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NANOTEC ELECTRONIC N5, Technical Manual

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Technical Manual N5 (CANopen)
Contents

1604h Receive PDO 5 Mapping Parameter............................................................................................168
1605h Receive PDO 6 Mapping Parameter............................................................................................171
1606h Receive PDO 7 Mapping Parameter............................................................................................173
1607h Receive PDO 8 Mapping Parameter............................................................................................175
1800h Transmit PDO 1 Communication Parameter................................................................................177
1801h Transmit PDO 2 Communication Parameter................................................................................179
1802h Transmit PDO 3 Communication Parameter................................................................................181
1803h Transmit PDO 4 Communication Parameter................................................................................182
1804h Transmit PDO 5 Communication Parameter................................................................................184
1805h Transmit PDO 6 Communication Parameter................................................................................186
1806h Transmit PDO 7 Communication Parameter................................................................................188
1807h Transmit PDO 8 Communication Parameter................................................................................190
1A00h Transmit PDO 1 Mapping Parameter.......................................................................................... 192
1A01h Transmit PDO 2 Mapping Parameter.......................................................................................... 194
1A02h Transmit PDO 3 Mapping Parameter.......................................................................................... 197
1A03h Transmit PDO 4 Mapping Parameter.......................................................................................... 199
1A04h Transmit PDO 5 Mapping Parameter.......................................................................................... 202
1A05h Transmit PDO 6 Mapping Parameter.......................................................................................... 204
1A06h Transmit PDO 7 Mapping Parameter.......................................................................................... 207
1A07h Transmit PDO 8 Mapping Parameter.......................................................................................... 209
1F50h  Program  Data............................................................................................................................... 212
1F51h  Program  Control........................................................................................................................... 213
1F57h  Program  Status............................................................................................................................ 214
2005h  CANopen  Baudrate.......................................................................................................................216
2007h  CANopen  Config...........................................................................................................................216
2009h  CANopen  NodeID......................................................................................................................... 217
2010h  IP-Configuration............................................................................................................................ 218
2011h  Static-IPv4-Address...................................................................................................................... 219
2012h  Static-IPv4-Subnet-Mask.............................................................................................................. 220
2014h  Current-IPv4-Address................................................................................................................... 221
2015h Current-IPv4-Subnet-Mask........................................................................................................... 222
2030h  Pole  Pair  Count............................................................................................................................ 223
2031h  Maximum  Current......................................................................................................................... 223
2032h  Maximum  Speed...........................................................................................................................224
2033h  Plunger  Block............................................................................................................................... 224
2034h Upper Voltage Warning Level...................................................................................................... 225
2035h Lower Voltage Warning Level...................................................................................................... 225
2036h Open Loop Current Reduction Idle Time..................................................................................... 226
2037h Open Loop Current Reduction Value/factor................................................................................. 226
2038h  Brake  Controller  Timing................................................................................................................227
2039h  Motor  Currents..............................................................................................................................229
203Ah Homing On Block Configuration.................................................................................................. 231
203Bh  I2t  Parameters..............................................................................................................................232
203Dh  Torque  Window............................................................................................................................ 234
203Eh  Torque  Window  Time...................................................................................................................235
2050h  Encoder  Alignment....................................................................................................................... 235
2051h  Encoder  Optimization................................................................................................................... 236
2052h  Encoder  Resolution...................................................................................................................... 237
2056h Limit Switch Tolerance Band........................................................................................................238
2057h  Clock  Direction  Multiplier.............................................................................................................. 238
2058h  Clock  Direction  Divider................................................................................................................. 239
2059h  Encoder  Configuration.................................................................................................................. 239
205Ah  Encoder  Boot  Value..................................................................................................................... 240
205Bh Clock Direction Or Clockwise/Counter Clockwise Mode..............................................................241
2060h Compensate Polepair Count........................................................................................................ 241
2061h  Velocity  Numerator....................................................................................................................... 242
2062h  Velocity  Denominator....................................................................................................................242
2063h  Acceleration  Numerator................................................................................................................ 242
2064h  Acceleration  Denominator............................................................................................................ 243

Summary of Contents for N5

Page 1: ...Technical Manual N5 Fieldbus CANopen For use with the following devices N5 1 2 N5 2 2 Valid with firmware version FIR v1650 Technical Manual Version 2 0 1 and since hardware version W007 ...

Page 2: ...ions 14 3 2 Dimensioned drawings 15 3 3 Electrical properties and technical data 15 3 4 Overtemperature protection 16 3 5 LED signaling 18 3 6 Pin assignment 19 4 Commissioning 29 4 1 Configuration via Ethernet 29 4 2 Configuration via CANopen 34 4 3 Setting the motor data 36 4 4 Connecting the motor 36 4 5 Auto setup 37 4 6 Test run 39 5 General concepts 41 5 1 Control modes 41 5 2 CiA 402 Power ...

Page 3: ... Sync 137 1007h Synchronous Window Length 138 1008h Manufacturer Device Name 138 1009h Manufacturer Hardware Version 139 100Ah Manufacturer Software Version 139 100Ch Guard Time 140 100Dh Live Time Factor 140 1010h Store Parameters 141 1011h Restore Default Parameters 143 1014h COB ID EMCY 145 1017h Producer Heartbeat Time 145 1018h Identity Object 146 1020h Verify Configuration 147 1029h Error Be...

Page 4: ...F57h Program Status 214 2005h CANopen Baudrate 216 2007h CANopen Config 216 2009h CANopen NodeID 217 2010h IP Configuration 218 2011h Static IPv4 Address 219 2012h Static IPv4 Subnet Mask 220 2014h Current IPv4 Address 221 2015h Current IPv4 Subnet Mask 222 2030h Pole Pair Count 223 2031h Maximum Current 223 2032h Maximum Speed 224 2033h Plunger Block 224 2034h Upper Voltage Warning Level 225 2035...

Page 5: ...e Parameter Set 269 3212h Motor Drive Flags 273 3220h Analog Inputs 275 3221h Analogue Inputs Control 276 3225h Analogue Inputs Switches 276 3240h Digital Inputs Control 277 3242h Digital Input Routing 280 3250h Digital Outputs Control 283 3252h Digital Output Routing 285 3320h Read Analogue Input 287 3321h Analogue Input Offset 288 3322h Analogue Input Pre scaling 289 3700h Following Error Option...

Page 6: ... Profile Acceleration 322 6084h Profile Deceleration 323 6085h Quick Stop Deceleration 323 6086h Motion Profile Type 324 6087h Torque Slope 324 608Fh Position Encoder Resolution 325 6091h Gear Ratio 326 6092h Feed Constant 327 6098h Homing Method 328 6099h Homing Speed 328 609Ah Homing Acceleration 329 60A4h Profile Jerk 330 60C1h Interpolation Data Record 332 60C2h Interpolation Time Period 333 6...

Page 7: ...Technical Manual N5 CANopen Contents 11 9 lwIP 346 ...

Page 8: ...t of objects The following objects were shifted Read Analog Input from 6402 h to 3320 h Analogue Input Offset from 6431 h to 3321 h Analogue Input Pre scaling from 6432 h to 3322 h FIR v1426 1 2 7 10 09 2014 Error corrections FIR v1436 1 2 15 18 11 2014 Error corrections The Mode of modulo operation object in 2070h was replaced with the Positioning option code object in 60F2h FIR v1446 1 2 16 26 0...

Page 9: ...nd error corrections FIR v1650 2 0 1 08 2018 Additions and error corrections FIR v1650 1 2 Copyright marking and contact Copyright 2013 2018 Nanotec Electronic GmbH Co KG All rights reserved Nanotec Electronic GmbH Co KG Kapellenstraße 6 D 85622 Feldkirchen Munich Phone 49 0 89 900 686 0 Fax 49 0 89 900 686 50 Internet us nanotec com Microsoft Windows 98 NT ME 2000 XP 7 10 are registered trademark...

Page 10: ...ion the device Persons who have appropriate training and experience in work with motors and their control Persons who are familiar with and understand the content of this technical manual Persons who know the applicable regulations 1 6 EU directives for product safety The following EU directives were observed RoHS directive 2011 65 EU 2015 863 EU EMC directive 2014 30 EU 1 7 Other applicable regul...

Page 11: ... the NanoJ program by writing object 2300h bit 0 1 If a holding torque is already needed in this state the value 1 must be written in 3212h 01h 1 10 Numerical values Numerical values are generally specified in decimal notation The use of hexadecimal notation is indicated by a subscript h at the end of the number The objects in the object dictionary are written with index and subindex as follows In...

Page 12: ...Technical Manual N5 CANopen 1 Introduction Max acceleration 60C5h Max deceleration 60C6h Acceleration t Version 2 0 1 FIR v1650 12 ...

Page 13: ...Voltage peaks during operation may damage the controller Install suitable circuits e g charging capacitor that reduce voltage peaks Note There is no polarity reversal protection Polarity reversal results in a short circuit between supply voltage and GND earth via the power diode Install a line protection device fuse in the supply line Note The device contains components that are sensitive to elect...

Page 14: ...n assignment 3 1 Environmental conditions Environmental condition Value Protection class IP20 Ambient temperature operation 10 40 C Air humidity non condensing 0 95 Altitude of site above sea level without drop in performance 1500 m Ambient temperature storage 25 85 C Version 2 0 1 FIR v1650 14 ...

Page 15: ...Property Description value Operating voltage 12 V 5 72 V 4 DC for low current version with designation N5 1 2 12 V 48 V 5 DC for the high current version with designation N5 2 2 and up to hardware version w007 12 V 5 57 4 V DC for the high current version with designation N5 2 2 and from hardware version w007b Version 2 0 1 FIR v1650 15 ...

Page 16: ...switchable by means of software max resolution 65536 increments per revolution 16 bit Protection circuit Overvoltage and undervoltage protection Overtemperature protection 75 Celsius on the power board Polarity reversal protection In the event of a polarity reversal a short circuit will occur between supply voltage and GND over a power diode a line protection device fuse is therefore necessary in ...

Page 17: ...limatic chamber e g via fan The following graphics show the results of the temperature tests Note Aside from the motor the exact temperature behavior is also largely dependent on the flange connection and the heat transfer there as well as on the convection in the machine For this reason we recommend always performing an endurance test in the actual environment for applications in which current le...

Page 18: ... 6s 7s 8s 9s Case of an error If an error has occurred the LED turns red and signals an error number In the following figure the error number 3 is signaled 1s 2s 3s 4s 5s 6s 7s 8s 9s 3x The following table shows the meaning of the error numbers Flash rate Error 1 General 2 Voltage 3 Temperature 4 Overcurrent 5 Controller 6 Watchdog Reset Note For each error that occurs a more precise error code is...

Page 19: ...l analog inputs and outputs X4 Brake connection X5 Motor connection X6 Voltage supply External logic supply input voltage 24 V DC X7 Voltage supply for encoder input voltage 24 V DC X8 CANopen IN X9 CANopen OUT S1 Hex coding switch for node ID 16s place e g 0xF 0 S2 Hex coding switch for node ID 1s place e g 0xF 0 S3 PIN1 120 ohm termination resistor switch set to ON PIN2 reserved L1 Power LED Ver...

Page 20: ...r Note Two types of encoder Hall sensor are supported 1 Encoder Hall sensor with 5 V supply voltage In this case nothing is to be connected to connector X7 object 2059h must be set to the value 0 factory setting 2 Encoder Hall sensor with 24 V supply voltage In this case you must connect a voltage of 24 V DC to connector X7 see Connector X7 voltage supply for encoder Hall sensor external logic sup...

Page 21: ...l max 1 MHz 10 Hall 2 5 24 V signal max 1 MHz 11 Hall 3 5 24 V signal max 1 MHz 12 Shielding Shielding It must be ensured that the encoder reaches the switching thresholds specified below Otherwise an additional external circuit is necessary Switching thresholds Type On Off Single ended 5 V approx 2 8 V approx 1 1 V Differential 5 V approx 2 8 V approx 2 V Single ended 24 V approx 12 V approx 6 8 ...

