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CANopen communication

Heartbeat telegram

Telegram structure



KHB 13.0003-EN 2.0

COB-ID = 1792 + Node-ID

Heartbeat
Consumer

Heartbeat

Producer

indication

Heartbeat Event

request

Heartbeat

Producer

Time

Heartbeat

Consumer

Time

Heartbeat

Consumer

Time

6 … 0

epm-t134

Fig. 5

Heartbeat telegram

Reserved

s State of the Heartbeat Producer

Heartbeat consumer

The consumers monitor if the heartbeat message is received within the ”heartbeat

consumer” time. The time must be longer than the corresponding ”heartbeat producer”

time.

Heartbeat producer

The drive controller transmits a state telegram on the fieldbus and can thus be monitored

by other bus devices.
The settings are made under index 1017

The producer heartbeat is automatically started if a time > 0 is entered under index

1017

and the drive controller changes to the operational state.

When the cycle time has expired, the drive controller transmits the state telegram

on the fieldbus.

A reset changes the state to operational.

Device state (bits 1 ... 6) of the heartbeat producer:

Command (hex)

State

Boot-up

Operational

Stopped

Pre-operational

Summary of Contents for 931M Series

Page 1: ...KHB 13 0003 EN 4 ö Ä 4 öä Communication Manual Servo Drives 930 931M W CANopen L force Drives ...

Page 2: ...eration We do not accept any responsibility for direct or indirect damage caused e g loss of profit loss of orders or adverse commercial effects of any kind All trade names listed in this documentation are trademarks of their respective owners 2007 Lenze GmbH Co KG Kleinantriebe Hans Lenze Straße 1 D 32699 Extertal No part of this documentation may be reproduced or made accessible to third parties...

Page 3: ...ier 16 5 1 3 Node address node ID 16 5 1 4 User data 17 5 2 Parameter data transfer SDO transfer 18 5 2 1 Telegram structure 18 5 2 2 Reading parameters example 22 5 2 3 Writing parameters example 23 5 3 Process data transfer PDO transfer 24 5 3 1 Telegram structure 25 5 3 2 Available process data objects 25 5 3 3 Objects for PDO parameterisation 25 5 3 4 Description of the objects 40 5 3 5 Exampl...

Page 4: ...Running through the state machine 64 6 3 Position control 66 6 3 1 Parameterising of the homing run 66 6 3 2 Running through the state machine 68 7 Parameter setting 71 7 1 Loading and saving of parameter sets 71 7 1 1 Overview 71 7 1 2 Description of the objects 73 7 2 Conversion factors factor group 74 7 2 1 Overview 74 7 2 2 Description of the objects 74 7 3 Power stage parameters 75 7 3 1 Over...

Page 5: ...he drive controller 96 8 1 3 States of the drive controller 98 8 1 4 State transitions of the drive controller 99 8 1 5 Control word 100 8 1 6 Controller state 103 8 1 7 Status word 104 9 Operating modes 106 9 1 Setting of the operating mode 106 9 1 1 Overview 106 9 1 2 Description of the objects 106 9 2 Speed control 108 9 2 1 Overview 108 9 2 2 Description of the objects 108 9 3 Homing 109 9 3 1...

Page 6: ...Contents i 6 KHB 13 0003 EN 2 0 10 Appendix 118 10 1 Index table 118 11 Index 153 ...

Page 7: ... the solution for your application PROFIBUS DP Forbiggermachines withbus lengths of morethan100metres INTERBUSorPROFIBUS DP PROFIBUS Decentralised Periphery are frequently used The PROFIBUS DPis always used together with a master control PLC here the PROFIBUS master transmits e g the setpoints to the single PROFIBUS stations e g Lenze controllers Whenusingthedatatransferrateof1 5MbpstypicalfortheP...

Page 8: ...hich are included in the scope of supply ƒ The features and functions are described in detail ƒ It provides detailed information on the possible applications ƒ Parameter setting is explained with the help of examples ƒ In case of doubt the supplied mounting instructions are always valid How to find information ƒ The table of contents and the index help you to find all information about a certain t...

Page 9: ...k on and with the drive system ƒ to ensure that the personnel have the Operating Instructions available for all work ƒ to ensure that all unqualified personnel are prohibited from working on and with the drive system Qualified personnel Qualifiedpersonnelarepersonswho duetotheireducation experience instructions and knowledge about relevant standards and regulations rules for the prevention of acci...

Page 10: ...es ƒ The drive controller is a source of danger if unqualified personnel work with and on the drive controller the drive controller is used inappropriately ƒ The procedural notes and circuit details given in this manual are suggestions and their transferability to the respective application has to be checked ƒ Ensure by appropriate measures that there is no risk of injury or death to persons or ri...

Page 11: ...ury through dangerous electrical voltage Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken Danger Danger of personal injury through a general source of danger Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken Stop Danger of property damage Refe...

Page 12: ...cation Communication profile DS 301 DSP 402 Network topology without repeater line with repeaters line or tree CAN devices Slave Number of CAN devices 128 Baud rate in kbits s 10 20 50 100 125 250 500 800 1000 Max cable length per bus segment 1200 m depending on baud rate and cable type Bus connection M12 ...

Page 13: ...1 Node 1 master e g PLC A2 Node 2 slave e g 931M W controller An Node n slave n max 128 Stop Connect a 120 Ω terminating resistor to the first and last bus device If the last bus device is a 931M W controller use the fluxx software to activate the terminating resistor Specification of the transmission cable Please observe our recommendations for signal cables Bus cable specification Cable resistan...

Page 14: ... low is dominant 4 3 Connection of CAN bus master Below youcanfindtheassignmentofa9 poleSub DsocketusedbymostCANmastersfor the connection of fieldbus devices CAN bus connection to a 9 pole Sub D socket View Pin Signal Explanation 1 6 2 7 3 8 4 9 5 1 Reserved 2 CAN_L CAN_LOW low is dominant 3 CAN_GND CAN_Ground 4 Reserved 5 CAN_SHLD Optional CAN_Shield 6 GND Optional ground 7 CAN_H CAN_HIGH high is...

Page 15: ...iform easy to use structure which has been developed to provide a connection for CAN devices from different manufacturers 5 1 1 Structure of the CAN data telegram Control field CRC delimit ACK delimit Start RTR bit CRC sequence ACK slot End Identifier Data length User data 0 8 bytes z Network management z Process data z Parameter data 1 bit 11 bits 1 bit 2 bits 4 bits 15 bits 1 bit 1 bit 1 bit 7 b...

Page 16: ...ntains the node address of the controller Identifier COB ID basic identifier adjustable node address node ID The identifier assignment is specified in the CANopen protocol The basic identifier ex works is preset to the following values Object Direction Basic identifier from the drive to the drive hex SDO parameter data channel X 580 X 600 PDO1 process data channel 1 TPDO1 X 180 RPDO1 X 200 PDO2 pr...

Page 17: ... short time interval For this purpose small amounts of data can be transferred cyclically Process data is not stored in the drive controller Process data is transferred between the master and the drive controllers to ensure a continuous exchange of current input and output data Examples for process data are for instance setpoints and actual values ƒ Parameter data SDO service data objects Paramete...

Page 18: ...ode ƒ The following subchapters explain in detail the different parts of the telegram Identifier 11 bits 4 bits User data up to 8 bytes Identifier Data length Command code Index low byte Index high byte Subindex Data 1 Data 2 Data 3 Data 4 With the exception of the network management and the sync telegram the identifier contains the node address of the drive Identifier COB ID basic identifier adju...

