size bits Sub...

Page 221: ...l analog inputs from I O module Data Type Unsigned16 Access rw Save Yes PDO Mapping No Default Value 0x0003 Bit Number Function 0 7 Drive s RPDO for digital inputs 0 Not used 1 4 RPDO1 to RPDO4 8 15 Drive s RPDO for analog input 0 Not used 1 4 RPDO1 to RPDO4 Sub Index 2 Description Drive s TPDO numbers Number of TPDO transmitting digital analog outputs to I O module Data Type Unsigned16 Access rw ...

Page 222: ...ital analog inputs to drive Data Type Unsigned16 Access rw Save Yes PDO Mapping No Default Value 0x0001 Bit Number Function 0 7 Module s TPDO for digital inputs 0 Not used 1 4 RPDO1 to RPDO4 8 15 Module s TPDO for analog input 0 Not used 1 4 RPDO1 to RPDO4 CANopen IO module control parameters Index 0x3828 Name CANopen I O control parameters Object Code RECORD Number of Elements 4 Value Description...

Page 223: ... account only with rising edge falling edge of bit 0 Sub Index 3 Description Status Data Type Unsigned16 Access ro PDO Mapping Yes Bit Number Description 0 Reserved 1 searching for I O module 2 Module failed module not DS 401 module disconnected module node ID not defined 3 Run 4 6 Reserved 7 NMT started 8 Digital Input by SDO 9 Digital Output by SDO 10 Analog Input by SDO 11 Analog Output by SDO ...

Page 224: ...Integer16 Access rw PDO Mapping Yes Sub Index 4 Description Analog Outputs this variable is sent to CANopen I O module analog outputs by SDO PDO Data Type Integer16 Access rw PDO Mapping Yes 3 2 6 MAINTENANCE 3 2 6 1 Files XtrapulsPac Files The XtrapulsPac drive can store data files in its internal Flash memory Name Format Description DRIVEPAR TXT text object file Drive parameters are saved in the...

Page 225: ...llows for example defining an initial configuration of the drive directly by the user 3 2 6 2 Firmware update Update File An Update File contains a file header and one or several data blocks File_Header Binary_Block_1 Binary_Block_2 Binary_Block_n File_Header 32 bytes 00000000 File_code IDUF 0x46554449 00000004 File_crc32 from byte 4 to the end of file 00000008 Protect Data length bytes file_lengt...

Page 226: ...be 0 depend on Update_Code the execution time of this instruction may be very long for example update firmware switch from firmware mode to bootmanager mode Update Init Index 0x5F31 Name Update Init Object Code RECORD Number of Elements 5 Sub Index 1 Description Number of Binary Blocks Data Type Unsigned16 Access rw Value Sub Index 2 Description Number of Block Types Data Type Unsigned16 Access rw...

Page 227: ...s read only Data Type Unsigned32 Access ro Value Sub Index 5 Description Buffer segmented Data Type Unsigned32 Access rw Value transfer data to from buffer binary_block block_header block_data Programming sequence Initialization Update Code write 0x5F30 1 update_code Change to program mode write 0x5F30 2 1 Verify program mode read 0x5F30 2 1 Erase Number of Blocks write 0x5F31 1 n_blocks Number of...

Page 228: ...03 RPDO4par RPDO4 parameter 0x1600 RPDO1map RPDO1 mapping 0x1601 RPDO2map RPDO2 mapping 0x1602 RPDO3map RPDO3 mapping 0x1603 RPDO4map RPDO4 mapping 0x1800 TPDO1par TPDO1 parameter 0x1801 TPDO2par TPDO2 parameter 0x1802 TPDO3par TPDO3 parameter 0x1803 TPDO4par TPDO4 parameter 0x1A00 TPDO1map TPDO1 mapping 0x1A01 TPDO2map TPDO2 mapping 0x1A02 TPDO3map TPDO3 mapping 0x1A03 TPDO4map TPDO4 mapping 0x20...

Page 229: ...upported drive modes 0x6504 0 ManName Manufacturer Name 0x3079 DCwarn Undervoltage Warning Threshold 0x33B0 BkRes Braking resistor duty cycle limit Device Control 0x6040 0 ControlW Control Word 0x6041 0 StatusW Status Word 0x605A 0 QStopOC Quick Stop option code 0x605B 0 ShutDnOC Shutdown option code 0x605C 0 DisOpOC Disable Operation option code 0x305A 0 InhOpOC Inhibit option code 0x6060 0 ModeO...

Page 230: ...polepr 15 MPhase 16 Moffset 17 MTtype 18 MTthres1 19 MTthres2 20 Mpolept 0x6072 MaxTq Max Torque 0x6073 MaxI Motor Max current 0x6075 MotRtdI Motor Rated Current 0x6076 MotRtdTq Motor Rated Torque 0x3410 MotorPar Motor Parameters 1 PolePair Current Number of motor pole pairs 2 MotPhase Current Motor Phase 3 RotorOfs Current Motor Offset 0x340F 0 Induct Current Motor Inductance 0x3323 0 MT_res Moto...