Page 22: ...eans of software max 1 MHz 7 Input 6 Digital input 5 V to 24 V not switchable by means of software max 1 MHz 8 Analog input 1 10 V 10 V or 0 20 mA switchable by means of software with object 3221h 9 Analog input 2 10 V 10 V or 0 20 mA switchable by means of software with object 3221h 10 Output 1 Digital output open drain max 24 V 0 5 A 11 Output 2 Digital output open drain max 24 V 0 5 A 12 Shield...

Page 23: ... X7 X5 X1 X2 X3 X4 X6 L1 X6 S1 X8 X9 S3 S2 PIN Function Note 1 Brake Internally connected to UB 2 Brake PWM controlled open drain output max 1 5 A Connection data min max Conductor cross section rigid min 0 14 mm 2 0 5 mm 2 Conductor cross section flexible min 0 14 mm 2 0 5 mm 2 Conductor cross section flexible min Wire end sleeve without plastic sleeve min 0 25 mm 2 0 5 mm 2 Conductor cross secti...

Page 24: ...on AWG 24 12 2 conductors of the same cross section flexible min TWIN AEH with plastic sleeve 0 5 mm 2 1 5 mm 2 AWG acc to UL CUL 26 12 3 6 7 Connector X6 voltage supply Voltage source The operating or supply voltage supplies a battery a transformer with rectification and filtering or a switching power supply Note EMC For a DC power supply line longer than 30 m or when using the motor on a DC bus ...

Page 25: ...e in 2034h Upper Voltage Warning Level If the input voltage of the controller exceeds this threshold value the motor is switched off and an error triggered The integrated ballast circuit 25 W power is activated above N5 1 low current 75 V DC N5 2 high current and up to hardware version w007 50 5 V DC N5 2 high current and hardware version w007b and higher 57 5 V DC The minimum operating voltage is...

Page 26: ...th an asterisk X7 X5 X1 X2 X3 X4 X6 L1 X6 S1 X8 X9 S3 S2 PIN Function Note 1 UB Logic encoder 24 V DC supply voltage for logic and encoder Hall sensor 2 GND Connection data min max Conductor cross section rigid min 0 14 mm 2 0 5 mm 2 Conductor cross section flexible min 0 14 mm 2 0 5 mm 2 Conductor cross section flexible min Wire end sleeve without plastic sleeve min 0 25 mm 2 0 5 mm 2 Conductor c...

Page 27: ...5 X1 X2 X3 X4 X6 L1 X6 S1 X8 X9 S3 S2 PIN Function Note 1 CAN 2 CAN 3 CAN GND Internally connected to PIN 7 4 n c 5 n c 6 CAN_SHLD Connection for the shielding 7 GND Internally connected to PIN 3 8 UB Logic 24 V DC input voltage current consumption approx 60 mA 3 6 11 Switch S1 CANopen node ID and baud rate Hex coding switch for setting the CANopen node ID and baud rate See chapter Setting node ID...

Page 28: ...alue of this switch is added to the value of switch S1 this switch thereby sets the 1s place X7 X5 X1 X2 X3 X4 X6 L1 X6 S1 X8 X9 S3 S2 Example Switch S1 is set to the value 1h switch S2 to the value Fh the result is the value 1Fh 3 6 13 Switch S3 120 ohm termination resistor This DIP switch PIN 1 marked with an asterisk switches the termination of 120 Ω between CAN and CAN of the CAN bus on or off...

Page 29: ...rom one another 4 1 Configuration via Ethernet 4 1 1 Overview Interface The controller is equipped with a 10 100 MBit Ethernet interface on connector X1 It can thereby be operated with all common Ethernet components switches PCs and configured via the NanoIP web interface or the Plug Drive Studio software Hardware address The controller initially has no IP address but is instead addressed via the ...

Page 30: ...the factory for automatically obtaining an IP address from a DHPC server or for automatic IP address generation To establish the connection to the controller it may only be necessary to make a few settings on the communication partner e g PC or laptop Settings using the Windows 7 operating system as an example 1 Press the Windows Start button and select Control Panel 2 Select Network and Sharing C...

Page 31: ...h IP configuration bit mask with the following meaning Bit 0 A static IP address from object 2011h and the network mask from object 2012h are used 2011h Static IP address 4 bytes in hex coding 2012h Static IP subnet mask 4 bytes in hex coding 2014h Active IP address 4 bytes in hex coding 2015h Active IP subnet mask 4 bytes in hex coding 6503h Drive catalogue number MAC address Notes If DHCP was ac...

Page 32: ...ess field 7 Confirm acceptance of the entries with the OK button 4 1 3 REST web services Introduction The protocol used by the the web server is HTTP 1 0 The architecture here is realized according to REST Representational State Transfer which in addition to access to the NanoIP web interface also offers the possibility to access objects resources The values in the object dictionary are an example...

Page 33: ...onal state Accessing the object dictionary The following URIs enable access to the object dictionary IP address od xxxx yy Requests entry xxxx subindex yy from the object dictionary IP address od xxxx Data Requests entry xxxx with all subindices 4 1 4 NanoIP General The controller is equipped with an integrated web server NanoIP that can be queried with a web browser With NanoIP the controller can...

Page 34: ...ave the values in the controller 4 2 Configuration via CANopen 4 2 1 Communication settings Described in the following chapters is how you can change the communication settings The controller is configured per default for node ID 1 and a baud rate of 1 Mbaud Setting node ID and baud rate Node ID and baud rate are dependent on the position of the S1 and S2 rotary switches and if applicable on objec...

Page 35: ... 1 The default value is loaded 2 A stored value if present is loaded 3 The configuration file is used if the controller has one 4 The settings of the rotary switch es are taken over Node ID and baud rate The following table shows the possibilities that arise for the rotary switches Number combinations of the rotary switches dec hex Node ID Baud rate 0 0 Object 2009h 1 MBd fixed 1 127 1 7F Number o...

Page 36: ...000008h See also chapter Commissioning open loop BLDC motor only Object 2031h 00h Peak current in mA see motor data sheet Object 203Bh 01h Rated current in mA see motor data sheet Object 203Bh 02h Maximum duration of the peak current in ms for initial commissioning a value of 100 ms is recommended this value is to be adapted later to the specific application Object 3202h 00h Motor Drive Submode Se...

Page 37: ...s may result in fieldbuses not being operated in a timely manner Note The limit switches and thus the tolerance bands are active in this mode For further information on the limit switches see Limitation of the range of motion Tip As long as the motor connected to the controller or the sensors for feedback encoders Hall sensors are not changed auto setup is only to be performed once during initial ...

Page 38: ...gs resistance Determine windings inductivity Determine magnetic flux Encoder and encoder index available End Auto Setup Save parameters No Yes Measure Hall transitions Determine pole pairs Determine encoder resolution Determine alignment Hall sensor available No Yes Encoder and or Hall sensor available Invert direction of measurement1 Yes No While the auto setup is running the following tests and ...

Page 39: ...are used CAUTION After executing auto setup mode the internal coordinate system is no longer valid Homing alone does not suffice If the controller is not restarted unexpected reactions may result Restart the device after an auto setup 4 6 Test run After configuring and the auto setup a test run can be performed As an example the Velocity operating mode is used The values are transferred from your ...

Page 40: ...0h 00h 0006h read 6041h 00h Bit 9 5 und 0 1 write 6040h 00h 0007h read 6041h 00h Bit 9 5 4 1 0 1 write 6040h 00h 000Fh read 6041h 00h Bit 9 5 4 2 1 0 1 The controller is now running in Velocity mode read 6040h 00h 0000h write 6042h 00h 00C8h 4 To stop the motor set controlword 6040h to 0 Version 2 0 1 FIR v1650 40 ...

Page 41: ...op operating mode Motor Controller Motor Process Target value Motor Controller Motor Process Target value Actual value In addition to the physical feedback systems e g via encoders or Hall sensors model based feedback systems collectively referred to as sensorless systems are also used Both feedback systems can also be used in combination to further improve the control quality Motor Controller Ope...

Page 42: ... Open loop mode is only used with stepper motors and is by definition a control mode without feedback The field rotation in the stator is specified by the controller The rotor directly follows the magnetic field rotation without step losses as long as no limit parameters such as the maximum possible torque are exceeded Compared to closed loop no complex internal control processes are needed in the...

Page 43: ...s measures are effective for largely reducing resonances Reduce or increase current see object 2031h Max Current Excessive torque reserve promotes resonances Reduce or increase the operating voltage taking into account the product specific ranges with sufficient torque reserve The permissible operating voltage range can be found in the product data sheet Optimize the control parameters of the curr...

Page 44: ... and sinusoidal phase currents generated in the motor windings Vector control of the magnetic field ensures that the magnetic field of the stator is always perpendicular to that of the rotor and that the field strength corresponds precisely to the desired torque The current thereby controlled in the windings provides a uniform motor force and results in an especially smooth running motor that can ...

Page 45: ...hapter Setting the motor data Bit 0 in 3202h must be set If the encoder is used for the commutation the index of the encoder must be passed over at least once after switching on bit 15 in 6041h Statusword is set 5 2 CiA 402 Power State Machine 5 2 1 State machine CiA 402 To switch the controller to the ready state it is necessary to run through a state machine This is defined in CANopen standard 4...

Page 46: ...1 6 9 13 12 State without voltage at Motor State with voltage at Motor Selection of operating mode admissible Selection of operating mode not admissible Listed in the following table are the bit combinations for the controlword that result in the corresponding state transitions An X here corresponds to a bit state that requires no further consideration The only exception is the resetting of the er...

Page 47: ... switching on and successfully completing the self test the controller reaches the Switch on disabled state Operating mode The set operating mode 6060h does not become active until the Operation enabled state The actually active operating mode is displayed in 6061h The operating mode can only be set or changed in the following states see states enclosed in a dashed border in the diagram Switch on ...

Page 48: ...evel voltage can be switched on 605Ah Halt 605Eh 605Ah 605Ch 605Ch Disable voltage Transfer with break reaction Transfer without break reaction Index of the object that specifies the reaction Quick stop active Transition to the Quick stop active state quick stop option In this case the action stored in object 605Ah is executed see following table Value in object 605Ah Description 32768 1 Reserved ...

Page 49: ...scription 32768 1 Reserved 0 Immediate stop 1 Braking with slow down ramp braking deceleration depending on operating mode and subsequent state change to Switch on disabled 2 32767 Reserved Halt The bit is valid in the following modes Profile Position Velocity Profile Velocity Profile Torque Interpolated Position Mode When setting bit 8 in object 6040h controlword the reaction stored in 605Dh is e...

Page 50: ...e possibility to set user defined units It is thereby possible to set and read out the corresponding parameters e g directly in degrees mm etc 5 3 1 Calculation formulas for user units Position information All position values in open loop and closed lop mode are specified in the resolution of the virtual position encoder This is calculated from the virtual encoder increments 608Fh 1h Encoder Incre...

Page 51: ...lution of the drive axis 6092h 2 This is helpful for specifying the lead screw pitch for a linear axis If object 6092h 1 or object 6092h 2 is set to 0 the firmware sets the value to 1 Position The current position in user units 6064h and the target position 607Ah are calculated as follows Position 608Fh 01 x Feed constant 6092h 608Fh 02 x Gear ratio 6091h Speed The speed presets of the following o...

Page 52: ...eceleration 60C5h Profile Velocity Mode Acceleration 60C6h Profile Position Mode Braking deceleration 6085h Quick stop active state CiA 402 Power State Machine Braking deceleration The internal unit is revolutions per second 2 rps 2 The factor n for the acceleration is calculated from the scaling factor for the numerator 2063h divided by the scaling factor for the denominator 2064h When entering v...

Page 53: ...056h Forbidden area negative limit switch Positive limit switch reference switch The previous figure shows the breakdown of the tolerance bands next to the limit switches The tolerance zone begins immediately after the limit switch Free movement is possible in this zone The length of the zone can be set in object 2056h If the motor moves into the forbidden range the controller triggers an immediat...

Page 54: ... N5 CANopen 5 General concepts Task Cycle time Application 1 ms NanoJ application 1 ms Current controller 31 25 µs 32 kHz Speed controller 31 25 µs 32 kHz Position controller 31 25 µs 32 kHz Version 2 0 1 FIR v1650 54 ...