Page 19: ...te command write response 0 1 1 0 x x 0 0 Read command code CS 0 Length e s Read command read request 0 1 0 0 x x 0 0 Response to read command read response 0 1 0 0 x x 1 1 Error command code CS 0 Length e s Error response 1 0 0 0 0 0 0 0 The command code specifies whether a value is to be read or written The command code also determines the data length 1 byte 2 bytes 4 bytes Write command code 4 ...

Page 20: ...entifier Data length Command code Index low byte Index high byte Subindex Data 1 Data 2 Data 3 Data 4 ƒ If an object e g controller parameter consists of several sub objects the sub objects are addressed via subindexes The number of the corresponding subindex is entered in byte 4 of the telegram See following tables for sub objects ƒ If an object has no sub objects the value 0 is entered in byte 4...

Page 21: ...ror code Explanation F3 F2 F1 F0 06 01 00 00 Object access not supported 06 01 00 01 Read access to object which can only be written 06 01 00 02 Write access to object which can only be read 06 02 00 00 Object addressed not listed in object directory 06 04 00 41 Object must not be mapped to PDO 06 04 00 42 Number and length of objects to be transferred exceed PDO length 06 07 00 10 Protocol error ...

Page 22: ...0 z Subindex 0 Data 1 00h z Read request only 11 bits 4 bits User data Identifier Data length Command code Index low byte Index high byte Subindex Data 1 Data 2 Data 3 Data 4 601h 05h 40h 60h 60h 00h 00h Telegram from the drive controller Value Info Identifier Basic identifier node address 580 1 581h z Basic identifier for parameter channel 580h z Node address 1 Data length 05 Command code 43h z R...

Page 23: ...index 0 Data 1 03h z Assumption The operating mode is set to 03h speed 11 bits 4 bits User data Identifier Data length Command code Index low byte Index high byte Subindex Data 1 Data 2 Data 3 Data 4 601h 05h 23h 60h 60h 00h 03h Telegram from the drive controller acknowledgement for faultless execution Value Info Identifier Basic identifier node address 580 1 581h z Basic identifier for parameter ...

Page 24: ...ch results in a significant reduction of the CAN bus load Example The master wants to know when the drive controller has completed the positioning from A to B When SDOs are used for this purpose the master continuously e g every millisecond has to poll the status word object i e the load on the bus is high When a PDO is used right from the start of the application the drive controller is parameter...

Page 25: ...h three transmit and four receive PDOs Almost all objects of the object directory can be entered in mapped to the PDOs i e the PDOcontainsforinstancetheactualspeedvalue oractual positionvalue asdata Thedrive controller must know in advance which data is to be transferred because the PDO only contains user data and no information about the type of the parameter In this way almost all kinds of data ...

Page 26: ... 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the transmission mode 0 Function is deactivated n 1 F0 When a value n is entered the PDO is accepted every n th sync n FE Cyclic transmission mode n FF Event controlled ...

Page 27: ...ion 1A00h Transmit PDO1 mapping parameters 0 number_of_ mapped_objects 00h 1h 04h REC UINT32 RW Maximally supported subindices 04h Five subindices are supported 1 first_mapped_ object 60410010h 1h UINT32 RW COB ID entry of first mapped object 2 second_mapped_ object UINT32 RW COB ID entry of second mapped object 4 fourth_mapped_ object UINT32 RW COB ID entry of fourth mapped object ...

Page 28: ... 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the transmission mode 0 Function is deactivated n 1 F0 When a value n is entered the PDO is accepted every n th sync n FE Cyclic transmission mode n FF Event controlled ...

Page 29: ...s 0 number_of_ mapped_objects 00h 1h 04h REC UINT32 RW Maximally supported subindices 04h Five subindices are supported 1 first_mapped_ object 60410010h 1h UINT32 RW COB ID entry of first mapped object 2 second_mapped_ object 60610008h 1h UINT32 RW COB ID entry of second mapped object 3 third_mapped_ object UINT32 RW COB ID entry of third mapped object 4 fourth_mapped_ object UINT32 RW COB ID entr...

Page 30: ... 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the transmission mode 0 Function is deactivated n 1 F0 When a value n is entered the PDO is accepted every n th sync n FE Cyclic transmission mode n FF Event controlled ...

Page 31: ...s 0 number_of_ mapped_objects 00h 1h 04h REC UINT32 RW Maximally supported subindices 04h Five subindices are supported 1 first_mapped_ object 60410010h 1h UINT32 RW COB ID entry of first mapped object 2 second_mapped_ object 60640020h 1h UINT32 RW COB ID entry of second mapped object 3 third_mapped_ object UINT32 RW COB ID entry of third mapped object 4 fourth_mapped_ object UINT32 RW COB ID entr...

Page 32: ...0000201h 80000201h 1h 800002FFh UINT32 RW Identifier of receive PDO1 200h node address For processing bit 31 must be set parameterisation of mapping Bit No Value 0 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the tr...

Page 33: ...tion 1600h Receive PDO1 mapping parameters 0 number_of_ mapped_objects 00h 1h 04h REC UINT32 RW Maximally supported subindices 04h Five subindices are supported 1 first_mapped_ object 60400010h 1h UINT32 RW COB ID entry of first mapped object 2 second_mapped_ object UINT32 RW COB ID entry of second mapped object 4 fourth_mapped_ object UINT32 RW COB ID entry of fourth mapped object ...

Page 34: ...0000301h 80000301h 1h 800003FFh UINT32 RW Identifier of receive PDO2 300h node address For processing bit 31 must be set parameterisation of mapping Bit No Value 0 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the tr...

Page 35: ...s 0 number_of_ mapped_objects 00h 1h 04h REC UINT32 RW Maximally supported subindices 04h Five subindices are supported 1 first_mapped_ object 60400010h 1h UINT32 RW COB ID entry of first mapped object 2 second_mapped_ object 60600008h 1h UINT32 RW COB ID entry of second mapped object 3 third_mapped_ object UINT32 RW COB ID entry of third mapped object 4 fourth_mapped_ object UINT32 RW COB ID entr...

Page 36: ...0000401h 80000401h 1h 800004FFh UINT32 RW Identifier of receive PDO3 400h node address For processing bit 31 must be set parameterisation of mapping Bit No Value 0 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the tr...

Page 37: ...s 0 number_of_ mapped_objects 00h 1h 04h REC UINT32 RW Maximally supported subindices 04h Five subindices are supported 1 first_mapped_ object 60400010h 1h UINT32 RW COB ID entry of first mapped object 2 second_mapped_ object 607A0020h 1h UINT32 RW COB ID entry of second mapped object 3 third_mapped_ object UINT32 RW COB ID entry of third mapped object 4 fourth_mapped_ object UINT32 RW COB ID entr...

Page 38: ...0000501h 80000501h 1h 800004FFh UINT32 RW Identifier of receive PDO4 500h node address For processing bit 31 must be set parameterisation of mapping Bit No Value 0 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the tr...

Page 39: ...s 0 number_of_ mapped_objects 00h 1h 04h REC UINT32 RW Maximally supported subindices 04h Five subindices are supported 1 first_mapped_ object 60400010h 1h UINT32 RW COB ID entry of first mapped object 2 second_mapped_ object 60FF0020h 1h UINT32 RW COB ID entry of second mapped object 3 third_mapped_ object UINT32 RW COB ID entry of third mapped object 4 fourth_mapped_ object UINT32 RW COB ID entr...

Page 40: ...TPDO RPDO The numerical value indicates how many sync telegrams are ignored between two transmissions before the PDO is sent TPDO or evaluated RPDO FEh Cyclic TPDO RPDO The TPDO is cyclically updated and sent by the controller The time interval is determined by the event_time object RPDOs however are only evaluated immediately after the receipt FFh Event controlled with cyclic overlay TPDO The TPD...

