Minimotors DBS 55 Series Installation, Use And Maintenance Manual Download Page 46

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8 - CanOpen / EtherCAT

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8.3.3

Manufacturer specific area

This area contains several object that allows to read/write manufacturer specific data.

Index

Access

Data type

Pdo

mappable

3000

Ain0 value
-32768 ... 32768

INT16

YES

3001

Digital input bit0:
digital input0 bit1:
digital input1 bit2:
digital input2 bit3:
digital input3 bit4:
digital input4

UINT16

YES

3002

Digital output bit0:
digital output0

UINT16

YES

3003

Heatsink temperature as tenth of °C
(200 >> 20.0°C)

INT16

YES

3005

Motor temperature
as tenth of °C (200 >> 20.0°C)

INT16

YES

3008

Actual alarm:
0: no alarm
>0: an alarm is pending
NOTE:  value  read  from  this  object  is  the  alarm  code  as
defined  in  the  DBS  manual  (e.g.  OVERVOLTAGE=3  etc)

Value IS NOT the EMCY code as defined in this document.

UINT16

YES

3010

Power stage tension as tenth of Volt
(240 >> 24.0V)

UINT16

YES

3011

Motor IQ current
as milliAmpere (+10 >> +1.0A)

INT16

YES

3012

Motor IQ limit
as milliampere (10 >> 1.0A)

UINT16

YES

8.3.4

Profiled objects

The range 6000h ... 67FFh of objects are defined as specified by CiA402; refer to the application area for
further information.

Index

Access

Type

Pdo

mappable

6040

Control word

U16

YES

6041

StatusWord

U16

YES

605A

Quickstop option code

U16

605B

Shutdown option code

U16

605C

Disable operation option code

U16

605D

Halt option code

U16

605E

Fault reaction option code

U16

6060

Mode of operation

YES

6061

Mode of operation display

YES

6062

Position demand value

S32

YES

6064

Position actual value

S32

YES

Summary of Contents for DBS 55 Series

Page 1: ...Installation Use and Maintenance Manual DBS 55 MCDBS 55 50 DBSE 55 Rev 07 DBS Firmware v4 003 ...

Page 2: ...r supply connector CN1 9 2 4 I O connector CN2 10 2 5 USB service connector CN4 10 2 6 Fieldbus connection 10 2 6 1 CanOpen Modbus RTU 55 C 11 2 6 2 CanOPEN over EtherCAT 55 ETH 11 2 6 3 Ethernet IP 55 EIP 12 2 6 4 Powerlink 55 EPL 12 2 6 5 Profinet 55 EPN 13 2 7 Protective device installation 13 3 Parametrization interface 14 3 1 Software installation 14 3 2 Software 15 3 2 1 Status 16 3 2 2 Alar...

Page 3: ...layer 42 8 2 2 SDO protocol 42 8 2 3 TIME protocol 43 8 2 4 PDO protocol 43 8 2 5 EMCY protocol 43 8 2 6 NMT protocol 43 8 2 7 HEARTBEATING 43 8 3 Object dictionary 44 8 3 1 Communication area 44 8 3 2 Manufacturer parameter area 45 8 3 3 Manufacturer specific area 46 8 3 4 Profiled objects 46 8 4 CiA402 Servodrive application profile 48 8 4 1 Supported modes 48 8 4 2 Position speed torque scaling...

Page 4: ...ticlockwise limit switch and index pulse resolver zero 60 11 2 Type 2 Homing on clockwise limit switch and index pulse resolver zero 60 11 3 Type 3 and 4 homing on the positive Home Switch and Index Pulse resolver zero 61 11 4 Type 5 and 6 homing on the negative Home Switch and Index Pulse resolver zero 62 11 5 Type 7 8 9 10 11 12 13 14 homing on the Home Switch and Index Pulse resolver zero 63 11...

Page 5: ... indicated in the specifications table Exposed to dust salinity water oil chemicals corrosive or inflammable gases fuels Pollution degree higher than 3 When subject to impact or vibrations 1 4 Transport installation and wiring Do not drop the product Grasp the product by the motor always checking first to ensure it is not hot burn danger Do not install the product if there are damage signs on the ...