Page 55: ...07Ah is absolute and with 1 the target position is relative The reference position is dependent on bits 0 and 1 of object 60F2h Bit 8 Halt If this bit is set to 1 the motor stops On a transition from 1 to 0 the motor accelerates with the set start ramp to the target speed On a transition from 0 to 1 the motor brakes and comes to a standstill The braking deceleration is dependent here on the settin...

Page 56: ...e new target position can no longer be reached while adhering to all boundary conditions A target position was already traveled to and a target position was already specified A new target position can only be specified after the current positioning has been concluded Bit 13 Following Error This bit is set in closed loop mode if the following error is greater than the set limits 6065h Following Err...

Page 57: ... bit 5 in object 6040h controlword bit Change Set Point Immediately is set the controller operates without the buffer new travel commands are implemented directly time 5 Times Destination point confirmation 6041h Bit 12 Destination point Saved Destination point Destination point Apply changes immediately 6040h Bit 5 New Destination point 6040h Bit 4 1 2 3 4 5 A A A B B B E B B C C C D E Destinatio...

Page 58: ... final speed 6082h of the target position is equal to zero If bit 9 is set to 1 the profile speed 6081h is maintained until the target position is reached only then do the new boundary conditions apply Destination point 607Ah Actual Speed New destination point 6040h Bit 4 6040h Bit 9 1 6040h Bit 9 0 Destination point confirmation 6041h Bit 12 Destination point reached 6041h Bit 10 t t t t t Possib...

Page 59: ...1400 Target position 1100 absolute 800 0 100 Relative to the preceding target position 60F2h 00 0 Change on setpoint 6040h 00 Bit 5 0 Move relative 6040h 00 Bit 6 1 Target position 300 500 1100 300 position 1400 Target position 1100 absolute 800 0 100 Change set immediately 6040h 00 Bit 5 1 Move absolute 6040h 00 Bit 6 0 Target position 300 500 1100 300 position 1400 Target position 1100 absolute ...

Page 60: ...100 absolute 6 1 3 Loss of accuracy for relative movements When linking together relative movements a loss of accuracy may occur if the final speed is not set to zero The following graphic illustrates the reason Position t Target position Arriving at target position 1ms 1 Sampling before arriving the target position 2 Sampling after arriving the target position The current position is sampled once...

Page 61: ... if the value is 3 the values of 60A4h 1h 4h are set as limits for the jerk 60C5h Max Acceleration The maximum acceleration that may not be exceeded when moving to the end position 60C6h Max Deceleration The maximum braking deceleration that may not be exceeded when moving to the end position 60A4h Profile Jerk subindex 01h to 04h Objects for specifying the limit values for the jerk 60F2h Position...

Page 62: ...ode and non jerk limited mode Description A distinction is made between the jerk limited and non jerk limited modes Jerk limited mode Jerk limited positioning can be achieved by setting object 6086h to 3 The entries for the jerks in subindices 1h 4h of object 60A4 thereby become valid Non jerk limited mode A non jerk limited ramp is traveled if the entry in object 6086h is set to 0 default setting...

Page 63: ...eed values are multiplied in revolutions per second to calculate the desired user unit see User defined units Object 2060h is used to select whether the revolutions are electrical 2060h 0 or mechanical 2060h 1 6042h Target Velocity The target speed is set here in user defined units 6048h Velocity Acceleration This object defines the acceleration Subindex 1 contains the change in speed subindex 2 t...

Page 64: ...L velocity actual value 6044h VL velocity demand 6043h Status word 6041h Bit 11 internal limit active Reverse factor function 6 3 Profile Velocity 6 3 1 Description This mode operates the motor in Velocity Mode with extended jerk limited ramps Note The limit switches and thus the tolerance bands are active in this mode For further information on the limit switches see Limitation of the range of mo...

Page 65: ... set to 1 606Eh Velocity Window Time This object specifies how long the actual speed and the set speed must be close to one another see 606Dh Velocity Window for bit 10 Target speed reached in object 6041h statusword to be set to 1 607Eh Polarity If bit 6 is set to 1 here the sign of the target speed is reversed 6083h Profile acceleration Sets the value for the acceleration ramp in Velocity Mode 6...

Page 66: ...e also taken into account Limitations in the jerk limited case The following figure shows the adjustable limits in the jerk limited case 6086h 3 Acceleration Jerk Speed Profile velocity 60FFh t t t Max acceleration 60C5h Begin acceleration jerk 60A4h 1 End deceleration jerk 60A4h 4 Max deceleration 60C6h Profile acceleration 6083h Profile deceleration 6084h Velocity window 606Dh Velocity window 60...

Page 67: ...st be set in object 6060h Modes Of Operation see CiA 402 Power State Machine 6 4 3 Controlword The following bits in object 6040h controlword have a special function Bit 8 Halt If this bit is set to 1 the motor stops If this bit is set from 1 to 0 the motor is started up according to the presets When setting from 0 to 1 the motor is again brought to a standstill taking the preset values into consi...

Page 68: ...n torque per second Note These values are not limited to 100 of the rated current 203Bh 01h Torque values greater than the rated torque generated from the rated current can be achieved if the maximum duration of the peak current 203Bh 02h is set see I2t Motor overload protection All torque objects are limited by the peak current The following objects are also needed for this operating mode 3202h B...

Page 69: ... have a special function Bit 4 If the bit is set to 1 referencing is started This is performed until either the reference position is reached or bit 4 is reset to 0 Statusword The following bits in object 6041h statusword have a special function Bit 13 Bit 12 Bit 10 Description 0 0 0 Homing is performed 0 0 1 Homing is interrupted or not started 0 1 0 Homing confirmed but target not yet reached 0 ...

Page 70: ...rrent threshold which if exceeded is to detect the blocking of the motor at a block 203Ah 02h Period Of Blocking Specifies the time in ms that the motor is to continue to run against the block after block detection Homing speeds The figure shows the homing speeds using method 4 as an example Speed Acceleration 6099h 1 4 609Ah 609Ah 6099h 2 Index pulse Reference switch 6 5 2 Homing method Descripti...

Page 71: ...nt level In object 203Ah 01 the current level is defined above which movement against the block is detected 2 Blocking duration In object 203Ah 02 the duration during which the motor moves against the block is set t motor current position Block level of blocking current 203Ah 01 blocking time 203Ah 02 Overview of methods Methods 1 to 14 as well as 33 and 34 use the index pulse of the encoder Metho...

Page 72: ... the switching edge of the home switch and index pulse With methods 3 and 4 the left switching edge of the home switch is used as reference Index pulse 3 3 4 4 Reference switch With methods 5 and 6 the right switching edge of the home switch is used as reference Index pulse 5 5 6 6 Reference switch Methods 7 to 14 Reference to the home switch and index pulse with limit switches Version 2 0 1 FIR v...

Page 73: ... positive limit switch into account Index pulse 8 7 9 9 9 7 8 8 7 10 10 10 Reference switch Positive limit switch Methods 11 to 14 take the negative limit switch into account Index pulse 11 12 12 12 13 13 13 14 14 14 11 11 Reference switch Negative limit switch Methods 17 and 18 Reference to the limit switch without the index pulse Method 17 references to the negative limit switch 17 Negative limi...

Page 74: ...21 and 22 equivalent to methods 5 and 6 the right switching edge of the home switch is used as reference 21 21 22 22 Reference switch Methods 23 to 30 Reference to the home switch without the index pulse with limit switches With these methods the current position relative to the home switch is not important With method 26 for example referencing is always performed to the index pulse to the right ...

Page 75: ...the negative home switch into account Negative limit switch 30 29 30 29 29 30 28 27 27 28 27 28 Reference switch Methods 33 and 34 Reference to the next index pulse With these methods referencing is only performed to the respective subsequent index pulse Index pulse 33 34 Method 35 References to the current position Version 2 0 1 FIR v1650 75 ...

Page 76: ...er level controller in regular intervals Synchronization occurs as soon as the controller is switched to the Operational NMT mode Note Where possible it is recommended that a time interval of the SYNC object be used 6 6 2 Activation To activate the mode the value 7 must be set in object 6060h Modes Of Operation see CiA 402 Power State Machine 6 6 3 Controlword The following bits in object 6040h co...

Page 77: ...le to turn the motor the power state machine is to be set to the Operation enabled state see CiA 402 Power State Machine 6 6 7 Operation After setting up the task of the higher level controller is to write the target positions to object 60C1h 01h in time 6 7 Cyclic Synchronous Position 6 7 1 Overview Description In this mode the controller receives an absolute position preset via the fieldbus at f...

Page 78: ...his mode 607Ah Target Position This object must be written cyclically with the position set value 607Bh Position Range Limit This object contains the preset for an overrun or underrun of the position specification 607Dh Software Position Limit This object defines the limitations within which the position specification 607Ah must be located 6065h Following Error Window This object specifies a toler...

Page 79: ... bands are active in this mode For further information on the limit switches see Limitation of the range of motion Activation To activate the mode the value 9 must be set in object 6060h Modes Of Operation see CiA 402 Power State Machine Controlword In this mode the bits of controlword 6040h have no special function Statusword The following bits in object 6041h statusword have a special function B...

Page 80: ...que 6 9 1 Overview Description In this mode the controller passes an absolute torque preset via the fieldbus at fixed time intervals referred to in the following as a cycle The controller then no longer calculates any ramps but rather only follows the presets Note This mode only functions if closed loop is activated see also Commissioning closed loop Note The limit switches and thus the tolerance ...

Page 81: ... of the cycles Currently only value 60C2h 02h 3 is supported this yields a time basis of 1 millisecond The following objects can be read in this mode 606Ch Velocity Actual Value 6 10 Clock direction mode 6 10 1 Description In clock direction mode the motor is operated via two inputs by a higher level positioning controller with clock and direction signal On each clock signal the motor moves one st...

Page 82: ...his means that for a BLDC motor with e g 3 pole pairs 12 4 3 full steps correspond to one revolution Note If there is a change of direction a time of at least 35 µs must elapse before the new clock signal is applied 6 10 4 Statusword The following bits in object 6041h statusword have a special function Bit 13 Following Error This bit is set in closed loop mode if the following error is greater tha...

Page 83: ...ors encoders Hall sensors an auto setup is performed Closed Loop operation requires a successfully completed auto setup Auto setup is only to be performed once during commissioning as long as the motor connected to the controller is not changed For details see the corresponding section in chapter Commissioning Note The limit switches and thus the tolerance bands are active in this mode For further...

Page 84: ...ion Bit 4 starts a travel command This is carried out on a transition from 0 to 1 6 11 4 Statusword The following bits in object 6041h statusword have a special function Bit 10 Indexed indicates whether 1 or not 0 an encoder index was found Bit 12 Aligned this bit is set to 1 after auto setup has concluded Version 2 0 1 FIR v1650 84 ...

Page 85: ... 31 Example To manipulate the value of output 2 always use bit 17 in 60FEh To activate the negative limit switch special function of input 1 set bit 0 in 3240h 01h to query the status of the input read bit 0 in 60FDh Bit 16 in 60FDh also shows the status of input 1 independent of whether or not the special function of the input was activated This assignment is graphically illustrated in the follow...

Page 86: ...om normally open logic a logical high level at the input yields the value 1 in object 60FDh to normally closed logic the logical high level at the input yields the value 0 This applies for the special functions except for the clock and direction inputs and for the normal inputs If the bit has the value 0 normally open logic applies for the value 1 normally closed logic applies 3240h 03h Force Enab...

Page 87: ...to a bit in object 60FDh Signal source Routing Object 60FDh Activation This mode is activated by setting object 3240h 08h Routing Enable to 1 Note Entries 3240h 01h to 3240 04h then have no function until Input Routing is again switched off Note If Input Routing is switched on the initial values of 3242h are changed and correspond to the function of the input as it was before activation of Input R...

Page 88: ...input W 68 44 Encoder input A 69 45 Encoder input B 70 46 Encoder input Index 72 48 Ethernet active status The following table describes the inverted signals of the previous table Number dec hex Signal source 128 80 Signal is always 1 129 81 Inverted physical input 1 130 82 Inverted physical input 2 131 83 Inverted physical input 3 132 84 Inverted physical input 4 133 85 Inverted physical input 5 ...