Page 41: ... an object The mapping information has the following format Index Subindex Length 16 bits 8 bits 8 bits ƒ Index Main index of the object to be mapped hex ƒ Subindex Subindex of the object to be mapped hex ƒ Length Length of object 8 16 or 32 bits hex In order to simplify the mapping the following procedure is given 1 The number of the mapped objects is set to 0 2 The first_mapped_object fourth_map...

Page 42: ...00h length 10h UINT16 first_mapped_object 60410010h Index 6061h subindex 00h length 08h INT8 second_mapped_object 60610008h 3 Parameterise the number of objects Description Name Value The PDO has to contain 2 objects number_of_mapped_objects 2h 4 Parameterise the transmission mode Description Name Value The PDO is to be sent when data is changed transmission_type FFh The PDO is to be sent not more...

Page 43: ...roller to send or receive PDOs ƒ The number_of_mapped_objects object must be non zero ƒ Bit 31 of the cob_id_used_for_pdos object must be deleted ƒ The communication state of the controller must be operational see chapter 5 5 network management The following criterion must be met to enable the parameterisation of PDOs ƒ The communication state of the drive controller must not be operational ...

Page 44: ... the sending process of the drive controller Cyclic process data processing requires an appropriate generation of the sync telegram 1 PDO1 TX PDO1 RX 2 3 4 epm t111 Fig 3 Synchronisation of cyclic process data by means of a sync telegram without consideration of asynchronous data c Sync telegram Transmission sequence 1 After the sync telegram has been received the cyclic process data are send from...

Page 45: ...ive or send synchronisation messages Bit No Value 0 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Controller does not generate sync telegrams 1 Controller generates sync telegrams 31 X As you choose 1006h 0 communication_ cycle_period 0 1 μs VAR UINT32 RO Setting the cycle time of synchronisation messages 0 No sync...

Page 46: ...e controller is switched on In this phase the controller does not take part in the bus data transfer It is also possible in every NMT state to restart the entire initialisation or parts of it by transferring special telegrams see State transitions In this case all parameters already set are overwritten with their standard values After initialisation has been completed the controller is automatical...

Page 47: ...imultaneously The drive controllers do not acknowledge the NMT commands The successful execution can only be inferred indirectly e g from the switch on message after a reset TheNMTstatesoftheCANopennodesaredefinedinastatediagram ViatheCSbyteinthe NMT message state changes can be initiated These changes are mainly orientated towards the target state Inthe NIparameter thenode addressof thedrive cont...

Page 48: ...the entire network A target address which is part of the command specifies the receiver s 3 6 01 xx Operational Network management telegrams sync emergency process data PDO and parameter data SDO are active corresponds to start remote node Optional Event controlled and time controlled process data PDO are sent once in the case of a change 4 7 80 xx Pre operational Network management telegrams sync...

Page 49: ...ing error codes may appear Error cause Display 2nd byte 1st byte 3rd byte 4th 8th byte E1 E0 R0 Stack overflow E01 0 61 80 00 00 DC bus undervoltage E02 0 32 20 00 00 Motor overtemperature E03 0 43 10 00 00 Power electronics overtemperature E04 0 42 10 00 00 DC bus overtemperature E04 1 42 80 00 00 Failure of internal voltage 1 E05 0 51 14 00 00 Failure of internal voltage 2 E05 1 51 15 00 00 Driv...

Page 50: ... 55 83 00 00 Flash Internal flash error E26 4 55 84 00 00 Calibration data not available E26 5 55 85 00 00 Following error warning threshold E27 0 86 11 00 00 Internal conversion error E30 0 63 80 00 00 I2T motor E31 0 23 12 00 00 I2T servo controller E31 1 23 11 00 00 I2T PFC E31 2 23 13 00 00 I2T brake resistor E31 3 23 14 00 00 DC bus charge time exceeded E32 0 32 80 00 00 Undervoltage for acti...

Page 51: ...cturer specific Manufacturer specific error 1003h Pre_defined_error_ field 0 number_of_errors 00h 1h FFh UINT8 RW Reading the number of error messages saved 00h Deleting the history buffer by writing the value 00h After an error the error must be acknowledged to activate the power stage 1 standard_error_ field_0 UINT32 RO Reading the last error message Bit 31 24 23 16 15 8 7 0 00 00 23 00 Motor de...

Page 52: ...R UINT32 RW Identifier emergency object 080h node address Bit No Value 0 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Reserved 31 0 Emergency object exists is used 1 Emergency object does not exist is not used 1015h 0 inhibit_time_emcy 0 0 1 μs 65535 VAR UINT16 RW Setting the inhibit time of the emergency object T...

Page 53: ...to the monitoring by the master the bus system can be monitored by the drive controller For this purpose the drive controller monitors the acknowledgement of the heartbeat telegram The absence of acknowledgements indicates that there is no other active drive controller on the bus system or that the bus system is damaged by a cable break The following response which can be a warning a quick stop or...

Page 54: ...age is received within the heartbeat consumer time The time must be longer than the corresponding heartbeat producer time Heartbeat producer The drive controller transmits a state telegram on the fieldbus and can thus be monitored by other bus devices The settings are made under index 1017h ƒ The producer heartbeat is automatically started if a time 0 is entered under index 1017h and the drive con...

Page 55: ...r_ heartbeat_time 0 1 ms 65535 VAR UINT32 RW Setting the time in which the controller expects a message from the master The time must be longer than the corresponding index producer_heartbeat_time 0 means that the function is deactivated Bit No 0 15 Heartbeat time 16 23 Node address of the controller 24 31 Reserved value 0 1017h 0 producer_ heartbeat_time 0 0 1 ms 65536 VAR UINT16 RW Time between ...

Page 56: ...bits 4 bits User data 1 byte 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Identifier Data length 0 The structure of the boot up telegram is almost identical to the structure of the heartbeat telegram The boot up telegram is also sent with the identifier 700h node address The data length is 1 The only difference is that a zero is sent instead of the NMT state For boot up ...

Page 57: ... you can enter a time under index 100Dh Life time factor you can enter a factor The multiplication of both indices results in the monitoring time within which the master must send a node guarding telegram to the slave If one of the two indices is set to zero the monitoring time is also zero and thus deactivated The slave sends a telegram with its current status to the master With event controlled ...

Page 58: ...master queries the status of the slaves 0 Function is deactivated 100Dh 0 life_time_factor 0 0 1 255 VAR UINT8 RW The maximum time between two queries of the master results from the product of guard_time and life_time_factor 0 Function is deactivated 6007h 0 abort_connection_ option_code 0 0 1 3 VAR INT16 RW MAP Determining the event to be activated when the master fails 0 No action 1 Malfunction ...

Page 59: ...on the CAN bus Please observe that high baud rates require a low maximum cable length ƒ Bus terminator Ifthecontrolleristhelastnodeina bussystem theterminating resistormust beactivated When the physical connection to the master has been established programming can be started Note The controllers can either be parameterised and controlled via the serial interface using the fluxx software or via the...

Page 60: ...of the operating mode speed control 5 Selection of a speed setpoint 6 Commissioning of the speed controller via the state machine 6 2 1 Parameterising of a process data object TPDO and RPDO This exampleshows theadaptation and activation ofa transmit PDO TPDO and a receive PDO RPDO The TPDO transfers the actual speed and the status word Via the RPDO a higher level control specifies the speed setpoi...

Page 61: ...x 606C_00h with a length of 32 bits 20h 601 8 23 00 1A 01 20 00 6C 60 5 Parameterising the second object to be mapped The second object to be mapped second_mapped_object is the status word index 6041_00h with a length of 16 bits 10h 601 8 23 00 1A 02 10 00 41 60 6 Defining the number of objects In this example 2 mapped objects actual speed and status word are to be transmitted number_of_mapped_obj...