Page 6: ... switches with wet hands 1 6 Maintenance and inspection The product is equipped with a backup battery used for the multi turn position retain To guarantee the life performance and expected life it is necessary to perform a complete charge cycle for a minimum time of 24 consecutive hours every 6 months Ensure that all safety precautions have been taken before performing maintenance or inspection op...

Page 7: ...l Checks Example of label applied to the product Figure 1 Type Product name Serial NO Serial number Tn0 Motor torque supplied with blocked rotor Nm Tpk Peak motor torque Nm In0 Motor current draw with blocked rotor A rms Ipk Peak motor current A rms Vn Supply voltage Vdc Feedback Type of encoder fitted Poles NO Number of motor poles IP Ingress protection IP rating CL Motor appliance isolation clas...

Page 8: ...dc 4 20 mA Optional only on request Outputs 1 NO 2A 125Vac 60Vdc Service communication USB Communication fieldbus optional Ethercat Ethernet IP PowerLink ProfiNET Modbus RTU CanOpen Main protection features Polarity inversion overcurrent overvoltage under voltage overheating overload memory error communications error Cooling Natural Standard ingress protection IP65 Ambient operating temperature 10...

Page 9: ...dbs 2Fmcdbs_asmtab prj DBSE 55 https b2b partcommunity com 3d cad models dbse servomotori brushless con azionamento integrato e riduttore epicicloidale mini motor info minimotor 2Fbrushless 2Fdbse_asmtab prj 2 2 Electric connections Please note that the device power supply does not have a direct connection with the system earth 2 3 Power supply connector CN1 Figure 2 Awg 18 cable is recommended fo...

Page 10: ...Relay common digital output 12 NO NO contact relay digital output max 2A 2 5 USB service connector CN4 Unscrew the metal cap to access the connector shown in Figure 4 By using this micro USB connection it is possible to set the device trough the specific BSI software Figure 4 2 6 Fieldbus connection The optional available fieldbus are CanOpen Modbus RTU defined by C in the final part of the produc...

Page 11: ...e logic power supply is not common different GND Pin CanOpen Modbus RTU 1 Housing Shield 2 Not connected 3 CAN GND GND 4 CAN H 485 B 5 CAN L 485 A Details about Led status are explained on chapter 5 1 2 6 2 CanOPEN over EtherCAT 55 ETH The wirings and LEDs in Figure 10 refer to the CanOpen over EtherCAT equipped version Figure 6 The pin function is the same for CN5 and CN6 CN5 connector input CN6 ...

Page 12: ...TCH Pin Ethernet IP 1 TX 2 RX 3 TX 4 RX Details about Led status are explained on chapter 5 3 2 6 4 Powerlink 55 EPL The wirings and LEDs in Figure 11 refer to the Powerlink equipped version Figure 8 The pin function is the same for CN5 and CN6 Connector CN5 Connector CN6 SWITCH CN5 connector Port A CN6 connector Port B Pin Powerlink 1 TX 2 RX 3 TX 4 RX Details about Led status are explained on ch...

Page 13: ... RX Details about Led status are explained on chapter 5 5 2 7 Protective device installation In order to prevent short circuits the product must be connected to a power supply line protected by devices to protect against overcurrent and short circuits in compliance with electrical safety legislation using standard fused disconnect switches etc For the installation of a switch up line of the power ...

Page 14: ... Figure 10 WARNING this is not an installation file It directly runs the interface software so you do not need to install it Cause of this every time the user wants to use the software only need to double click on this icon Figure 10 3 Connect the device trough the micro USB to the pc and check that the logic is connected to the power 4 Once the program is run and the device is found select CONNEC...

Page 15: ...ation interface 15 66 Figure 12 3 2 Software Figure 13 The Figure 13 rapresents the main screen of BSI software Following the menu it is possible to act on the motor parameter and to monitor the functional settings ...

Page 16: ...evel 1 Change User Level use this option in order to change the software user level and have acces to more setting parameters User Free acces Advance Free acces Eol PW needed Service PW needed 2 Alarms this button gives acces to the alarm menu Clear alarms Reset the alarm situation 3 Data Flash diagnostic tool to save the Flash memory image 4 Utility Diagnostic tool ...