Page 89: ...t 3242h 11h must be set to the value 1 7 1 3 Digital outputs Outputs The outputs are controlled via object 60FEh Here output 1 corresponds to bit 16 in object 60FEh output 2 corresponds to bit 17 etc as with the inputs The outputs with special functions are again entered in the firmware in the lower bits 0 to 15 The only bit assigned at the present time is bit 0 which controls the motor brake Wiri...

Page 90: ... used to switch the logic from normally open to normally closed Configured as normally open the input outputs a logical high level if the bit is 1 With the normally closed configuration a logical low level is output accordingly for a 1 in object 60FEh 3250h 03h If a bit is set here the output is controlled manually The value for the output is then in object 3250h 4h this is also possible for the b...

Page 91: ...1 Value forced 0 Value not forced Bit in 3250h 3 1 Value forced 0 Value not forced Bit in 3250h 4 1 Value 1 0 Value 0 Bit in 3250h 4 1 Value 1 0 Value 0 Output Routing Principle The Output Routing Mode assigns an output a signal source a control bit in object 60FEh 01h switches the signal on or off The source is selected with 3252h 01 to 05 in the high byte bit 15 to bit 8 The assignment of a cont...

Page 92: ...ake output if available 02h Configuration of output 1 03h Configuration of output 2 if available 04h Configuration of output 3 if available 05h Configuration of output 4 if available Note The maximum output frequency of the brake output output 1 and output 2 is 10 kHz All other outputs can only produce signals up to 500 Hz Subindices 3252h 01h to 05h are 16 bits wide whereby the high byte selects ...

Page 93: ...ignal that is configured with object 2038h 05h and 06h 11XXh Inverted PWM signal that is configured with object 2038h 05h and 06h Example The encoder signal 6063h is to be applied to output 1 with a frequency divider 4 The output is to be controlled with bit 5 of object 60FE 01 3250h 08h 1 activate routing 3252h 02h 0405h 04XXh 0005h Dabei ist 04XXh Encoder signal with frequency divider 4 0005h Se...

Page 94: ...tic mode Error occurs Low level power voltage switched on for controller High level voltage can be switched on High level power voltage switched on for controller High level voltage switched on No torque at motor Torque voltage switched on for controller High level voltage switched on Software cannot rectify error Start Switch on disabled Ready to switch on Switched on Operation enabled Quick stop...

Page 95: ...t supply the brake externally If the supply voltage of the controller is greater than the operating voltage of the brake and up to 48 V DC it is recommended that the PWM controller from Nanotec with order designation EB BRAKE 48V be used and the duty cycle of the controller brake output be set to 100 Frequency The frequency of the brake PWM can be set in object 2038h 5h The unit is Hertz a value g...

Page 96: ...s larger This function was implemented for safety reasons so that one can switch from closed loop mode with very high brief maximum current to open loop mode without damaging the motor 7 3 2 Object entries The following objects affect I 2 t motor overload protection 2031h Peak Current specifies the maximum current in mA 203Bh 1h Nominal Current specifies the rated current in mA 203Bh 2h Maximum Du...

Page 97: ...e current is then immediately reduced to the rated current The relationships are illustrated again in the following diagram current t1 t2 t1Lim t2Lim I2 t I2 t t Maximum current Nominal current In the first section t1 the current value is higher than the rated current At time t1Lim I 2 tLim is reached and the current is limited to the rated current A current that corresponds to the maximum current...

Page 98: ...n 1005h COB ID Sync 1007h Synchronous Window Length 100Ch Guard Time 100Dh Live Time Factor 1014h COB ID EMCY 1017h Producer Heartbeat Time 1029h Error Behavior 1400h Receive PDO 1 Communication Parameter 1401h Receive PDO 2 Communication Parameter 1402h Receive PDO 3 Communication Parameter 1403h Receive PDO 4 Communication Parameter 1404h Receive PDO 5 Communication Parameter 1405h Receive PDO 6...

Page 99: ... 2056h Limit Switch Tolerance Band 2057h Clock Direction Multiplier 2058h Clock Direction Divider 205Bh Clock Direction Or Clockwise Counter Clockwise Mode 2060h Compensate Polepair Count 2061h Velocity Numerator 2062h Velocity Denominator 2063h Acceleration Numerator 2064h Acceleration Denominator 2065h Jerk Numerator 2066h Jerk Denominator 2084h Bootup Delay 2300h NanoJ Control 2303h Number Of A...

Page 100: ...6071h Target Torque 6072h Max Torque 607Ah Target Position 607Bh Position Range Limit 607Ch Home Offset 607Dh Software Position Limit 607Eh Polarity 6081h Profile Velocity 6082h End Velocity 6083h Profile Acceleration 6084h Profile Deceleration 6085h Quick Stop Deceleration 6086h Motion Profile Type 6087h Torque Slope 608Fh Position Encoder Resolution 6091h Gear Ratio 6092h Feed Constant 6098h Hom...

Page 101: ...the save process has been successfully completed with the value 1 in the corresponding subindex in object 1010h There is a subindex in object 1010h for each category To save all objects of this category the value 65766173h must be written in the subindex 1 The controller signals the end of the save process by overwriting the value with a 1 The following table shows which subindex of object 1010h i...

Page 102: ...ied in the editor a marker usually an asterisk is added The entries of object 1020h can be written with a date and time and then saved together with all other savable objects with 1010h 01 The entries of 1020h are reset to 0 as soon as a savable object including 1010h 0x h except for 1010h 01h and 1020h is written The following sequence makes verification possible 1 An external tool or master conf...

Page 103: ... endian format 8 1 1 CAN message CAN messages are described often in this chapter these are written in the following format 583 41 09 10 00 1E 00 00 00 183R DLC 0 Where the following convention is used All numbers are written in hexadecimal notation due to the abbreviated notation the leading 0x is omitted Normal data message The CAN ID of the CAN message is prefixed with 583 i e 583h or 1411d in ...

Page 104: ...f the CANopen master All other devices have the role of the NMT slave Each NMT slave can be addressed via its individual node ID in the range from 1 127 NMT services can be used to initiate start monitor reset or stop CANopen devices In doing so the controller follows the state diagram shown in the following figure The Initialization state is only reached after switching on or by sending a Reset C...

Page 105: ...estarts the controller the Reset Communication command only resets the CANopen settings and restarts communication Example If all devices on the CAN bus are to be switched to the Stop operating state a broadcast with the Switch to the Stop state command can be used The NMT message is structured as follows 000 02 00 If only the device with node ID 42 is to be completely restarted the following CAN ...

Page 106: ...closed again 8 2 3 Emergency Object EMCY A message of type Emergency is sent whenever an error occurs in the controller that was not caused by an SDO access This service is unconfirmed and is sent with CAN ID 80h Node ID The emergency message is structured as follows 0x00 CAN ID Data Byte 1 Byte 2 80 NodeID EMCY Error Code Byte 3 Byte 4 E REG Byte 5 Byte 6 Byte 7 Byte 0 Manufactor Specific Error F...

Page 107: ... metadata SDO messages should only be used to configure the controller Should it be necessary to exchange data cyclically during running operation it makes more sense to make use of CANopen messages of type PDO see subsection Process Data Object The SDO transfers are divided into three types of access expedited transfer for transferring objects with up to four bytes normal transfer for transferrin...

Page 108: ...X Byte 3 Byte 4 SUBIDX Byte 5 Byte 6 Byte 7 Byte 0 ERROR CODE Init SDO Download confirm error Client Server Example Set object 607Ah 00h target position SIGNED32 to value 3E8h 1000d of a controller with node ID 3 603 23 7A 60 00 E8 03 00 00 Where Byte 1 23h SDO expedited download 4 bytes of data SIGNED32 Bytes 2 and 3 7Ah 60h index of object is 607Ah Byte 4 00h subindex of object is 00h Bytes 5 to...

Page 109: ...alue of object 0240h Bytes 7 to 8 00h 2h h h empty An SDO message always consists of 8 bytes Normal Transfer The CANopen expedited transfer is limited to maximum four bytes to exceed this limit the so called normal transfer must be supported With this type of transfer the content of multiple messages is grouped together with respect to content such a block of messages is referred to in the followi...

Page 110: ... t 0 Data of next segment t 0 c 0 Upload next segment t 1 Data of next segment t 1 c 0 Upload next segment t 0 Data of next segment t 0 c 0 Upload next segment t 0 Data of next segment t 0 c 1 Initialization phase Transfer phase As with an expedited transfer the upload begins with the client sending an Init SDO Update to the server see following figure CAN ID Data Byte 1 Byte 2 600 NodeID CMD Byte...

Page 111: ...t CAN ID Data Byte 1 Byte 2 600 NodeID CMD Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 0 IDX Segment SDO Upload request Client Server SUBIDX 0x00 0x00 0x00 0x00 Byte 0 with command CMD is structured as follows 0 1 0 t 0 0 0 0 7 6 5 4 3 2 1 0 Bit number CMD The bit with designation t alternates with each request toggle bit It begins each transfer with 0 even if the previous transfer was aborted The con...

Page 112: ...nd this is the last segment the bit is set to 1 Example In this example the Manufacturer Hardware Version object 1009h is to be read The node ID of the node in this example is 3 The corresponding SDO message sequence is listed in the following table The string that is to be read out varies from controller to controller COB ID Data Description 603h 40 09 10 00 00 00 00 00 Init Upload Index 1009h Su...

Page 113: ...of an error an error number specifying the reason for the error is also sent in the data area Error Code Description 05030000h toggle bit not changed Valid only with normal transfer or block transfer The bit which is to alternate after each transfer did not change its state 05040001h command specifier unknown Byte 0 of the data block contains a command that is not allowed 06010000h unsupported acc...

Page 114: ...ured in the Pre Operational NMT state The controller supports a total of eight independent PDO mappings each corresponding PDO message can have a maximum of eight bytes 64 bits of user data It is thereby possible to for example transfer two UNSIGNED32 values or one UNSIGNED32 and one UNSIGNED08 the message does not need to use all eight data bytes The PDOs differ yet again in the configuration in ...

Page 115: ... as an example All subindices of a configuration object belong together Thus 1600h with all subindices describes the first mapping 1601h the second RX PDO mapping etc Subindex 00h specifies how many objects are in a mapping It simultaneously specifies how many of the subindices are valid If object 1600h 00h is set to 0 RX mapping is thereby completely switched off In the example shown in the follo...

Page 116: ...ctionality of the first mapping is stored in the subindices of object 1800h The second mapping is configured in 1801h and so on In the following we refer to 180Nh Here the configuration affects the COB ID of the PDO message and the transfer type Objects 180Nh have the following subindices Subindex 0 max subindex Total number of subindices Subindex 1 COB ID The COB ID is stored here For PDO mapping...

Page 117: ...e copied upon arrival of each SYNC message but are sent only upon request with an RTR message FDh RTR Only event driven The data are copied to the TX PDO message upon receipt of an RTR message and sent immediately thereafter FEh FFh The data are copied upon arrival of the Event and sent immediately Subindex 3 inhibit time This subindex contains a time lock in ms see following figure This can be us...

Page 118: ...yte 5 Byte 0 TX PDO Message 1 Mapping 1A00 00 1A00 01 1A00 02 1A00 03 Amount of Mappings Mapping 1 Mapping 2 Mapping 3 02 60640020 60440010 60410010 Index Description Data hex 40192 Device Type 0000 00000000 00 Statusword Position actual value http drive catalogue address 1A00 04 Mapping 4 00000000 Presetting The following configuration is preset RX PDO 1 Mapping CAN ID 200h Node ID 6040h 00h cont...

Page 119: ...ee object 2007h 00 8 2 7 Heartbeat and nodeguarding With the heartbeat and nodeguarding services often also referred to as lifeguarding switched off or hung devices on the CAN bus can be detected For this purpose the NMT master cyclically requests a message with the current NMT state of the slave nodeguarding The alternative is that each slave sends a message unprompted and cyclically heartbeat A ...