Page 62: ...ere the index of the object to be mapped first_mapped_ object and the length of the corresponding variable type must be indicated The first object to be mapped is the setpoint speed index 60FF_00h with a length of 32 bits 20h 601 8 23 00 16 01 20 00 FF 60 5 Defining the number of objects In this example one mapped object setpoint speed is to be transmitted number_of_ mapped_objects 601 5 2F 00 16 ...

Page 63: ...tion 601 5 2F 60 60 00 03 00 00 00 2 Defining the maximum current For limiting the current max_ current and the maximum torque the current is limited to 1 5 times the rated motor current 1 5 times equals 1500 or 05DCh 601 6 2B 73 60 00 DC 05 00 00 3 Speed controller setting Kp A gain velocity_control_gain of Kp 2 equals 200h is selected 601 6 2B F9 60 01 00 02 00 00 4 Speed controller setting Tn A...

Page 64: ...set with the fault reset command after the cause of the error has been removed If no error has occurred you can directly continue with 6 601 6 2B 40 60 00 08 80 00 00 5 Status check reading 601 4 40 41 60 00 00 00 00 00 6 Control word Shut down With the shut down command the status is changed to ready to switch on 601 6 2B 40 60 00 06 80 00 00 7 Status check reading 601 4 40 41 60 00 00 00 00 00 8...

Page 65: ...n disabled Switched on Operation Enable Ready to switch on Identifier Length State Com m and M ainindex Subindex Speed control during operation change of speed setpoint is possible 601h 6 2Bh 40h 60h 00h 06h 80h 00h 00h 601h 6 07h 40h 60h 00h 07h 80h 00h 00h 601h 6 0Fh 40h 60h 00h 0Fh 80h 00h 00h 601h 6 1Fh 40h 60h 00h 00h 80h 00h 00h 931m_052 Fig 7 Representation of a state machine during speed c...

Page 66: ...ng 06 is used as operating mode modes_of_ operation 601 5 2F 60 60 00 06 00 00 00 2 Defining the homing method Traversing to the negative limit switch under consideration of the zero pulse value 1 is selected as homing method Alternative setting current position value 35 601 5 2F 98 60 00 01 00 00 00 3 High homing speed setting The search speed used while searching for the limit switch speed_durin...

Page 67: ...nged to Switched_On 601 6 2B 40 60 00 07 80 00 00 5 Status check reading for explanation see 1 601 4 40 41 60 00 00 00 00 00 6 Control word Enable operation With the enable operation command the status is changed to Operation_Enable Now the motor is energised But homing is not started yet 601 6 2B 40 60 00 0F 80 00 00 7 Status check reading for explanation see 1 601 4 40 41 60 00 00 00 00 00 8 Con...

Page 68: ...eleration setting The profile_acceleration object is used to define the acceleration 601 8 23 83 60 00 88 13 00 00 4 Profile deceleration setting The profile_deceleration object is used to define the deceleration 601 8 23 84 60 00 88 13 00 00 5 Position window setting In the position window position_error_tolerance_wind ow you can define a range in which the controller does not intervene One revol...

Page 69: ...tch_On 601 6 2B 40 60 00 06 80 00 00 6 Status check reading 601 4 40 41 60 00 00 00 00 00 7 Control word Switch on With the switch on command the status is changed to Switched_On 601 6 2B 40 60 00 07 80 00 00 8 Status check reading 601 4 40 41 60 00 00 00 00 00 9 Control word Enable operation With the enable operation command the status is changed to Operation_Enable Now the motor is energised The...

Page 70: ...Disable Voltage Controlword Enable Operation Controlword Enable Operation Controlword Switch on Switched on disabled Switched on Operation Enable Oper Enable new Setpoint Ready to switch on Identifier Length State Com m and M ainindex Subindex 601h 6 2Bh 40h 60h 00h 06h 80h 00h 00h 601h 6 07h 40h 60h 00h 07h 80h 00h 00h 601h 6 0Fh 40h 60h 00h 0Fh 80h 00h 00h 601h 6 0Fh 40h 60h 00h 1Fh 80h 00h 00h ...

Page 71: ...he CAN bus When the controller is switched on the application parameter set is copied to the current parameter set ƒ Default parameter set The default controller parameter set is default set and cannot be changed By writing to the CANopen object 1011_01h restore_all_default_parameters the default parameter set can be copied to the current parameter set Copying is only possible when the power stage...

Page 72: ...reated via the CAN bus after every switch on of the system For this the higher level control loads the default parameter set call of CANopen object 1011_01h restore_all_default_parameters first After this only the objects that are different are transferred This takes less than 1 second per controller Of advantage is that this method can also be used for controllers which have not been parameterise...

Page 73: ...Accepting the default parameter set in the application parameter set 00000000h Default parameter set is not accepted 65766173h Save Default parameter set is accepted 1011h Restore_default_ parameters 1 restore_all_default_ parameters 00000001h 00000000h 1h 64616F6Ch VAR UINT32 RW Loading the default parameter set only possible when the power stage is deactivated The CAN communication parameters no...

Page 74: ...cts Index Name Possible settings Characteristics Lenze Selection Description 6091h Gear_ratio 0 number_of_ supported_entries 00h 1h 02h VAR UINT8 RO Maximally supported subindices 02h Two subindices are supported 1 motor_revolutions 1 1 1 1000 VAR INT32 RW Gearbox ratio 2 shaft_revolutions 1 1 1 1000 VAR INT32 RW Gearbox ratio 607Eh 0 polarity 00h 00h 04h 40h 80h C0h VAR UINT8 RW Setting the sign ...

Page 75: ...urrent monitoring ƒ Power stage monitoring Theimplementationofthesafety functions requires somebasic informationonthemotor to be controlled The objects designed for this are described below The power stage can be activated in different ways ƒ Power stage activation via the CAN bus state machine ƒ Power stage activation via the fluxx software ƒ Power stage activation via the digital input start sto...

Page 76: ...the phase sequence in the motor cable and the phase angle encoder cable is correct The controller parameter set must be adapted to the connected motor and the cable set This concerns the following parameters ƒ Rated current Depending on the motor ƒ Overload capacity Depending on the motor ƒ Direction of rotation Depending on the motor and the phase sequence in the motor and phase angle encoder cab...

Page 77: ... depends on the size of the drive 6072h 0 max_torque 1500 0 motor_rated_torque 1000 1500 VAR UINT16 RW Input value for Mmax Maximum setting 1 5 times the rated torque of the controller 6410h Motor_data 1 resolver_offset 1 0 1 inc 4096 VAR UINT16 RW Setting the resolver offset 2 number_of_pole_ pairs 2 1 1 13 VAR UINT16 RW Setting the pole pair number Bit No Meaning 0 3 Pole pair number 4 Reversal ...

Page 78: ...ng the system with the fluxx software Stop Uncontrolled vibrations Incorrect speed controller parameter settings can lead to strong vibrations Possible consequences ƒ Parts of the system can be destroyed Protective measures ƒ Ensure that the speed controller parameter settings are correct before switching on the controller The speed controller settings are identical with the control parameters of ...

Page 79: ...2000 1 μs 65500 VAR UINT16 RW Setting the time constant Tn of the speed controller fluxx software Tn 2 ms Here 2 ms 2000 μs 3 velocity_control_ differential_time 6500 1 1 μs 30000 VAR UINT16 RW Setting the time constant Tv of the speed controller To increase the dynamic performance for following error or position control the speed setpoint changes are differentiated and the result is added to the ...