Page 17: ... to save the list into an external file 3 2 3 Parameter Figure 16 Under Parameter it is possible to find and set all the motor parameters See the section of this guide in order to understand the meaning of all point and set de desired configuration In order to change the value or to select a different voice in one of the parameters click on modifiy change the value and then select Update to load t...

Page 18: ...ue 4 Compare allows to compare the parameter stored in the device with the parameters contained into an external file 3 2 4 Monitoring Figure 18 The program BSI is equipped with a tool useful in order to monitor the variables during the motor emplyment Click on data and select PCCommisioning to see window shown in Figure 18 To activate the control of one or more variables toogle the white square u...

Page 19: ... 3 and or 5 the device shall be restarted only version 55 C 6 On mode 6 CanOverEtherCAT the device shall be restarted only version 55 ETH 7 On mode 7 Ethernet PowerLink the device shall be restarted only version 55 EPL 8 On mode 8 Ethernet IP the device shall be restarted only version 55 EIP 9 On mode 9 Profinet IO the device shall be restarted only version 55 EPN P016 Control Type Motor control t...

Page 20: ...ntrol 1 15000 rpm s P009 Ramp dec Deceleration for speed position control 1 15000 rpm s P017 IMax Maximum operative current 0 20 000 A P021 MotorChangeDir1 Parameter to change the direction of motor 1 None Disable 2 Inverted Inverted the rotation 1 Only if P001 1 or 4 ...

Page 21: ...ggered 2 5 Forward Reverse2 6 Run Stop Forward2 7 Run Stop Reverse2 8 Error Reset 9 User Error 10 Multispeed Binary Selection Bit 02 11 Multispeed Binary Selection Bit 12 12 Multispeed Binary Selection Bit 22 30 Home Switch1 31 Fwd Limit Switch1 32 Rev Limit Switch1 1 Available only in homing mode 2 Available only if P001 1 or 4 P011 InputFunc2 Digital input function 2 See P010 P012 InputFunc3 Dig...

Page 22: ...switch 0 4000 rpm P154 HomingIndexSpeed Defines the positioning speed at the index pulse 0 4000 rpm P155 HomingAccel Defines the motor acceleration used to reach the settled homing speed starting by stop position 0 10000 rpm s P156 HomingDecel Defines the deceleration used to stop the motor running at the homing speed 0 10000 rpm s P157 HomingTimeOut Defines the time limit for the data exchange du...

Page 23: ... IpAddr Allows to set the slave address of the motor using Ethernet IP 192 168 250 100 P172 IpMask Defines the Ethernet IP 255 255 0 0 P174 IpGateway Defines the Ethernet IP 0 0 0 0 Modbus P182 ModbusAddress Allows to set the slave address of the motor connected through RS458 serial line using Modbus protocol 1 500 P183 ModbusMode Defines the Modbus RTU protocol configuration Modbus Word number of...

Page 24: ...RE motor control stop ms 4 2 1 Temperature ID NAME DESCRIPTION NOTE P028 MotorTempMAX Defines the maximum motor temperature Exceeded this value over temperature alarm appears This parameter is active only if NTC present on the motor and active C P029 Motor TempRecover Defines the minimum motor temperature Exceeded this value over temperature alarm appears This parameter is active only if NTC prese...

Page 25: ...ndicates the Time electric constant of teh motor 1 32000 us Read only P236 IMax Indicates the maximum current available to the motor only during the limited time defined by the P255 IMaxTime parameter After this time the value is limited to the P248 INom parameter 0 3200 0 A Read only P245 Jmotff Defines the rotor inertia used in the position speed loop control 0 32 000 Kg cm2 Read only P246 bmotf...

Page 26: ...Free access Eol PW needed Service PW needed 4 4 Alarm ID NAME DESCRIPTION NOTE P210 Nreset Defines the number of autoresettable alarm event exceeded which the fault is generated 0 100 P211 TminReset Defines the time after which the alarm ca be autoresetted 0 5 30 s P212 Trestore Defines the time after which the autoresettable alarm count is resetted 0 5 1800 s ...

Page 27: ...larm Tacc 0 5s Tperiod 1s FLASHING Red PWM off The number of flashes represent the type of control set 0 flashes unchecked control 1 flash torque control 2 flashes speed control 3 flashes position control ON Red PWM on LD2 OFF Yellow led always off LD3 OFF Inverter alarm FLASHING Green PWM off The number of flashes represents the source of the reference 1 flash Analog reference 3 flashes Modbus re...