Page 120: ...sible live time The time produced by multiplying guard time and live time factor The following conditions are checked during nodeguarding 1 The NMT master must send the RTR request within the possible live time 2 The slave must send the response to the RTR request within the possible live time 3 The slave must respond with its NMT state In addition the toggle bit must be set correctly Heartbeat If...

Page 121: ...odeID CMD Heartbeat Message 0 s s s s s s s 7 6 5 4 3 2 1 0 Bit number CMD NMT State The slave must send the heartbeat message within the heartbeat consumer time This time is known only to the master and is not stored in the controller Version 2 0 1 FIR v1650 121 ...

Page 122: ...me A NanoJ program receives computing time cyclically in a 1 ms clock see following figure Because computing time is lost through interrupts and system functions of the firmware only approx 30 50 of computing time is available to the user program depending on operating mode and application In this time the user program must run through the cycle and either complete the cycle or yield the computing...

Page 123: ...ulate these variables as regular C variables At the end of the time slot the new values are then automatically copied by the firmware back to the respective OD entries To optimize the performance three types of mapping are defined input output and input output In Out InOut Input mappings can only be read they are not transferred back to the object dictionary Output mappings can only be written Inp...

Page 124: ...ed Upload the program file to the config directory via an Ethernet connection Write value 54455354 h TEST in ASCII characters in object 2304h 01h Write value 31000000 h 1 in ASCII characters in object 2304h 02h Write value 1 h in object 2303h Check entry 2302h for error code If no error Start the NanoJ program by writing object 2300h bit 0 1 Note It can take up to 200 ms for the NanoJ program to s...

Page 125: ...id user i 1 i 1 The following assignment is not correct unsigned int i 1 void user i 1 9 1 7 NanoJ program example The example shows the programming of a square wave signal in object 2500h 01h file main cpp map S32 outputReg1 as inout 0x2500 1 include wrapper h user program void user U16 counter 0 while 1 counter if counter 100 InOut outputReg1 0 else if counter 200 InOut outputReg1 1 else counter...

Page 126: ...pe of the variable U32 U16 U08 S32 S16 or S08 NAME The name of the variable as it is used in the user program input output inout The read and write permission of a variable a variable can be declared as an input output or inout This defines whether a variable is readable input writable output or both inout and the structure by means of which it must be addressed in the program INDEX SUBINDEX Index...

Page 127: ...ution is only possible in the protected area of the sandbox this is implemented via so called Cortex Supervisor Calls Svc Calls An interrupt is triggered when the function is called The firmware thus has the possibility of temporarily allowing code execution outside of the sandbox Developers of user programs do not need to worry about this mechanism for them the system calls can be called up like ...

Page 128: ...d with a yield Example while od_read 2400 2 0 wait until 2400 2 is set yield 9 3 2 Process control void yield This function returns the processor time to the operating system In the next time slot the program continues at the location after the call void sleep U32 ms This function returns the processor time to the operating system for the specified number of milliseconds The user program is then c...

Page 129: ...description Description Here more exact information on the individual bits of an entry is provided or any compositions explained A more exact description can be found in section Description 10 3 Object description The object description consists of a table that contains the following entries Index Designates the object index in hexadecimal notation Object name The name of the object Object Code Th...

Page 130: ...data type Access The access restriction is entered here The following restrictions are available read write The object can both be read as well as written read only The object can only be read from the object dictionary It is not possible to set a value PDO mapping Some bus systems such as CANopen or EtherCAT support PDO mapping Described in this table entry is whether the object can be inserted i...

Page 131: ...f so into which The following designations are available here no The object may not be entered in a mapping TX PDO The object may be entered in an RX mapping RX PDO The object may be entered in a TX mapping Allowed values In some cases only certain values may be written in the sub entry If this is the case these values are listed here If there are no restrictions the field is empty Preset value To...

Page 132: ...scription of bit A bits with a gray background are not used 1000h Device Type Function Describes the controller type Object description Index 1000h Object name Device Type Object Code VARIABLE Data type UNSIGNED32 Savable no Access read only PDO mapping no Allowed values Preset value 00060192h Firmware version FIR v1426 Change history Description Motor Type 16 31 30 29 28 27 26 25 24 23 22 21 20 1...

Page 133: ...scription Index 1001h Object name Error Register Object Code VARIABLE Data type UNSIGNED8 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 00h Firmware version FIR v1426 Change history Description PROF 7 6 5 4 3 2 1 0 COM MAN RES CUR GEN TEMP VOL GEN General error CUR Current VOL Voltage TEMP Temperature COM Communication PROF Relates to the device profile RES Reserved al...

Page 134: ... v1426 Change history Value description Subindex 00h Name Number Of Errors Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h Subindex 01h Name Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Subindex 02h Name Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Pre...

Page 135: ...Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Subindex 08h Name Standard Error Fiel...

Page 136: ...tchdog Reset 1 Input voltage too high 2 Output current too high 3 Input voltage too low 4 Error at fieldbus 5 Motor turns in spite of active block in the wrong direction 6 CANopen only NMT master takes too long to send nodeguarding request 7 Encoder error due to electrical fault or defective hardware 8 Encoder error index not found during the auto setup 9 Error in the AB track 10 Positive limit sw...

Page 137: ...eset watchdog 6100h Internal software error generic 6320h Rated current must be set 203Bh 01h 7121h Motor blocked 7305h Incremental encoder or Hall sensor faulty 7600h Nonvolatile memory full or corrupt restart the controller for cleanup work 8000h Error during fieldbus monitoring 8130h CANopen only Life Guard error or Heartbeat error 8200h CANopen only Slave took too long to send PDO messages 821...

Page 138: ...me window in microseconds for synchronous PDOs If the synchronous time window has elapsed all synchronous TxPDOs are rejected and an EMCY message sent The RxPDOs are also rejected up to the next SYNC message The value 0 switches off the time window thereby allowing the PDOs to be sent at any time This object is only available in device variants with CANopen connection Object description Index 1007...

Page 139: ... Function This object contains the hardware version as character string Object description Index 1009h Object name Manufacturer Hardware Version Object Code VARIABLE Data type VISIBLE_STRING Savable no Access read only PDO mapping no Allowed values Preset value 0 Firmware version FIR v1426 Change history 100Ah Manufacturer Software Version Function This object contains the software version as char...

Page 140: ... suppressed but no EMCY message is sent either Object description Index 100Ch Object name Guard Time Object Code VARIABLE Data type UNSIGNED16 Savable yes category communication Access read write PDO mapping no Allowed values Preset value 0000h Firmware version FIR v1426 Change history 100Dh Live Time Factor Function This object is a multiplier which multiplied by object 100Ch yields the time wind...

Page 141: ...ex 1010h Object name Store Parameters Object Code ARRAY Data type UNSIGNED32 Savable no Firmware version FIR v1426 Change history Firmware version FIR v1436 Object name entry changed from Store Parameter to Store Parameters Firmware version FIR v1436 The number of entries was changed from 3 to 4 Firmware version FIR v1512 The number of entries was changed from 4 to 5 Firmware version FIR v1540 The...

Page 142: ...Subindex 03h Name Save Application Parameters To Non volatile Memory Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000001h Subindex 04h Name Save Customer Parameters To Non volatile Memory Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000001h Subindex 05h Name Save Drive Parameters To Non volatile Memory Data type UNSIGNED...

Page 143: ...s object can be used to reset all or part of the object dictionary to the default values Object description Index 1011h Object name Restore Default Parameters Object Code ARRAY Data type UNSIGNED32 Savable no Firmware version FIR v1426 Change history Firmware version FIR v1436 Object Name entry changed from Restore Default Parameter to Restore Default Parameters Firmware version FIR v1436 The numb...

Page 144: ...fault Parameters Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000001h Subindex 03h Name Restore Application Default Parameters Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000001h Subindex 04h Name Restore Customer Default Parameters Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 000000...

Page 145: ...nder CANopen With the Valid Bit bit 31 1 the Emergency Service can be deactivated the service is active with the value 0 Every time the controller is restarted bits 0 to 30 are generated according to the node ID Object description Index 1014h Object name COB ID EMCY Object Code VARIABLE Data type UNSIGNED32 Savable yes category communication Access read write PDO mapping no Allowed values Preset v...

Page 146: ...e UNSIGNED16 Savable yes category communication Access read write PDO mapping no Allowed values Preset value 0000h Firmware version FIR v1426 Change history 1018h Identity Object Function This object returns general information on the device such as manufacturer product code revision and serial number Tip Have these values ready in the event of service inquiries Object description Index 1018h Obje...

Page 147: ...e UNSIGNED32 Access read only PDO mapping no Allowed values Preset value N5 1 2 00000008h N5 2 2 0000000Ah Subindex 03h Name Revision Number Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 06720000h Subindex 04h Name Serial Number Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h 1020h Verify Configuration Function This obje...

Page 148: ...ct Code ARRAY Data type UNSIGNED32 Savable yes category verify Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Configuration Date Data type UNSIGNED32 Access read write PDO mapping...

Page 149: ...agement NMT Object description Index 1029h Object name Error Behavior Object Code ARRAY Data type UNSIGNED8 Savable yes category communication Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1738 B501312 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h...

Page 150: ...rors Value 00 h The controller switches to the Pre Operational state if previously in the Operational state Value 01 h The controller does not change state Value 02 h The controller switches to the Stopped state 1400h Receive PDO 1 Communication Parameter Function Contains the communication parameters for the receiving side mapping RX PDO in object 1600h See chapter Process Data Object PDO Object ...

Page 151: ...the time at which the received data become valid For details see chapter on configuring the RX PDO mapping 1401h Receive PDO 2 Communication Parameter Function Contains the communication parameters for the receiving side mapping RX PDO in object 1601h See chapter Process Data Object PDO Object description Index 1401h Object name Receive PDO 2 Communication Parameter Object Code RECORD Data type PD...

Page 152: ...ion type A number is stored in this subindex that defines the time at which the received data become valid For details see chapter on configuring the RX PDO mapping 1402h Receive PDO 3 Communication Parameter Function Contains the communication parameters for the receiving side mapping RX PDO in object 1602h See chapter Process Data Object PDO Object description Index 1402h Object name Receive PDO...

Page 153: ...1h COB ID The COB ID is stored here Subindex 02h transmission type A number is stored in this subindex that defines the time at which the received data become valid For details see chapter on configuring the RX PDO mapping 1403h Receive PDO 4 Communication Parameter Function Contains the communication parameters for the receiving side mapping RX PDO in object 1603h See chapter Process Data Object ...

Page 154: ...eset value FFh Description Subindex 01h COB ID The COB ID is stored here Subindex 02h transmission type A number is stored in this subindex that defines the time at which the received data become valid For details see chapter on configuring the RX PDO mapping 1404h Receive PDO 5 Communication Parameter Function Contains the communication parameters for the receiving side mapping RX PDO in object 1...

Page 155: ... values Preset value 80000000h Subindex 02h Name Transmission Type Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value FFh Description Subindex 01h COB ID The COB ID is stored here Subindex 02h transmission type A number is stored in this subindex that defines the time at which the received data become valid For details see chapter on configuring the RX PDO mapping 140...

Page 156: ...0h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name COB ID Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 80000000h Subindex 02h Name Transmission Type Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value FFh Description Subindex 01h COB ID The COB ID...

Page 157: ...ameter Object Code RECORD Data type PDO_COMMUNICATION_PARAMETER Savable yes category communication Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1614 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name COB ID Data type UNSIGNED32 Acces...

Page 158: ...s for the receiving side mapping RX PDO in object 1607h See chapter Process Data Object PDO Object description Index 1407h Object name Receive PDO 8 Communication Parameter Object Code RECORD Data type PDO_COMMUNICATION_PARAMETER Savable yes category communication Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1614 Change history Value description Subindex 00h Na...

Page 159: ...ers for PDOs that the controller can receive RX PDO 1 The PDO was previously configured via 1400h Receive PDO 1 Communication Parameter See chapter Process Data Object PDO Object description Index 1600h Object name Receive PDO 1 Mapping Parameter Object Code RECORD Data type PDO_MAPPING Savable yes category communication Firmware version FIR v1426 Change history Firmware version FIR v1426 Heading ...

Page 160: ...te PDO mapping no Allowed values Preset value 60600008h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 32020020h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read w...