Page 80: ...tatusword object Fig 10 shows the definition of the window function for the Following error message Symmetrically around the setpoint position position_demand_value xi the range between xi x0 and xi x0 is defined The positions xt2 and xt3 are for instance not within the window following_error_window If the drive leaves the window bit 13 following_error is set in the status word x x i 0 x x i 0 pos...

Page 81: ... defined in the software_position_limit object 7 6 2 Description of the objects The controller parameter set must be adapted to your application The position controller data must be optimally determined when commissioning the system with the fluxx software Stop Uncontrolled vibrations Incorrect position controller parameter settings can lead to strong vibrations Possible consequences ƒ Parts of th...

Page 82: ...ition controller is also used for following error control 2 position_control_ end_time 10 0 1 ms 65535 VAR UINT16 RW Setting the position control end time This is the time the motor continues to be actively energised after reaching the target position to hold the target position The input of 0 means that the motor is permanently energised 6063h 0 position_actual_ value 231 1 inc 231 1 VAR INT32 RO...

Page 83: ...e is not within this range a following error occurs and bit 13 is set in the status word Causes for the following error z the drive is inhibited z the positioning speed is too high z the acceleration values are too high z the value of the following_error_window index is too low z the parameters of the position controller are not correct 6067h 0 position_window 1820 231 1 inc 231 1 VAR UINT32 RW MA...

Page 84: ... home_position Before comparing the limit values with the current target_position they have to be converted corrected_min_position_limi t min_position_limit home_offset The calculation must be repeated whenever the home_offset or the software_position_limit are changed 2 max_position_limit 1 inc VAR INT32 RW Input value for the maximum positioning limit The value refers relatively to the home_posi...

Page 85: ...troller or power stage enable High active 4 15 Reserved 16 Brake_on 17 DOUT0 18 31 Reserved 60FEh Digital_outputs 0 number_of_ supported_entries 00h 1h 02h VAR UINT8 RO Maximally supported subindices 02h Three subindices are supported 1 digital_outputs_ data 0 00000000h 1h FFFFFFFFh VAR UINT32 RW MAP Bit No Digital output Activating or deactivating special functionalities or outputs With bit 0 you...

Page 86: ... 13 Stopover Low 12 Motor deenergised Low 11 Controller error Low 10 Reserved 9 Drive in standstill Low 8 Reserved 7 Homing active Low 6 5 Reserved 4 Setpoint reached Low 3 Traversing request is being processed Low 2 Fault Low 1 Warning 0 No function 1 Warning High 2 Fault High 3 Traversing request is being processed High 4 Setpoint reached High 5 6 Reserved 7 Homing active High 8 Reserved 9 Drive...

Page 87: ...128 1 127 VAR INT8 RW Digital input can be parameterised by the user Value Function Active 128 9 Reserved 8 Start stop Low 7 Reserved 6 Stopover Low 5 Synchronisation Low 4 Reserved 3 Quick stop Low 2 Power stage off Low 1 Reference Low 0 No function 1 Reference High 2 Output stage off High 3 Quick stop High 4 Reserved 5 Synchronisation High 6 Stopover High 7 Reserved 8 Start stop High 9 127 Reser...

Page 88: ...resolver 3 braking _times 1 ms VAR UINT32 RW Setting the disengagement and engagement time of the brake Bit No Meaning 0 15 Disengagement time 16 31 Engagement time 4 brake_voltage 001A0012 1 V VAR UINT32 RW Setting the value range for the brake voltage Bit No Meaning 0 15 Minimum limit value 18 22 V 16 31 Maximum limit value 26 32 V 6510h Drive_data 0 number_of_ supported_entries 00h 1h 03h VAR U...

Page 89: ...vendor_id UINT32 RO Manufacturer s code 2 product_code UINT32 RO Product code 03A30018h 3 revision_number UINT32 RO Firmware version 4 serial_number UINT32 RO Serial number of hardware 1008h 0 manufacturer_ device_name VAR STR RO Manufacturer s controller name 1009h 0 manufacturer_ hardware_version VAR STR RO Current hardware version 100Ah 0 manufacturer_ software_version VAR STR RO Current softwa...

Page 90: ...et to 1 The control authority can still only be requested via bit 15 of the control word 0 Not requesting the control authority via the CAN bus 2001h 0 actual_drive_ temperature 1 C VAR INT16 RO Reading the current motor temperature 2002h 0 actual_device_ temperature 1 C VAR INT8 RO Reading the current controller temperature 2003h 0 actual_brake_ voltage 1 mV VAR UINT16 RO MAP Reading the current ...

Page 91: ...oltage 220 V 1 22 V brake voltage 26 V 2 Motor temperature 130 C 3 Temperature of electronic components 70 C 4 Following error 5 15 Reserved 200Ah 0 local_errors VAR UINT16 RO MAP Reading error messages Bit No Meaning 0 DC bus voltage 180 V 1 20 V brake voltage 28 V 2 Motor temperature 140 C 3 Temperature of electronic components 78 C 4 DC bus voltage 400 V 5 Quick stop 6 Homing 7 Motor deenergise...

Page 92: ...object is used to select the current driving program The parameters driving_program_acceleration driving_program_deceleration driving_program_velocity driving_program_position and driving_program_torque are used to definethedriving profile Thesetpoint selection depends on thecontrol mode see modes_of_operation ƒ for torque control the setpoint corresponds to the driving_program_torque ƒ for speed ...

Page 93: ...oint The torque can only be limited via the object max_torque 99 driving_program_ torque 0 1500 rated_torque 1000 1500 VAR INT16 RW See subindex 1 217Ah Driving_program_ position 0 number_of_ supported_entries 00h 1h FFh VAR UINT8 RO Maximally supported subindices 1 driving_program_ position 0 231 1 inc 231 VAR INT32 RW Setting the position setpoint for the individual driving programs 99 driving_p...

Page 94: ...W Setting the deceleration ramp 99 driving_program_ deceleration 0 0 1 rpm s 218 VAR INT32 RW Setting the deceleration ramp 21FFh Driving_program_ velocity 0 number_of_ supported_entries 00h 1h FFh VAR UINT8 RO Maximally supported subindices 1 driving_program_ velocity 0 6000 1 rpm 6000 VAR INT32 RW Setting the speed used to approach the positions of the individual driving programs With speed cont...

Page 95: ...he control word and the state of the drive controller can be read back via the status word object To explain the control of the drive controller the following terms are used ƒ State Dependingonthepowerstagebeingswitchedonoranerrorhavingoccurred thedrive controller is in different states The states defined under CANopen are described in this chapter Example Switch_On_Disabled ƒ State transition CAN...

Page 96: ...stage is switched on Danger Hazardous electrical voltage Power stage disabled means that the power transistors are no longer controlled A hazardous voltage can however still be applied to the motor Possible consequences ƒ Extreme danger when working on the motor Protective measures ƒ Disconnect the motor from the mains before working on the motor After power on the controller is initialised and fi...

Page 97: ... be set in the control word Bits 0 3 of the control word are evaluated together to activate a statustransition Inthefollowing onlythemostimportantstatustransitions 2 3 4 9and 15 will be explained A table of all states and status transitions can be found at the end of this chapter In the first column of the following table you can find the desired status transition and in the second column the comm...

Page 98: ... word Transitions 3 and 4 can be combined by setting the control word directly to 000Fh The set bit 3 is not relevant for status transition 2 8 1 3 States of the drive controller Status Meaning Not_Ready_To_Switch_On The controller makes a self test CAN communication is not active yet Switch_On_Disabled The self test has been completed CAN communication is possible Ready_To_Switch_On The controlle...