Page 28: ...L BLINKING 2 5 Hz Green PRE OPERATIONAL the device is in pre operational mode SINGLE FLASH Green SAFE OPERATIONAL the device is in safe operational mode LD2 ERR OFF No Error the communication works properly BLINKING 2 5 Hz Red Invalid configuration General Configuration Error Possible reason State change commanded by master is impossible due to register or object settings SINGLE FLASH Red Local er...

Page 29: ...lash 200 ms followed by a long off phase 1 000 ms DOUBLE FLASH The indicator shows a sequence of two short flashes each 200 ms separated by a short off phase 200 ms The sequence is finished by a long off phase 1 000 ms BLINKING 2 5 HZ The indicator turns on and off with a frequency of 2 5 Hz on for 200 ms followed by off for 200 ms FLICKERING LOAD DEMPENDENT The indicator turns on and off with a f...

Page 30: ... power the device is powered off ON Device operational If the device is operating correctly FLASHING 1Hz Standby The device has not been configured ON Red Major unrecoverable fault The device has detected a non recoverable major fault BLINKING 1Hz Major recoverable fault If the device has detected a majore recoverable fault NOTE An incorrect or inconsistent configuration would be considered a majo...

Page 31: ...reen only when all timed out Exclusive Owner connections are restablished FLASHING Green Red off Self test Thedevice is performing its power up testing Refer to description for module status LED self test LD3 LINK OFF No connection The Ethernet link isn t established ON Connection OK The device is linked to the Ethernet ACT FLASHING Activity The device sends receives Ethernet frames OFF No Activit...

Page 32: ...tus LD1 BS OFF No power If the device does not have an IP address or is powered off the network status indicator shall be steady off ON Green Operational Slave is in Operational state TRIPLE FLASH Green ReadyToOperate Slave is in ReadyToOperate state DOUBLE FLASH Green Pre Operational 2 Slave is in Pre Operational 2 state SINGLE FLASH Green Pre Operational 1 Slave is in Pre Operational 1 state FLI...

Page 33: ...h 200 ms separated by a short off phase 200 ms The sequence is finished by a long Off phase 1 000 ms DOUBLE FLASH The indicator shows a sequence of two short flashes each 200 ms separated by a short off phase 200 ms The sequence is finished by a long off phase 1 000 ms SINGLE FLASH The indicator shows one short flash 200 ms followed by a long off phase 1 000 ms FLICKERING 10HZ The indicator turns ...

Page 34: ...or Watchdog timeout channel generic or extended diagnosis present system error FLASHING Red 1Hz 3 s DCP signal service is initiated via the bus LD2 BF OFF No error ON Red Error No configuration or low speed physical link or no physical link FLASHING 2 Hz Red No data exchange LD3 LINK OFF No connection The device has no connection to the Ethernet ON Green Link A connection is linket to the Ethernet...

Page 35: ...for 500 ms FLASHING 2 HZ The indicator turns on and off with a frequency of 2 Hz on for 250 ms followed by off for 250 ms FLICKERING LOAD DEMPENDENT The indicator turns on and off with a frequency of approximately 10 Hz to indicate high Ethernet activity on for approximately 50 ms followed by off for 50 ms The indicator turns on and off in irregular intervals to indicate low Ethernet activity ...

Page 36: ...ed 102 MOT_INCOMPAT Motor model is not compatible with power 103 MOT_COPY Copy of motor parameter on failed custom 104 MOT_COPY_SPEED Copy of motor speed loop parameter failed 105 1MS_OVERRUN Task 1ms exceeded the deadline real time 106 10MS_OVERRUN Task 10ms exceeded the deadline real time 107 FB_BOARD_MISMATCH Fieldbus board mismatched 108 FB_BOARD_FAILURE Fieldbus board not correctly initialize...

Page 37: ... setting value from 1ms to 99ms range will anyway set the timeout as 100ms is not possibile to set a timeout less than 100ms 840 Run and direction Enable the drive and set the rotating direction RW 16 bit unsigned integer Equivalent to P021 parameter Bit 0 0 Not enable 1 Enable Bit 1 0 Forward 1 Reverse 829 Last alarm clear alarm list Shows the last alarm stored and allows to clear the entire alar...