Page 161: ...ED32 Access read write PDO mapping no Allowed values Preset value 00000000h Description Each subindex 1 8 describes a different mapped object A mapping entry consists of four bytes which are structured according to the following graphic 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Index 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SubIndex 8 Length 8 Index 16 This contains the index of the object t...

Page 162: ... v1426 Change history Firmware version FIR v1426 Heading entry changed from 1601h Positioning Control to 1601h Receive PDO 2 Mapping Parameter Firmware version FIR v1426 Object Name entry changed from Positioning Control to Receive PDO 2 Mapping Parameter Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value...

Page 163: ...Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name 7th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed value...

Page 164: ...mapped in units of bits 1602h Receive PDO 3 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can receive RX PDO 3 The PDO was previously configured via 1402h Receive PDO 3 Communication Parameter See chapter Process Data Object PDO Object description Index 1602h Object name Receive PDO 3 Mapping Parameter Object Code RECORD Data type PDO_MAPPING S...

Page 165: ...2nd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Nam...

Page 166: ...ite PDO mapping no Allowed values Preset value 00000000h 1603h Receive PDO 4 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can receive RX PDO 4 The PDO was previously configured via 1403h Receive PDO 4 Communication Parameter See chapter Process Data Object PDO Object description Index 1603h Object name Receive PDO 4 Mapping Parameter Object Co...

Page 167: ...x 01h Name 1st Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 60FE0120h Subindex 02h Name 2nd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subin...

Page 168: ... Name 7th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 08h Name 8th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h 1604h Receive PDO 5 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can receive RX PDO 5 The...

Page 169: ... Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h Subindex 01h Name 1st Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 02h Name 2nd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name 3rd Obje...

Page 170: ... PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name 7th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 08h Name 8th Object To Be Mapped Data type UNSIGNED32 Access read wri...

Page 171: ...r Object Code RECORD Data type PDO_MAPPING Savable yes category communication Access read write PDO mapping no Allowed values Preset value Firmware version FIR v1614 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h Subindex 01h Name 1st Object To Be Mapped Data type UNSIGNED32 Access ...

Page 172: ...write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name 7th Object To Be Mapped Data type UNSIGNED32 Access rea...

Page 173: ...ameter See chapter Process Data Object PDO Object description Index 1606h Object name Receive PDO 7 Mapping Parameter Object Code RECORD Data type PDO_MAPPING Savable yes category communication Access read write PDO mapping no Allowed values Preset value Firmware version FIR v1614 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write P...

Page 174: ...Preset value 00000000h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed value...

Page 175: ...oller can receive RX PDO 8 The PDO was previously configured via 1407h Receive PDO 8 Communication Parameter See chapter Process Data Object PDO Object description Index 1607h Object name Receive PDO 8 Mapping Parameter Object Code RECORD Data type PDO_MAPPING Savable yes category communication Access read write PDO mapping no Allowed values Preset value Firmware version FIR v1614 Change history V...

Page 176: ...00000h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 0...

Page 177: ...s Preset value 00000000h 1800h Transmit PDO 1 Communication Parameter Function Contains the communication parameters for the sending side mapping TX PDO 1 See chapter Process Data Object PDO Object description Index 1800h Object name Transmit PDO 1 Communication Parameter Object Code RECORD Data type PDO_COMMUNICATION_PARAMETER Savable yes category communication Firmware version FIR v1426 Change h...

Page 178: ...ED8 Access read write PDO mapping no Allowed values Preset value FFh Subindex 03h Name Inhibit Time Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset value 0064h Subindex 04h Name Compatibility Entry Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h Subindex 05h Name Event Timer Data type UNSIGNED16 Access read write PDO mapping no Allow...

Page 179: ...igger an Event which handles the copying of the data and the sending of the PDO For details see chapter on configuring the TX PDO mapping 1801h Transmit PDO 2 Communication Parameter Function Contains the communication parameters for the sending side mapping TX PDO 2 See chapter Process Data Object PDO Object description Index 1801h Object name Transmit PDO 2 Communication Parameter Object Code RE...

Page 180: ...es Preset value 0000h Description Subindex 01h COB ID The COB ID is stored here Subindex 02h transmission type A number is stored in this subindex that defines the time at which the received data become valid Subindex 3 inhibit time This can be used to set a time in milliseconds that must elapse after the sending of a PDO before the PDO is sent another time This time only applies for asynchronous ...

Page 181: ...DO_COMMUNICATION_PARAMETER Savable yes category communication Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 05h Subindex 01h Name COB ID Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 02h Name Transmission ...

Page 182: ...ubindex 3 inhibit time This can be used to set a time in milliseconds that must elapse after the sending of a PDO before the PDO is sent another time This time only applies for asynchronous PDOs Subindex 4 compatibility entry This subindex has no function and exists only for compatibility reasons Subindex 5 event timer This time in ms can be used to trigger an Event which handles the copying of th...

Page 183: ... no Allowed values Preset value 05h Subindex 01h Name COB ID Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 02h Name Transmission Type Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value FFh Subindex 03h Name Inhibit Time Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset value 0064h Subinde...

Page 184: ...ies for asynchronous PDOs Subindex 4 compatibility entry This subindex has no function and exists only for compatibility reasons Subindex 5 event timer This time in ms can be used to trigger an Event which handles the copying of the data and the sending of the PDO For details see chapter on configuring the TX PDO mapping 1804h Transmit PDO 5 Communication Parameter Function Contains the communicat...

Page 185: ...s read write PDO mapping no Allowed values Preset value C0000000h Subindex 02h Name Transmission Type Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value FFh Subindex 03h Name Inhibit Time Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset value 0064h Subindex 04h Name Compatibility Entry Data type UNSIGNED8 Access read write PDO mapping no All...

Page 186: ...ction and exists only for compatibility reasons Subindex 5 event timer This time in ms can be used to trigger an Event which handles the copying of the data and the sending of the PDO For details see chapter on configuring the TX PDO mapping 1805h Transmit PDO 6 Communication Parameter Function Contains the communication parameters for the sending side mapping TX PDO 6 See chapter Process Data Obj...

Page 187: ...ata type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value FFh Subindex 03h Name Inhibit Time Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset value 0064h Subindex 04h Name Compatibility Entry Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h Subindex 05h Name Event Timer Data type UNSIGNED16 Access read write PDO m...

Page 188: ...to trigger an Event which handles the copying of the data and the sending of the PDO For details see chapter on configuring the TX PDO mapping 1806h Transmit PDO 7 Communication Parameter Function Contains the communication parameters for the sending side mapping TX PDO 7 See chapter Process Data Object PDO Object description Index 1806h Object name Transmit PDO 7 Communication Parameter Object Co...

Page 189: ...ry Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h Subindex 05h Name Event Timer Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset value 0000h Description Subindex 01h COB ID The COB ID is stored here Subindex 02h transmission type A number is stored in this subindex that defines the time at which the received data become valid Subinde...

Page 190: ...s for the sending side mapping TX PDO 8 See chapter Process Data Object PDO Object description Index 1807h Object name Transmit PDO 8 Communication Parameter Object Code RECORD Data type PDO_COMMUNICATION_PARAMETER Savable yes category communication Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1614 Change history Value description Subindex 00h Name Highest Sub ...

Page 191: ...et value 0000h Description Subindex 01h COB ID The COB ID is stored here Subindex 02h transmission type A number is stored in this subindex that defines the time at which the received data become valid Subindex 3 inhibit time This can be used to set a time in milliseconds that must elapse after the sending of a PDO before the PDO is sent another time This time only applies for asynchronous PDOs Su...

Page 192: ...on FIR v1426 Change history Firmware version FIR v1426 Heading entry changed from 1A00h Drive Status to 1A00h Transmit PDO 1 Mapping Parameter Firmware version FIR v1426 Object Name entry changed from Drive Status to Transmit PDO 1 Mapping Parameter Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 02h S...

Page 193: ...Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name 7th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed value...

Page 194: ...ped in units of bits 1A01h Transmit PDO 2 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can send TX PDO 2 The PDO was previously configured via 1801h Transmit PDO 2 Communication Parameter See chapter Process Data Object PDO Object description Index 1A01h Object name Transmit PDO 2 Mapping Parameter Object Code RECORD Data type PDO_MAPPING Sava...

Page 195: ...2nd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Nam...

Page 196: ...Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Description Each subindex 1 8 describes a different mapped object A mapping entry consists of four bytes which are structured according to the following graphic 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Index 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SubIndex 8 Length 8 Index 16 This contains...

Page 197: ...FIR v1426 Change history Firmware version FIR v1426 Heading entry changed from 1A02h Velocity Status to 1A02h Transmit PDO 3 Mapping Parameter Firmware version FIR v1426 Object Name entry changed from Velocity Status to Transmit PDO 3 Mapping Parameter Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 01...

Page 198: ...Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name 7th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed value...

Page 199: ...be mapped in units of bits 1A03h Transmit PDO 4 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can send TX PDO 4 The PDO was previously configured via 1803h Transmit PDO 4 Communication Parameter See chapter Process Data Object PDO Object description Index 1A03h Object name Transmit PDO 4 Mapping Parameter Object Code RECORD Data type PDO_MAPPIN...

Page 200: ...2nd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Nam...

Page 201: ...Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Description Each subindex 1 8 describes a different mapped object A mapping entry consists of four bytes which are structured according to the following graphic 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Index 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SubIndex 8 Length 8 Index 16 This contains...

Page 202: ...r Object Code RECORD Data type PDO_MAPPING Savable yes category communication Access read write PDO mapping no Allowed values Preset value Firmware version FIR v1614 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h Subindex 01h Name 1st Object To Be Mapped Data type UNSIGNED32 Access ...

Page 203: ...write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name 7th Object To Be Mapped Data type UNSIGNED32 Access rea...

Page 204: ...e object to be mapped Subindex 8 This contains the subindex of the object to be mapped Length 8 This contains the length of the object to be mapped in units of bits 1A05h Transmit PDO 6 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can send TX PDO 6 The PDO was previously configured via 1805h Transmit PDO 6 Communication Parameter See chapter P...

Page 205: ...e PDO mapping no Allowed values Preset value 00000000h Subindex 02h Name 2nd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read wr...

Page 206: ...apping no Allowed values Preset value 00000000h Subindex 08h Name 8th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Description Each subindex 1 8 describes a different mapped object A mapping entry consists of four bytes which are structured according to the following graphic 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Index 16 ...

Page 207: ...ription Index 1A06h Object name Transmit PDO 7 Mapping Parameter Object Code RECORD Data type PDO_MAPPING Savable yes category communication Access read write PDO mapping no Allowed values Preset value Firmware version FIR v1614 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h Subinde...

Page 208: ...e Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name 7th Object To...

Page 209: ... contains the index of the object to be mapped Subindex 8 This contains the subindex of the object to be mapped Length 8 This contains the length of the object to be mapped in units of bits 1A07h Transmit PDO 8 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can send TX PDO 8 The PDO was previously configured via 1807h Transmit PDO 8 Communicatio...

Page 210: ...cess read write PDO mapping no Allowed values Preset value 00000000h Subindex 02h Name 2nd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 ...

Page 211: ...type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 08h Name 8th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Description Each subindex 1 8 describes a different mapped object A mapping entry consists of four bytes which are structured according to the following graphic 31 30 29 28 27 26 ...

Page 212: ...memory area Object description Index 1F50h Object name Program Data Object Code ARRAY Data type DOMAIN Savable no Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 03h Subindex 01h Name Program Data Bootl...

Page 213: ...gram Control Function This object is used to control the programming of memory areas of the controller Each entry stands for a certain memory area Object description Index 1F51h Object name Program Control Object Code ARRAY Data type UNSIGNED8 Savable no Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest...

Page 214: ...d values Preset value 00h Subindex 03h Name Program Control DataFlash Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h Description 1F57h Program Status Function This object indicates the programming status during the programming of memory areas of the controller Each entry stands for a certain memory area Object description Index 1F57h Object name Program Status...

Page 215: ...et value 03h Subindex 01h Name Program Status Bootloader firmware Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Subindex 02h Name Program Status NanoJ Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Program Status DataFlash Data type UNSIGNED32 Access read only PDO mapping no Allowed values Pr...