Page 99: ... 1 X 0 1 1 1 Motor is decelerated and energised at standstill 6 Shutdown 1 X X 1 1 0 Power stage is disabled Motor can be freely rotated 7 Quick stop 1 X X 0 1 X None 8 Shutdown 1 X X 1 1 0 Power stage is disabled Motor can be freely rotated 9 Disable voltage 1 X X X 0 X Power stage is disabled Motor can be freely rotated 10 Disable voltage 1 X X X 0 X Power stage is disabled Motor can be freely r...

Page 100: ...ansitions These bits are evaluated together 1 Enable voltage 2 Quick stop 3 Enable operation 4 6 Operation mode specific The bit function depends on the operating mode 7 Reset fault With a zero one transition the controller tries to acknowledge the existing errors This is only successful when the cause of the error has been removed 8 Stop The bit function depends on the operating mode 9 10 Reserve...

Page 101: ...Bit 0 Shutdown 1 X X 1 1 0 Switch on 1 X X 1 1 1 Disable voltage 1 X X X 0 X Quick stop 1 X X 0 1 X Disable operation 1 X 0 1 1 1 Enable operation 1 X 1 1 1 1 Fault reset 1 0 1 X X X X Tab 13 Overview of all commands X not relevant Note Since some status changes take a certain time all status changes activated via the control word must be read in the status word Another command may only be written...

Page 102: ...et in the status word index 6041h Deleting the bit has no effects z wait_for_sync When this bit is set the positioning is started with an active edge at the synchronisation input Profile velocity mode z reserved z reserved z reserved z stop When this bit is set the speed is reduced to zero The controller brakes with the profile_deceleration When the bit is deleted the controller starts acceleratin...

Page 103: ...uick_Stop_Active 0 0 0 1 1 1 006Fh 0007h Tab 14 Controller status X not relevant Example The above example shows which bits must be set in the control word to enable the controller Now the new status is to be read from the status word Transition from Switch_On_Disabled to Operation_Enable 1 Write status transition 2 to control word 2 Wait until the status Ready_To_Switch_On is displayed in the sta...

Page 104: ...ed the drive carries out a quick stop according to the quick_stop_option_code index 6 Switch on disabled 7 Warning This bit is not defined and must not be evaluated 8 Stop active This bit is set when the drive decelerates along a ramp or comes to standstill speed 0 9 Remote This bit indicates that the power stage of the controller can be enabled via the CAN network The bit is set when the controll...

Page 105: ...is controlled independently of a synchronisation edge z deceleration_ active This bit is set when the axis decelerates When this bit is not set the drive is not decelerated Profile velocity mode z target_reached This bit is set when the current actual speed of the drive has reached the speed setpoint z speed_0 This bit is set when the current speed is zero z max_slippage_ error This bit is set whe...

Page 106: ...change the operating mode and the object 6061h modes_of_operation_display can only be used to read back the operating mode Since changing the operating mode can take some time you have to wait until the newly selected mode appears in the modes_of_operation_display object During this period it may happen that invalid operating modes are displayed for a short time Index Name Possible settings Charac...

Page 107: ...tings Name Index Description Selection Lenze 6061h 0 modes_of_ operation_display VAR INT8 RO MAP Operating mode display If operation via CANopen is not possible an internal operating mode is displayed 0 Reserved 1 Position control with positioning 3 Speed control with setpoint ramp 4 Torque control with setpoint ramp 6 Homing ...

Page 108: ... Monitoring of actual speed velocity_actual_value with window function threshold Themeaningoftheparametersprofile_acceleration profile_decelerationandquick_stop is described in chapter Positioning 9 2 2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 606Ch 0 velocity_actual_ value 1 rpm VAR INT32 RO MAP Reading the actual speed 6080h 0 max_motor_...

Page 109: ..._value 931m_054 Fig 13 Homing The user can specify the speed acceleration and type of homing The home_offset object can be used to set the zero position of the drive to any position desired The value of the home_offset object is added to the value of the homing point e g limit switch position Two homing speeds are distinguished The higher search speed speed_during_search_for_switch 6099_01 isusedt...

Page 110: ...sible with the fluxx software When defining a homing method the following settings are selected z Reference source neg pos limit switch reference switch neg pos limit stop z Direction and sequence of homing z The way the zero pulse of the phase angle encoder is evaluated 2 positive Limit switch Zero pulse 4 positive Referen ce switch Zero pulse 6 negative Referen ce switch Zero pulse 9 positive Re...

Page 111: ...MAP Determining the lower speed 9 3 3 Control of the homing run The homing run is controlled by the control word and monitored by the status word Homing is started by setting bit 4 in the control word The successful completion is indicated by bit 12 being set in the status word object Bit 13 being set in the status word object indicates that an error has occurred during the homing run The error ca...

Page 112: ...sition_demand_value for the position controller These two function blocks can be set independently of each other Position Control Function Trajectory Generator position_demand_value target_position 607Ah Limit Function target_postion 607Ah control_effort Trajectory Generator Parameters home_offset 607Ch Multiplier position_factor polarity 607Eh position 931m_055 Fig 14 Trajectory generator and pos...

Page 113: ...speed acceleration and deceleration settings and the driving profile type must be considered 6081h 0 profile_velocity 3000 0 1 rpm 231 1 VAR UINT32 RW MAP Positioning Velocity at the end of the acceleration ramp 6083h 0 profile_acceleration 5000 0 1 rpm s VAR UINT32 RW MAP Setting the acceleration required to reach the profile_velocity 6084h 0 profile_ deceleration 5000 0 1 rpm s VAR UINT32 RW MAP...

Page 114: ...etweenthesebitsisaninterrogation responserelationship This makes it possible to prepare a new travel task while the old one is still running 1 1 1 1 2 3 4 5 6 7 t t t data_ valid new_ set_ point set_ point_ acknowledge 931e_406 Fig 15 Transfer of a travel task between master and drive controller First the positioning data target position travelling speed and acceleration are transferred to the dri...

Page 115: ...ofthecontrolwordare set to 1 the master instructs the drive controller to start the new travel task immediately A travel task already being processed in interrupted in this case as shown in Fig 17 For this purpose the master transfers the next target to the drive controller after the controller has signalled by deleting the set_point_acknowledge bit that it has read the buffer and started the corr...

Page 116: ...Stage Limit Function motor_rated_torque 6076h max_torque 6072h motor_rated_current 6075h max_current 6073h Motor torque_actual_value 6077h DC_link_voltage 6079h target_torque 6071h motor_data 6410h 931m_056 Fig 18 Structure of torque controlled operation Ramp generators are not supported If bit 8 of the control word is set to stop the current setpoint is set to zero Correspondingly the target torq...

Page 117: ... The default value depends on the size of the drive 6076h 0 motor_rated_ torque 0 001 Nm VAR UINT32 RO Reading the rated torque The default value depends on the size of the drive 6077h 0 torque_actual_ value motor_rated_torque 1000 VAR INT16 RO MAP Reading the actual torque 6079h 0 DC_link_circuit_ voltage 1 mV VAR UINT32 RO MAP Reading the DC bus voltage 607Fh 0 max_profile_ velocity 4000 0 1 rpm...

Page 118: ...Object type REC Record ARR Array composed type field VAR Variable Data type UINT8 Unsigned integer 1 byte without sign UINT16 Unsigned integer 2 bytes without sign UINT32 Unsigned integer 4 bytes without sign INT8 Integer 1 byte with sign INT16 Integer 2 bytes with sign INT32 Integer 4 bytes with sign STR String Access RO Read only RW Read and write WO Write only Mapping No PDO mapping MAP PDO map...