Page 38: ... 16 bit signed integer rpm Position Control 844 845 Position target Defines the target position RW 32 bit signed integer User Unit 7 2 Read only register ID NOME DESCRIZIONE NOTE 801 Motor Speed Shows the actual motor speed R 16 bit signed integer rpm 802 Motor RMS Current Shows the RMS current absorbed by the motor R 16 bit signed integer Arms 0 1 804 Power supply voltage Shows the DC motor bus v...

Page 39: ...ercentage referred to the motor R 16 bit signed integer 0 100 832 Supply time 16LSB Supply time seconds 16LSB R 16 bit signed integer Value is latched on reading 16LSB 833 Supply time 16MSB Supply time seconds 16MSB R 16 bit signed integer Value is latched on reading 16MSB 834 Inverter on 16LSB Inverter on seconds 16LSB R 16 bit signed integer Value is latched on reading 16LSB 835 Inverter on 16MS...

Page 40: ... 32 bit unsigned integer User unit 260 Homing switch search speed Defines the motor speed during the research of the limit switch Equivalent to P153 parameter RW 16 bit unsigned integer rpm 261 Homing index search speed Defines the motor speed during the achievement of the index pulse Equivalent to P154 parameter RW 16 bit unsigned integer rpm 262 Homing acceleration Defines the motor acceleration...

Page 41: ...erated Equivalent to P157 parameter RW 16 bit unsigned integer s 265 Homing max current Defines the current limit during the homing procedure If this limit is exceeded an error signal is generated Equivalent to P158 parameter RW 16 bit unsigned integer mA 266 Homing Cmd This parameter enables or disables the homing procedure RW 16 bit unsigned integer 0 None 1 Enable ...

Page 42: ...directives Ethernet PowerLink EPL EPSG DS 301 V1 2 0 Powerlink DLL The purpose of the present document is to describe what optional feature are implemented by the servo motor CanOPEN CoE or EPL Applicable DBS55 software release v4 000 8 2 DS301 Communication layer This paragraph describe the details of the DS301 layer of the CanOpen interface It applies only to the CanOPEN over can bus implementat...

Page 43: ...mitted asynchronously two feature are supported for emission control inhibit time for emission only when PDO content changes event timer for periodical asynchronous emission Defaults inhibit time 100ms event time 0 periodic emission on TT 255 disabled by default See application profile for default PDO configuration See paragraph 8 5 8 2 5 EMCY protocol Emergency protocol is implemented for reporti...

Page 44: ...N CoE EPL 1000 Device type X X X 1001 Error register X X X 1003 Predefined error X X 1006 Cycle length X 100C Guard time X 100D Life factor X 1010 Store parameters 1 X X 1014 EMCY cob id X 1015 EMCY inhibit time X X 1018 Identity object X X X 1020 CFM Verify Configuration X 1030 NMT Interface Group 0h X 1300 SDO Sequ Layer Timeout X 1400 PDO RX 1 config 2 X X X 1401 PDO RX 2 config X 1402 PDO RX 3...

Page 45: ...e a 32bit write to object 1010h 0 needs to be performed in particular the value to be written to save parameter is 65766173h SAVE 2 PDO config and mapping have different encoding for CoE CanOPEN and EPL Please check DLL manual for details 8 3 2 Manufacturer parameter area The object range 2000h 21FFh allows to access servodrive parameters the following table summarize the details of a parameter ob...

Page 46: ... in the DBS manual e g OVERVOLTAGE 3 etc Value IS NOT the EMCY code as defined in this document RO UINT16 YES 3010 Power stage tension as tenth of Volt 240 24 0V RO UINT16 YES 3011 Motor IQ current as milliAmpere 10 1 0A RO INT16 YES 3012 Motor IQ limit as milliampere 10 1 0A RW UINT16 YES 8 3 4 Profiled objects The range 6000h 67FFh of objects are defined as specified by CiA402 refer to the appli...