Page 216: ... value 88h Firmware version FIR v1426 Change history Description The baud rates are to be set according to the following table Each value outside of this table is interpreted as 1000 kBd Value dec hex Baud rate in kBd 129 81 10 130 82 20 131 83 50 132 84 125 133 85 250 134 86 500 136 88 1000 2007h CANopen Config Function This object can be used to perform various settings for CANopen Object descri...

Page 217: ...owed values Preset value 00000000h Description The subindices have the following functions Subindex 01 If the value 1 is written in the object the boot loader suppresses the boot up message and only the firmware sends a BOOTUP message With a 0 the boot loader and the firmware each send a BOOTUP message 2009h CANopen NodeID Function This object contains the node ID of the controller See chapter Com...

Page 218: ...no Allowed values Preset value 0000000Eh Firmware version FIR v1426 Change history Description 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 EXT 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 OFF UPnP IP AUTO DHCP IP Value 1 A static IP address from object 2011h is used and the network mask from object 2012h is used UPnP Value 1 The UPnP Universal Plug and Play messages are activated DHCP Value 1 IP addr...

Page 219: ...ntry changed from Static IP Address to Static IPv4 Address Description 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 IP Address Part 2 8 IP Address Part 1 8 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 IP Address Part 4 8 IP Address Part 3 8 IP Address Part 1 8 Specifies the first part of the IP address IP Address Part 2 8 Specifies the second part of the IP address IP Address Part 3 8 Specifies the th...

Page 220: ...on FIR v1450 Object Name entry changed from Static IP Subnet Mask to Static IPv4 Subnet Mask Description 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Subnet Mask Part 2 8 Subnet Mask Part 1 8 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subnet Mask Part 4 8 Subnet Mask Part 3 8 Subnet Mask Part 1 8 Specifies the first part of the subnet mask Subnet Mask Part 2 8 Specifies the second part of the subnet...

Page 221: ...FIR v1450 Object Name entry changed from Current IP Address to Current IPv4 Address Description 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 IP Address Part 2 8 IP Address Part 1 8 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 IP Address Part 4 8 IP Address Part 3 8 IP Address Part 1 8 Specifies the first part of the IP address IP Address Part 2 8 Specifies the second part of the IP address IP Address ...

Page 222: ...e version FIR v1450 Object Name entry changed from Current IP Subnet Mask to Current IPv4 Subnet Mask Description 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Subnet Mask Part 2 8 Subnet Mask Part 1 8 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subnet Mask Part 4 8 Subnet Mask Part 3 8 Subnet Mask Part 1 8 Specifies the first part of the subnet mask Subnet Mask Part 2 8 Specifies the second part of t...

Page 223: ...rmware version FIR v1540 Savable entry changed from no to yes category tuning 2031h Maximum Current Function If I 2 t monitoring is not active the rms current specified in the motor data sheet is entered here in mA If closed loop mode is used or if I 2 t monitoring is activated the maximum current value is specified here in mA Within the controller the entered value is always interpreted as the ro...

Page 224: ...egory tuning Access read write PDO mapping no Allowed values Preset value 00030D40h Firmware version FIR v1426 Change history Firmware version FIR v1614 Savable entry changed from yes category application to yes category tuning Description Note The object is not taken into account in the Cyclic Synchronous Velocity and Homing operating modes In the Velocity and Profile Velocity operating modes it ...

Page 225: ...al unwinding 2034h Upper Voltage Warning Level Function This object contains the threshold value for the overvoltage error in millivolts Object description Index 2034h Object name Upper Voltage Warning Level Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping no Allowed values Preset value N5 1 2 000128E0h N5 2 2 0000C92Ch Firmware version FIR v...

Page 226: ...f object 2035h plus 2 volts 2036h Open Loop Current Reduction Idle Time Function This object describes the time in milliseconds that the motor must be at a standstill before current reduction is activated Object description Index 2036h Object name Open Loop Current Reduction Idle Time Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping no Allowe...

Page 227: ...e rated current in 2037h The value in 2031h is used for the calculation Example Object 2031h has the value 4200 mA The value 60 in 2037h reduces the current by 60 of 2031h The result is a current reduction to a root mean square of 2031h 2037h 100 100 1680 mA The value 100 in 2037h would for example mean that a current reduction is set to a root mean square of 0 mA Note If the rated current is grea...

Page 228: ...Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 000003E8h Subindex 02h Name Shutdown Power Idle Time Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 000003E8h Subindex 03h Name Open Brake Delay Time Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 000003E8h Subindex 04h Name Start Operation Delay T...

Page 229: ...ing off of the motor current 03h Time between the switching on of the motor current and opening of the brake 04h Time between the opening of the brake and when the Operation enabled state of the CiA 402 Power State Machine is reached 05h Frequency of the brake PWM in hertz 06h Duty cycle of the brake PWM in percent 2039h Motor Currents Function This object contains the measured motor currents in m...

Page 230: ... Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 04h Subindex 01h Name I_d Data type INTEGER32 Access read only PDO mapping TX PDO Allowed values Preset value 00000000h Subindex 02h Name I_q Data type INTEGER32 Access read only PDO mapping TX PDO Allowed values Preset value 00000000h Subindex 03h Name I_a Data type INTEGER32 Access read only PDO mapping TX PDO Allow...

Page 231: ...Firmware version FIR v1540 The number of entries was changed from 4 to 3 Firmware version FIR v1540 Name entry changed from Period Of Blocking to Block Detection time Firmware version FIR v1614 Data Type entry changed from UNSIGNED32 to INTEGER32 Firmware version FIR v1614 Savable entry changed from no to yes category application Firmware version FIR v1614 Data Type entry changed from UNSIGNED32 t...

Page 232: ... 70 of 2031h 02h Specifies the time in ms that the motor is to continue to travel against the block after block detection 203Bh I2t Parameters Function This object contains the parameters for I 2 t monitoring I 2 t monitoring is activated by entering a value greater than 0 in 203Bh 01 and 203Bh 02 see I2t Motor overload protection With one exception I 2 t monitoring can only be used for closed loo...

Page 233: ...7h Subindex 01h Name Nominal Current Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 02h Name Maximum Duration Of Peak Current Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Threshold Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex...

Page 234: ...rrent specified in the motor data sheet is entered here in mA This must be smaller than the current entered in object 2031h otherwise monitoring is not activated The specified value is interpreted as root mean square 02h Specifies the maximum duration of the peak current in ms 03h Threshold specifies the limit in mA that determines whether the maximum current or rated current is switched to 04h Ca...

Page 235: ... no to yes category application 203Eh Torque Window Time Function The current torque must be within the Torque Window 203Dh for this time in milliseconds for the target torque to be considered having been met Object description Index 203Eh Object name Torque Window Time Object Code VARIABLE Data type UNSIGNED16 Savable yes category application Access read write PDO mapping RX PDO Allowed values Pr...

Page 236: ...ossible via auto setup The presence of this value is necessary for closed loop mode with encoder 2051h Encoder Optimization Function Contains compensation values for achieving better runout in closed loop mode Object description Index 2051h Object name Encoder Optimization Object Code ARRAY Data type INTEGER32 Savable yes category tuning Firmware version FIR v1426 Change history Firmware version F...

Page 237: ...meter 3 Data type INTEGER32 Access read write PDO mapping no Allowed values Preset value 00000000h Description The exact determination is only possible via auto setup 2052h Encoder Resolution Function Contains the physical resolution of the encoder that is used for commutation Object description Index 2052h Object name Encoder Resolution Object Code VARIABLE Data type INTEGER32 Savable yes categor...

Page 238: ...nction Specifies how far a limit switch may be passed over in the positive or negative direction before the controller triggers an error This tolerance band is necessary for example to complete homing operations in which limit switches can be actuated error free Object description Index 2056h Object name Limit Switch Tolerance Band Object Code VARIABLE Data type UNSIGNED32 Savable yes category app...

Page 239: ...t name Clock Direction Divider Object Code VARIABLE Data type INTEGER32 Savable yes category application Access read write PDO mapping no Allowed values Preset value 00000001h Firmware version FIR v1426 Change history 2059h Encoder Configuration Function This object can be used to switch the supply voltage and the type of encoder Object description Index 2059h Object name Encoder Configuration Obj...

Page 240: ...r the bit must have the value 0 For a single ended encoder the bit must be set to 1 205Ah Encoder Boot Value Function Tip This object only has a function when using an absolute encoder If an absolute encoder is not used the value is always 0 The initial encoder position when switching on the controller in user defined units can be read from this object Object description Index 205Ah Object name En...

Page 241: ...history 2060h Compensate Polepair Count Function Allows motion blocks to be assigned independent of motor Object description Index 2060h Object name Compensate Polepair Count Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping no Allowed values Preset value 00000001h Firmware version FIR v1426 Change history Description If this entry is set to 1...

Page 242: ...v1426 Change history 2062h Velocity Denominator Function Contains the denominator that is used for converting from user defined speed values to the internal revolutions second See chapter User defined units Object description Index 2062h Object name Velocity Denominator Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping no Allowed values Preset...

Page 243: ...ation values to the internal revolutions second 2 See chapter User defined units Object description Index 2064h Object name Acceleration Denominator Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping no Allowed values Preset value 0000003Ch Firmware version FIR v1426 Change history 2065h Jerk Numerator Function Contains the counter that is used...

Page 244: ...e Jerk Denominator Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping no Allowed values Preset value 0000003Ch Firmware version FIR v1426 Change history 2084h Bootup Delay Function Defines the period between the time that supply voltage is applied to the controller and the functional readiness of the controller in milliseconds Object descriptio...

Page 245: ...ject Name entry changed from Fieldbus Module to Fieldbus Module Availability Description Bits 0 to 15 represent the physical interface bits 16 to 31 the used protocol if necessary 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 MTCP MRTU E IP 15 14 13 12 11 10 9 8 E CAT 7 6 5 4 3 2 1 0 E NET SPI RS485 USB CAN RS232 USB Value 1 The USB fieldbus is available RS 485 Value 1 An RS 485 interface is ava...

Page 246: ...ry communication Access read write PDO mapping no Allowed values Preset value 00000018h Firmware version FIR v1540 Change history Firmware version FIR v1626 Savable entry changed from yes category application to yes category communication Description Object 2103h 1h contains all physical interfaces protocols that can be activated deactivated These can be switched in this object 2102h The current s...

Page 247: ...Net IP protocol 2103h Fieldbus Module Status Function Shows the active fieldbuses Object description Index 2103h Object name Fieldbus Module Status Object Code ARRAY Data type UNSIGNED32 Savable no Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only...

Page 248: ...s all physical interfaces and protocols that can be activated or deactivated A value 1 means that this fieldbus can be deactivated Subindex 2 Fieldbus Module Enabled This subindex contains all currently activated physical interfaces and protocols The value 1 means that that the fieldbus is active The following distribution of the bits applies for subindices 1 and 2 31 30 29 28 27 26 25 24 23 22 21...

Page 249: ...BLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Firmware version FIR v1426 Change history Firmware version FIR v1436 Object Name entry changed from VMM Control to NanoJ Control Description 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ON ON Switches the NanoJ program on valu...

Page 250: ...lues Preset value 00000000h Firmware version FIR v1426 Change history Firmware version FIR v1436 Object Name entry changed from VMM Status to NanoJ Status Description ERR RES RUN 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 RUN Value 0 Program is stopped value 1 NanoJ program is running RES Reserved ERR Program was ended with an error Cause of the error can...

Page 251: ...le access to system resource 0004h Hard fault internal error 0005h Code executed too long without yield or sleep 0006h Impermissible access to system resource 0007h Too many variables on the stack 0100h Invalid NanoJ program file Error when accessing an object Number Description 10xxxxyyh Invalid mapping in the NanoJ program file The value in xxxx specifies the index the value in yy specifies the ...

Page 252: ...Program Function Selects one of four possible user programs the file names of which were previously stored in object 2304h Object description Index 2303h Object name Number Of Active User Program Object Code VARIABLE Data type UNSIGNED8 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 00h Firmware version FIR v1426 Change history Description Changin...