Page 119: ...ter 1001h 0 error_register VAR UINT8 RO MAP Here you can read the value of the error_register contained in the emergency telegram Bit No Meaning 0 generic error An error has occurred which is not specified in detail flag is set with every error message 1 current 2 voltage 3 temperature 4 communication error Communication error CAN overrun 5 device profile specific 6 reserved 7 manufacturer specifi...

Page 120: ...voltage 180 V 00 00 33 20 20 V brake voltage 28 V 00 00 42 10 Power stage overtemperature 00 00 43 10 Motor overtemperature 00 00 63 20 Driving program system parameters 00 00 71 21 Drive inhibited 00 00 90 00 Quick stop 00 00 FF 00 Homing 4 standard_error_ field_3 UINT3 2 RO Reading the error message 1005h 0 COB ID_sync_ message 00000080h 00000080h 1h 80000080h VAR UINT3 2 RW The identifier of th...

Page 121: ...t hardware version 100Ah 0 manufacturer_ software_version VAR STR RO Current software version 100Ch 0 guard_time 0 0 1 ms 65535 VAR UINT1 6 RW Setting the cyclic monitoring time in which the master queries the status of the slaves 0 Function is deactivated 100Dh 0 life_time_factor 0 0 1 255 VAR UINT8 RW The maximum time between two queries of the master results from the product of guard_time and l...

Page 122: ...ed 64616F6Ch Load Loading the default parameter set 00000001h Read access Reset to default values 1014h 0 COB ID_emergency _message 00000081h 00000000h 1h 00000081h VAR UINT3 2 RW Identifier emergency object 080h node address Bit No Value 0 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Reserved 31 0 Emergency objec...

Page 123: ...sponding index producer_heartbeat_time 0 means that the function is deactivated Bit No 0 15 Heartbeat time 16 23 Node address of the controller 24 31 Reserved value 0 1017h 0 producer_ heartbeat_time 0 0 1 ms 65536 VAR UINT1 6 RW Time between two heartbeat telegrams If the controller starts with a time unequal zero the boot up telegram is the first heartbeat 0 Function is deactivated 1018h 0 ident...

Page 124: ...W Identifier of receive PDO1 200h node address For processing bit 31 must be set parameterisation of mapping Bit No Value 0 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the transmission mode 0 Function is deactivate...

Page 125: ...W Identifier of receive PDO2 300h node address For processing bit 31 must be set parameterisation of mapping Bit No Value 0 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the transmission mode 0 Function is deactivate...

Page 126: ...W Identifier of receive PDO3 400h node address For processing bit 31 must be set parameterisation of mapping Bit No Value 0 10 X 11 bit identifier 11 28 0 The extended identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the transmission mode 0 Function is deactivate...

Page 127: ... supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the transmission mode 0 Function is deactivated n 1 F0 When a value n is entered the PDO is accepted every n th sync n FE Cyclic transmission mode n FF Event controlled transmission mode 1600h Receive PDO1 mapping parameters 0 number_of_ ...

Page 128: ...cond mapped object 3 third_mapped_ object UINT3 2 RW COB ID entry of third mapped object 4 fourth_mapped_ object UINT3 2 RW COB ID entry of fourth mapped object 1602h Receive PDO3 mapping parameters 0 number_of_ mapped_objects 00h 1h 04h REC UINT3 2 RW Maximally supported subindices 04h Five subindices are supported 1 first_mapped_ object 60400010h 1h UINT3 2 RW COB ID entry of first mapped object...

Page 129: ... 04h REC UINT3 2 RW Maximally supported subindices 04h Five subindices are supported 1 first_mapped_ object 60400010h 1h UINT3 2 RW COB ID entry of first mapped object 2 second_mapped_ object 60FF0020h 1h UINT3 2 RW COB ID entry of second mapped object 3 third_mapped_ object UINT3 2 RW COB ID entry of third mapped object 4 fourth_mapped_ object UINT3 2 RW COB ID entry of fourth mapped object ...

Page 130: ...ded identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the transmission mode 0 Function is deactivated n 1 F0 When a value n is entered the PDO is accepted every n th sync n FE Cyclic transmission mode n FF Event controlled transmission mode 3 inhibit_time 0 0 100 ...

Page 131: ...ded identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the transmission mode 0 Function is deactivated n 1 F0 When a value n is entered the PDO is accepted every n th sync n FE Cyclic transmission mode n FF Event controlled transmission mode 3 inhibit_time 0 0 100 ...

Page 132: ...ded identifier bit 29 is not supported Every bit in this range must be set to 0 29 0 30 0 Set to zero 31 0 PDO active 1 PDO inactive 2 transmission_type FFh 0 1 F0h FEh FFh UINT8 RW Setting the transmission mode 0 Function is deactivated n 1 F0 When a value n is entered the PDO is accepted every n th sync n FE Cyclic transmission mode n FF Event controlled transmission mode 3 inhibit_time 0 0 100 ...

Page 133: ...UINT3 2 RW COB ID entry of second mapped object 4 fourth_mapped_ object UINT3 2 RW COB ID entry of fourth mapped object 1A01h Transmit PDO2 mapping parameters 0 number_of_ mapped_objects 00h 1h 04h REC UINT3 2 RW Maximally supported subindices 04h Five subindices are supported 1 first_mapped_ object 60410010h 1h UINT3 2 RW COB ID entry of first mapped object 2 second_mapped_ object 60610008h 1h UI...

Page 134: ...RW COB ID entry of third mapped object 4 fourth_mapped_ object UINT3 2 RW COB ID entry of fourth mapped object 2000h Slave_clock 0 number_of_ supported_entries 00h 1h 02h VAR UINT8 RO Maximally supported subindices 02h Three subindices are supported 1 COB ID 00000000h 1h FFFFFFFFh VAR UINT3 2 RW Identifier of slave clock 2 interval 0 1 ms VAR UINT3 2 RW Bit No Meaning 0 15 Maximum time 16 31 Minim...

Page 135: ...sible settings Name Index Description Selection Lenze 2004h Start_stop_position 0 number_of_ supported_entries 00h 1h 02h VAR UINT8 RO Maximally supported subindices 02h Three subindices are supported 1 start_position VAR INT32 RW MAP 2 stop_position VAR INT32 RW MAP ...

Page 136: ... deenergised Low 11 Controller error Low 10 Reserved 9 Drive in standstill Low 8 Reserved 7 Homing active Low 6 5 Reserved 4 Setpoint reached Low 3 Traversing request is being processed Low 2 Fault Low 1 Warning 0 No function 1 Warning High 2 Fault High 3 Traversing request is being processed High 4 Setpoint reached High 5 6 Reserved 7 Homing active High 8 Reserved 9 Drive in standstill High 10 Re...

Page 137: ... 2 Output stage off High 3 Quick stop High 4 Reserved 5 Synchronisation High 6 Stopover High 7 Reserved 8 Start stop High 9 127 Reserved 2007h 0 absolute_ resolver_position 1 1 inc VAR INT16 RW Determining the absolute resolver position within one revolution 2008h Maximum_control _ difference 0 number_of_ supported_entries 00h 1h 02h VAR UINT8 RO Maximally supported subindices 02h Three subindices...

Page 138: ...es Bit No Meaning 0 DC bus voltage 180 V 1 20 V brake voltage 28 V 2 Motor temperature 140 C 3 Temperature of electronic components 78 C 4 DC bus voltage 400 V 5 Quick stop 6 Homing 7 Motor deenergised 8 Driving program 9 System parameter 10 Drive inhibited 11 15 Reserved 200Bh 0 master_slave_ratio 1 1 inc 1000 VAR UINT3 2 RW Bit No Meaning 0 15 Slave increments 16 31 Master increments 200Ch 0 sla...