Page 231: ... Setup 1 Res_Type Enable Setup Resolver Input 2 Res_Cfg 3 Res_Zsh 4 Res_Zsz 5 Res_NP 6 ResRatio 0x3102 0 Res_Err Resolver Error control 1 Res_Thrs 2 Res_Lim 3 Res_AmpF 4 Res_Rdc 0x3104 Res_Cal Resolver Calibration Procedure 0x3105 Res_CalV Resolver Calibration parameters 0x3107 0 Res_TopZ Resolver Virtual Top Z 0x3108 0 Res_ofs Resolver Offset user position unit 0x3109 0 Res_pos Resolver Position ...

Page 232: ...n 0x3122 Enc1Err Encoder Error Control 1 Enc1Cnt 2 Enc1Thrs 3 Enc1Lim 0x3124 Enc1CalP Encoder Calibration 0x3127 0 Enc1TopZ Encoder Virtual Top Z 0x3128 0 Enc1ofs Encoder Offset user position unit 0x3129 0 Enc1pos Encoder Position user position unit 0x312A 0 Enc1vel Encoder Velocity user velocity unit 0x312B 0 Enc1Ref 1 Enc1RefP 0x312C 0 Enc1raw Encoder1 Raw Position 0x312D 0 Enc1Abs 1 Enc1Max0 2 ...

Page 233: ...ers 1 IregType 2 KPq_I 3 KIq_I 4 KPd_I 5 KId_I 0x30F5 TqLpmon Current Loop Monitoring 1 IdRef 2 IqRef 3 Idmon 4 Iqmon 5 VdRef 6 VqRef 7 PosElec 0x6079 0 DCvolt DC Voltage 0x30F4 IdrvLim Current limit parameters 0x3413 APstart Auto phasing 0x3414 MCstart Motor phasing Speed Loop 0x60F9 Vel_CTRL Speed Loop Parameters 1 VregType 2 KPv 3 KIv 4 KIvf 5 KCv 6 KDv 7 KDvf 8 KJv 0x30F9 VFilter Speed Error L...

Page 234: ...sition user position unit 0x6065 PosErWin Following Error Window user position unit 0x3065 FWctrl Following Error Error control 0x60F4 PosErr Following Error Actual Value External Feedforward 0x31FF FForward External Feedforward Auto tuning 0x3425 0 Autotune Auto tuning parameters 1 ATbwidth 2 ATtype 3 ATselect 4 ATappl 0x3426 0 ATstart Auto tuning 0x3427 0 KsDig Error Control 0x3022 0 Error Error...

Page 235: ...et 0x6098 HomeMeth Homing Method 0x6099 HomeSpds Homing Speeds 1 HomeSpd1 Speed during search of switch 2 HomeSpd2 Speed during search of zero 0x609A HomeAcc Homing Acceleration 0x309C HCurLim Home Current Limit 0x309D HEndHome End On Home Position Interpolated Position Mode 0x60C0 IPmode Interpolated SubMode Select 0x60C1 IPrecord Interpolated Data Record 0x30C1 IPoutput Interpolation output 0x60...

Page 236: ...ent measurement filter Sequence Mode Sequence Control 0x3601 SQin Sequence Inputs 1 SQnb Sequence Number Input 2 SQrun Executed Sequence Number 3 SQcond Conditional Inputs 4 SQinp Sequence Inputs 0x3602 SQoutp Sequence Outputs 1 SQout Programmable Logic Outputs 2 SQoutpol Programmable Logic Outputs Polarity 3 SQsta Dedicated Logic Outputs 4 SQstapol Dedicated Logic Outputs Polarity 0x3603 0 SQSpul...

Page 237: ...dition Bits 0 12 SQPstop1 End Condition Bits 1 13 SQPpos Position 14 SQPpos2 Position 2 reserved for future use 15 SQPvel Speed 16 SQPext Speed 2 Position 3 reserved for future use 17 SQPaccel Acceleration 18 SQPdecel Deceleration 19 SQPtacc Acceleration Time 20 SQPtdec Deceleration Time 21 SQPcfg Configuration 22 SQPcfg2 Configuration 2 23 SQPtempo Temporization 24 SQPrtime Running Time 25 SQPana...

Page 238: ...Digital Inputs 16b Doutp16 Digital Outputs 16b Dinp16hw Physical Digital Inputs 16b 0x3043 enable Enable Configuration ena_cfg Analog Inputs 0x30F1 AnalogI1 Analog Input 1 1 AnaIn1 2 AI1s32 3 AI1_ofs 4 AI1_gain 5 AI1_filt 6 AI1_lv0 7 AI1_lv1 8 AI1_proc 9 AI1_db 0x30F2 AnalogI2 Analog Input 2 1 AnaIn2 2 AI2s32 3 AI2_ofs 4 AI2_gain 5 AI2_filt 6 AI2_lv0 7 AI2_lv1 8 AI2_proc 9 AI2_db Analog Output 0x3...

Page 239: ...cillo Buffer delay 0x5810 OscChCfg Oscillo Channel config 0x5811 OscChan Oscillo Channel definitions 0x5812 OscUnit Oscillo Channel Unit 0x5820 OscTgSrc Oscillo Trigger configuration 0x5822 OscTrig Oscillo Trigger 1 0x5828 0 OscTgCtl Oscillo Trigger Control 0x5829 0 OscTgSta Oscillo Trigger Status 0x5840 OscTxCfg Oscillo Buffer transfer configuration 0x5841 0 OscTx Oscillo Buffer transfer Firmware...

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