Page 47: ...ware position limit 607D 0 number of sub idx 2 607D 1 Negative limit 607D 2 Positive limit RO RW RW U8 S32 S32 YES YES 607E Polarity RW U8 607F Max profile velocity RW U32 YES 6080 Max motor speed RO U32 YES 6081 Profile velocity RW U32 YES 6083 Profile acceleration RW U32 YES 6084 Profile deceleration RW U32 YES 6085 Quick stop deceleration RW U32 YES 6087 Torque slope RW U32 YES 6098 Homing meth...

Page 48: ...d position units by means of PosFactorNum NUM PosFactorDen DEN PosFactorDecimal DEC UserPosInversion INV PPulses PPosUnits NUM DEN 10DEC INV PPosUnits PPulses DEN NUM 10 DEC INV Furthermore is possible to set the polarity of the position and the speed information the position scaling is not accessible via CanOPEN but the position scaling defined via parameter is applied to all position objects tha...

Page 49: ...is always referred to previous target Change setpoint immediately will always take place immediately Newset setack will always take place as specified in section 10 2 of CiA402 Position wrap of the range is not supported and will saturate to position limits 8 4 4 Profile velocity Optional feature NOT IMPLEMENTED Sensor code 6069h the velocity is derived from the position information Sensor selecto...

Page 50: ...deadline Measure K 1 to master Comunication deadline Setpoint K 1 to slave NC NC Slave reaches Setpoint K 2 Figure 19 Is worth noting that interpolated position mode inserts a delay of two sync periods from the master point of view for example at time K the numeric control will compute the position error of the previous sync period K 1 and will compute the target that the slave will reach at time ...

Page 51: ...4 10 Cyclic synchronous velocity mode This functionality is not implemented 8 4 11 Cyclic synchronous torque mode This functionality is not implemented 8 5 Default PDO mapping PDORX1 COB ID 0200h NODEID Enabled by default Mapping 6040h control word 607Ah target position 3012h Max current mA PDORX2 COB ID 0300h NODEID Enabled by default Mapping 60FFh target velocity 6071h target torque 6060h mode o...

Page 52: ...e in power supply 4210h Overtemperature in the power stage 4310h Overtemperature in the motor 5530h Hardware data storage error 5531h Software data storage error 5532h Parameter value error 6200h User generated alarm 9000h Digital input generated alarm FF04h Motor parameters copy error FF05h Motor parameter copy error speed loop FF15h 1ms task overtime FF16h 10ms task overtime FF19h Parameter rest...

Page 53: ...2 Ethernet IP adaptation of CIP edition 1 4 november 2007 CiA DS402 v3 0 1 15 Furthermore the CiA DS402 adaptation to CIP are described in the relevant section 9 2 CIP Objects The servodrive implements the following objects of the CIP object model CIP common objects o Identity object 01h o Assembly object 04h o TCP object F5h o Ethernet object F6h Manufactor specific objects o COM object 0x64 o PA...

Page 54: ...ters Special parameters Appl Fieldbus CIP P170 IpAddr This parameter is the ip address for the CIP module since IP address is 32bit wide and normal parameters are 16bit wide two parameters are actually used o Parameter n 170 16 most significant word of IP address o Parameter n 171 16 least significant word of IP address Appl Fieldbus CIP P172 IpMask IP net mask for CIP module analogous to IP addre...

Page 55: ...t 0x67 Instance Attr ID Name Data Type Unit meas Access 0x0 0x01 Revision UINT RO 0x60 96 0x40 Control word UINT RW 0x41 Status word UINT RO 0x5A Quick stop option code INT RW 0x5C DIsable operation option code INT RW 0x5E Fault reaction code INT RW 0x60 Mode of operation SINT RW 0x64 Position actual value DINT pulses RO 0x65 Following error window DINT pulses RW 0x66 Following error time INT ms R...

Page 56: ...NT pulses RW 0x7C Home offset DINT pulses RW 0x7D Position limits index1 min limit index2 max limit ARRAY 1 2 OF DINT pulses RW 0x7E Polarity USINT RW 0x80 Max motor speed DINT rpm RO 0x81 Profile velocity DINT rpm RW 0x83 Profile acceleration DINT rpm s RW 0x84 Profile deceleration DINT rpm s RW 0x85 Quick stop deceleration DINT rpm s RW 0x87 Torque slope INT thousandth of rated s RW 0x98 Homing ...