Page 139: ...umber_of_ supported_entries 00h 1h 02h VAR UINT8 RO Maximally supported subindices 02h Three subindices are supported 1 negative_manual_ drive_position VAR INT32 RW MAP 2 positive_manual_ drive_position VAR INT32 RW MAP 2081h 0 manual_drive_ velocity 1 rpm VAR INT32 RW MAP 2083h 0 manual_drive_ acceleration 1 rpm s VAR UINT3 2 RW MAP 2084h 0 manual_drive_ deceleration 1 rpm s VAR UINT3 2 RW MAP 21...

Page 140: ...mited via the object max_torque 99 driving_program_ torque 0 1500 rated_torque 1000 1500 VAR INT16 RW See subindex 1 217Ah Driving_program_ position 0 number_of_ supported_entries 00h 1h FFh VAR UINT8 RO Maximally supported subindices 1 driving_program_ position 0 231 1 inc 231 VAR INT32 RW Setting the position setpoint for the individual driving programs 99 driving_program_ position 0 231 1 inc 2...

Page 141: ... Maximally supported subindices 1 driving_program_ velocity 0 6000 1 rpm 6000 VAR INT32 RW Setting the speed used to approach the positions of the individual driving programs With speed control the value is used as speed setpoint Otherwise the value is used as profile velocity 99 driving_program_ velocity 0 6000 1 rpm 6000 VAR INT32 RW See subindex 1 6007h 0 abort_connection_ option_code 0 0 1 3 V...

Page 142: ...it function depends on the operating mode 7 Reset fault With a zero one transition the controller tries to acknowledge the existing errors This is only successful when the cause of the error has been removed 8 Stop The bit function depends on the operating mode 9 10 Reserve Reserved set to 0 11 13 Operation mode specific The bit function depends on the operating mode 14 Wait for sync The bit funct...

Page 143: ...t is not defined and must not be evaluated 8 Stop active This bit is set when the drive decelerates along a ramp or comes to standstill speed 0 9 Remote This bit indicates that the power stage of the controller can be enabled via the CAN network The bit is set when the controller enable logic is set accordingly via the enable_logic object 10 Target reached The bit function depends on the operating...

Page 144: ...31 position units 231 1 VAR INT32 RO MAP Reading the actual position The phase angle encoder sends the actual position value to the position controller 6065h 0 following_error_ window 9102 00000000h 1 inc 7FFFFFFF VAR UINT3 2 RW MAP Symmetrical range around the position setpoint If the actual position value is not within this range a following error occurs and bit 13 is set in the status word Caus...

Page 145: ... value depends on the size of the drive 6075h 0 motor_rated_ current 1 mA VAR UINT3 2 RO Reading the rated current for Irat The default value depends on the size of the drive 6076h 0 motor_rated_ torque 0 001 Nm VAR UINT3 2 RO Reading the rated torque The default value depends on the size of the drive 6077h 0 torque_actual_ value motor_rated_torque 1000 VAR INT16 RO MAP Reading the actual torque 6...

Page 146: ...the home_offset or the software_position_limit are changed 2 max_position_limit 1 inc VAR INT32 RW Input value for the maximum positioning limit The value refers relatively to the home_position Before comparing the limit values with the current target_ position they have to be converted corrected_max_position_ limit max_position_ limit home_offset The calculation must be repeated whenever the home...

Page 147: ...P Positioning Velocity at the end of the acceleration ramp 6083h 0 profile_acceleration 5000 0 1 rpm s VAR UINT3 2 RW MAP Setting the acceleration required to reach the profile_velocity 6084h 0 profile_deceleration 5000 0 1 rpm s VAR UINT3 2 RW MAP Setting the deceleration 6086h 0 motion_profile_ type 0 0 1 1 VAR INT16 RW MAP Setting the positioning profile 0 Linear ramp 1 Sine2 ramp 6091h Gear_ra...

Page 148: ...e selected z Reference source neg pos limit switch reference switch neg pos limit stop z Direction and sequence of homing z The way the zero pulse of the phase angle encoder is evaluated 2 positive Limit switch Zero pulse 4 positive Referen ce switch Zero pulse 6 negative Referen ce switch Zero pulse 9 positive Referen ce switch Zero pulse 11 negative Referen ce switch Zero pulse 17 negative Limit...

Page 149: ...rameter_set 1 velocity_control_ gain 1920 0 01 128 128 100 128 VAR UINT1 6 RW Setting the speed controller gain fluxx software Kp 1 5 Here 15 128 1920 2 velocity_control_ time 10000 2000 1 μs 65500 VAR UINT1 6 RW Setting the time constant Tn of the speed controller fluxx software Tn 2 ms Here 2 ms 2000 μs 3 velocity_control_ differential_time 6500 1 1 μs 30000 VAR UINT1 6 RW Setting the time const...

Page 150: ...troller The position controller is also used for following error control 2 position_control_ end_time 10 0 1 ms 65535 VAR UINT1 6 RW Setting the position control end time This is the time the motor continues to be actively energised after reaching the target position to hold the target position The input of 0 means that the motor is permanently energised 60FDh 0 digital_inputs 00000000h 1 FFFFFFFF...

Page 151: ...it No Digital output Activating or deactivating special functionalities or outputs With bit 0 you can for instance activate or deactivate the brake 0 Brake 1 15 Reserved 16 DOUT0 17 Neg limit switch 18 Pos limit switch 19 Reference switch 20 Quick stop 17 31 Reserved 2 digital_outputs_ mask 0 0 1 1 VAR UINT3 2 RW MAP Defining a mask to ensure that an output is not activated when this is not desire...

Page 152: ...ing the disengagement and engagement time of the brake Bit No Meaning 0 15 Disengagement time 16 31 Engagement time 4 brake_voltage 001A0012 1 V VAR UINT3 2 RW Setting the value range for the brake voltage Bit No Meaning 0 15 Minimum limit value 18 22 V 16 31 Maximum limit value 26 32 V 6510h Drive_data 0 number_of_ supported_entries 00h 1h 03h VAR UINT8 RO Maximally supported subindices 03h Four ...

Page 153: ... Controller temperature 90 Conversion factors 74 D Definition of notes used 11 Device control 95 Device status of the heartbeat producer 54 Digital inputs 85 Digital outputs 85 mask 85 Driving program acceleration 92 deceleration 92 position setpoint 92 positions 92 Program number 92 setpoint torque 92 Driving records 92 E E82ZAFPC00x baud rate 12 Electrical installation 13 Emergency 49 Emergency ...

Page 154: ...on reached message 80 Positioning 112 Handshake 114 Power stage parameters 75 Process data objects available 25 Process data transfer PDO transfer 24 Profile velocity mode 108 Q Quick Stop Active 98 R Rated current motor 76 Rated motor current 76 Reading parameters 22 Ready to Switch On 98 Remote request 90 Resolver position 90 S Safety instructions 9 Definition 11 General 10 Structure 11 Scaling ...

Page 155: ...ion window 81 Target window position window 81 target_torque 116 Technical data 12 Torque control 116 Transmission cable specification 13 Transmission parameters for PDOs 25 U User data 18 19 20 21 25 V Preface 7 W Warnings 90 Writing parameters 23 ...

Page 156: ...Notes 156 KHB 13 0003 EN 2 0 ...

Page 157: ...Notes 157 KHB 13 0003 EN 2 0 ...

Page 158: ...be Hans Lenze Straße 1 D 32699 Extertal Germany KHB 13 0003 EN 2 0 02 2007 TD11 49 0 51 54 82 0 Service 00 80 00 24 4 68 77 24 h helpline Service 49 0 51 54 82 1112 E Mail Lenze Lenze de Internet www Lenze com 10 9 8 7 6 5 4 3 2 1 ...

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