Page 57: ...leration 0x67 0x60 0x83 3000 Rpm s 0x17 U32 ProfileDeceleration 0x67 0x60 0x84 3000 Rpm s 0x1B S32 PositionLimit Neg 0x67 0x60 0x7D 1 2147483648 Pulses 0x1F S32 PositionLimit Pos 0x67 0x60 0x7D 2 2147483647 Pulses 0x23 S32 HomingOffset 0x67 0x60 0x7C 0 Pulses 0x27 S16 HomingMethod 0x67 0x60 0x98 37 SetQuota See Dsp402 Assembly 0x65 Originator to Target DBS55 outputs PLC inputs Assembly length 20by...

Page 58: ...eferenced by this document v4 003 10 2 Device identity Vendor_ID 0x0427 Device_ID 0x0001 10 3 Process data PLC Inputs 18byte Offset Type Attribute DSP402 object Default Meaning 0x00 U16 StatusWord 6041h 0 0250h see Dsp402 0x02 S32 Actual Position 6064h 0 0 pulses 0x06 S16 Actual torque 6077h 0 0 x 0 1 Trq 0x08 S32 Actual speed 606Ch 0 0 rpm 0x0C U16 Dc link Voltage 3010h 0 0 x 0 1V 0x0E U8 ModeOfO...

Page 59: ...3000 Rpm 0x14 U32 Profile Acceleration 6083h 0 3000 Rpm s 0x18 U32 Profile Deceleration 6084h 0 3000 Rpm s 0x1C U32 Negative position limit 607Dh 1 2147483648 Pulses 0x20 U32 Positivee position limit 607Dh 2 2147483647 Pulses 0x24 S32 Homing Hoffset 607Ch 0 0 Pulses 0x28 U8 Homing method 6098 37 SetQuota See Dsp402 0x29 U8 Padding 3 ...

Page 60: ...the first index pulse resolver zero to the right of the anticlockwise limit switch when the value on the latter switches to low 11 2 Type 2 Homing on clockwise limit switch and index pulse resolver zero The initial direction of movement is clockwise towards the clockwise limit switch if this is inactive The reference home position is on the first index pulse resolver zero to the left of the clockw...

Page 61: ...he state of the home switch The reference home position is on the index pulse resolver zero to the left type 4 or right type 3 of the switching point of the home switch If the starting position is such that a reversal of direction is required the reversal takes place after the state of the home switch changes Index Pulse Home Switch 4 3 3 4 Figure 23 ...

Page 62: ...rection of movement depends on the state of the home switch The reference home position is on the index pulse resolver zero to the left type 6 or right type 5 of the switching point of the home switch If the starting position is such that a reversal of direction is required the reversal takes place after the state of the home switch changes Figure 24 ...

Page 63: ...home switch which is at a high logic level only for a portion of the excursion In this case the initial direction of movement depends on the desired change in state of the home switch The reference home position is on the index pulse resolver zero to the left or right of the ascending or descending change in state of the home switch If the initial direction does not meet the home switch the direct...

Page 64: ...l motion direction is counter clockwise vice versa with type 34 it is clockwise The reference position Home Position is on the first Index Pulse resolver zero found in the direction selected 11 7 Type 37 homing in current position 13 14 14 13 14 13 12 11 12 12 11 Index Pulse Home Switch Ccw Limit Switch w 11 Index Pulse 33 34 ...

Page 65: ...ractual documentation from the date of delivery The warranty is limited to repair of the product or replacement at the manufacturer s discretion The warranty does not cover damage malfunctions losses or requests for compensation due to Operational errors in use and or installation Modifications performed by the purchaser Unauthorised repairs Dropping of the device Natural disasters fire flood ligh...

Page 66: ...fore be responsible for guaranteeing the conformity of their machinery to such standards Furthermore The product performance specified in this document does not represent a guarantee but merely a reference for the choice of the most appropriate solution for the purchaser s requirements as it is the result of the manufacturer s testing conditions The product may be subject to modifications in order...

Page 67: ...Mini Motor S r l via E Fermi 5 42011 Bagnolo in Piano RE Italy Tel 39 0522 951889 Fax 39 0522 952610 info minimotor com www minimotor com ...

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