Page 253: ...d Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 08h Subindex 01h Name Name Of User Program 1 UB Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 02h Name Name Of User Program 1 LB Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Name Of User Program 2 U...

Page 254: ...e Name Of User Program 3 LB Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name Name Of User Program 4 UB Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 08h Name Name Of User Program 4 LB Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Descript...

Page 255: ...designation contains the last four letters If the name has less than eight letters the missing letters must be filled with zeros 230Fh Uptime Seconds Function This object contains the operating hours in seconds since the last time the controller was started Note This object is not stored counting begins with 0 again after switching on Object description Index 230Fh Object name Uptime Seconds Objec...

Page 256: ...lication to no Firmware version FIR v1650 B472161 Access table entry for subindex 00 changed from read write to read only Firmware version FIR v1650 B472161 Access table entry for subindex 01 changed from read write to read only Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 10h Subindex 01h 10h Name M...

Page 257: ...tion Index 2320h Object name NanoJ Output Data Selection Object Code ARRAY Data type UNSIGNED32 Savable no Access read write PDO mapping no Allowed values Preset value Firmware version FIR v1650 B472161 Change history Firmware version FIR v1436 Object Name entry changed from VMM Output Data Selection to NanoJ Output Data Selection Firmware version FIR v1650 B472161 Savable entry changed from yes c...

Page 258: ...0 9 8 7 6 5 4 3 2 1 0 SubIndex 8 Length 8 Index 16 This contains the index of the object to be mapped SubIndex 8 This contains the subindex of the object to be mapped Length 8 This contains the length of the object to be mapped in units of bits 2330h NanoJ In output Data Selection Function Describes the object dictionary entries that are first copied to the input PDO mapping of the NanoJ program a...

Page 259: ...y for subindex 01 changed from read write to read only Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 10h Subindex 01h 10h Name Mapping 1 16 Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Description 2400h NanoJ Inputs Function Located here is an array with 3...

Page 260: ...alues Preset value 20h Subindex 01h 20h Name NanoJ Input 1 32 Data type INTEGER32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Description Here it is possible to pass e g preset values to the VMM program 2410h NanoJ Init Parameters Function This object functions identically to object 2400h with the difference that this object can be stored Object description Index 241...

Page 261: ...es Preset value 00000000h 2500h NanoJ Outputs Function Located here is an array with 32 32 bit integer values that is not used within the firmware and serves only for communicating with the user program via the fieldbus Object description Index 2500h Object name NanoJ Outputs Object Code ARRAY Data type INTEGER32 Savable no Firmware version FIR v1426 Change history Firmware version FIR v1436 Objec...

Page 262: ... read out via the fieldbus 2600h NanoJ Debug Output Function This object contains debug output of a user program Object description Index 2600h Object name NanoJ Debug Output Object Code ARRAY Data type UNSIGNED8 Savable no Firmware version FIR v1426 Change history Firmware version FIR v1436 Object Name entry changed from VMM Debug Output to NanoJ Debug Output Value description Subindex 00h Name H...

Page 263: ... and stored in this object Object description Index 2701h Object name Customer Storage Area Object Code ARRAY Data type UNSIGNED32 Savable yes category customer Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Firmware version FIR v1540 Data Type entry changed from UNSIGNED32 to UNSIGNED8 Value description Subindex 00h Name Highest Sub index Sup...

Page 264: ...ion Index 2800h Object name Bootloader And Reboot Settings Object Code ARRAY Data type UNSIGNED32 Savable yes category application Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 03h Subindex 01h Name R...

Page 265: ...oader mode off and on Bit 0 1 Short circuiting of the motor windings in bootloader mode is switched off Bit 0 0 Short circuiting of the motor windings in bootloader mode is switched on 3202h Motor Drive Submode Select Function Controls the controller mode such as the changeover between closed loop open loop and whether Velocity Mode is simulated via the S controller or functions with a real V cont...

Page 266: ...Reduction Value 1 Current reduction activated in open loop Torque only active in operating modes Profile Torque and Cyclic Synchronous Torque Value 1 M controller is active otherwise a V controller is superimposed no V controller is used in the torque modes for speed limiting thus object 2032h is ignored 3210h 3 and 3210h 4 have no effect on the control BLDC Value 1 Motor type BLDC brushless DC mo...

Page 267: ...NTEGER32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 02h Name Torque Data type INTEGER32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Velocity Data type INTEGER32 Access read write PDO mapping no Allowed values Preset value 00000001h Subindex 04h Name Position Data type INTEGER32 Access read write PDO mapping no Allowe...

Page 268: ...e 1 The encoder value is entered in object 6064h 320Bh Motor Drive Sensor Display Closed Loop Function This can be used to change the source for objects 6044h and 6064h in closed loop mode Object description Index 320Bh Object name Motor Drive Sensor Display Closed Loop Object Code ARRAY Data type INTEGER32 Savable yes category application Firmware version FIR v1426 Change history Value descriptio...

Page 269: ...indices have a function 01h Not used 02h Not used 03h Changes the source of object 6044h Value 1 The internally calculated set value is entered in object 6044h Value 0 The value is kept at 0 Value 1 The encoder value is entered in object 6044h 04h Changes the source of object 6064h Value 1 The internally calculated set value is entered in object 6064h Value 0 The value is kept at 0 Value 1 The enc...

Page 270: ...entry changed from Iq_P to Torque Current Loop Proportional Gain closed loop Firmware version FIR v1626 Name entry changed from Iq_I to Torque Current Loop Integral Gain closed loop Firmware version FIR v1626 Name entry changed from I_P to Torque Current Loop Proportional Gain dspDrive Stepper Motor open loop Firmware version FIR v1626 Name entry changed from I_I to Torque Current Loop Integral Ga...

Page 271: ...s read write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Velocity Loop Proportional Gain closed Loop Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00002EE0h Subindex 04h Name Velocity Loop Integral Gain closed Loop Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 0000001Eh Subindex 05h Name Flux Current...

Page 272: ...8h Name Torque Current Loop Integral Gain closed Loop Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00002EE0h Subindex 09h Name Torque Current Loop Proportional Gain open Loop Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 0003A980h Subindex 0Ah Name Torque Current Loop Integral Gain open Loop Data type UNSIGNED32 Access read w...

Page 273: ...ntroller of the field building component Subindex 0Ah Open loop Integral component of the current controller of the field forming component 3212h Motor Drive Flags Function This object determines whether or not the output voltage for the motor is active in the switched on mode of the CiA 402 state machine The direction of the rotating field can also be changed Note Changes in subindex 02 do not ta...

Page 274: ...ltage for the motor PWM is permanently set to 50 no holding torque is built up Value 1 In the Switched on state of the CiA 402 Power State Machine the output voltage for the motor PWM is active via the controller holding torque is built up The motor remains at a standstill Valid values for subindex 02h Value 0 Use default values of the firmware Value 1 Force non inversion of the rotating field mat...

Page 275: ... Savable no Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Analogue Input 1 Data type INTEGER16 Access read only PDO mapping TX PDO Allowed values Preset value 0000h Subindex 02h Name Analogue Input 2 Data type INTEGER16 Access read only P...

Page 276: ...O mapping no Allowed values Preset value 00000000h Firmware version FIR v1426 Change history Description 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 AC2 AC1 In general If a bit is set to the value 0 the analog input measures the voltage if the bit is set to the value 1 the current is measured AC1 Setting for analog input 1 AC2 Setting for analog input 2 32...

Page 277: ...itch1 Data type UNSIGNED16 Access read only PDO mapping TX PDO Allowed values Preset value 0000h Description In sub index 1 the nodeId of the rotary switch es is registered if a CANopen interface is available to the controller When a DIP Switch is fitted to the controller the positions of the DIP switches are stored in sub index 1 Bit 0 accords the switch 1 the value of the bit is 1 if the switch ...

Page 278: ...v1512 The number of entries was changed from 8 to 9 Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 08h Subindex 01h Name Special Function Enable Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 02h Name Function Inverted Data type UNSIGNED32 Acces...

Page 279: ...ead write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 06h Name Input Range Select Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 07h Name Differential Select Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 08h Name Routing Enable Data type UNSIGNED32 Access read ...

Page 280: ... normally open logic applies for the value 1 normally closed logic applies 3240h 03h Force Enable This bit switches on the software simulation of input values if it is set to 1 In this case the actual values are no longer used in object 3240h 04h but rather the set values for the respective input 3240h 04h Force Value This bit specifies the value that is to be read as the input value if the same b...

Page 281: ...f object 60FD and so on The number that is written in a subindex determines the source for the corresponding bit The following table lists all possible signal sources Number dec hex Signal source 00 00 Signal is always 0 01 01 Physical input 1 02 02 Physical input 2 03 03 Physical input 3 04 04 Physical input 4 05 05 Physical input 5 06 06 Physical input 6 07 07 Physical input 7 08 08 Physical inp...

Page 282: ... input 6 135 87 Inverted physical input 7 136 88 Inverted physical input 8 137 89 Inverted physical input 9 138 8A Inverted physical input 10 139 8B Inverted physical input 11 140 8C Inverted physical input 12 141 8D Inverted physical input 13 142 8E Inverted physical input 14 143 8F Inverted physical input 15 144 90 Inverted physical input 16 193 C1 Inverted Hall input U 194 C2 Inverted Hall inpu...

Page 283: ...gital Outputs Control Object Code ARRAY Data type UNSIGNED32 Savable yes category application Firmware version FIR v1426 Change history Firmware version FIR v1426 Subindex 01h Name entry changed from Special Function Disable to Special Function Enable Firmware version FIR v1446 Name entry changed from Special Function Enable to No Function Firmware version FIR v1512 The number of entries was chang...

Page 284: ...IGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 04h Name Force Value Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 05h Name Raw Value Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 06h Name Reserved1 Data type UNSIGNED32 Access read write ...

Page 285: ...the bit has the value 1 The level of the output is defined in subindex 4h 04h This subindex is used to define the level to be applied to the output The value 0 returns a logical low level at the digital output the value 1 on the other hand returns a logical high level 05h The bit combination applied to the outputs is stored in this subindex 3252h Digital Output Routing Function This object assigns...

Page 286: ...ad write PDO mapping TX PDO Allowed values Preset value 1080h Subindex 02h Name Output Control 2 Data type UNSIGNED16 Access read write PDO mapping TX PDO Allowed values Preset value 0090h Subindex 03h Name Output Control 3 Data type UNSIGNED16 Access read write PDO mapping TX PDO Allowed values Preset value 0091h Subindex 04h Name Output Control 4 Data type UNSIGNED16 Access read write PDO mappin...

Page 287: ...on Index 3320h Object name Read Analogue Input Object Code ARRAY Data type INTEGER32 Savable no Firmware version FIR v1426 Change history Value description Subindex 00h Name Number Of Analogue Inputs Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Analogue Input 1 Data type INTEGER32 Access read only PDO mapping TX PDO Allowed values Preset val...

Page 288: ...owing applies for the sub entries Subindex 00h Number of analog inputs Subindex 01h Analog value 1 Subindex 02h Analog value 2 3321h Analogue Input Offset Function Offset that is added to the read analog value 3320h before dividing by the divisor from object 3322h Object description Index 3321h Object name Analogue Input Offset Object Code ARRAY Data type INTEGER32 Savable yes category application...

Page 289: ... for analog input 2 3322h Analogue Input Pre scaling Function Value by which the read analog value 3320h 3321h is divided before it is written in object 3320h Object description Index 3322h Object name Analogue Input Pre scaling Object Code ARRAY Data type INTEGER32 Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Number Of Analogue Inp...

Page 290: ...0h Number of divisors Subindex 01h Divisor for analog input 1 Subindex 02h Divisor for analog input 2 3700h Following Error Option Code Function The object contains the action that is to be executed if a following error is triggered Object description Index 3700h Object name Following Error Option Code Object Code VARIABLE Data type INTEGER16 Savable yes category application Access read write PDO ...

Page 291: ...ation about the hardware Object description Index 4012h Object name HW Information Object Code ARRAY Data type UNSIGNED32 Savable no Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 01h Subindex 01h Name...

Page 292: ... HW Configuration Object Code ARRAY Data type UNSIGNED32 Savable yes category application Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 01h Subindex 01h Name HW Configuration 1 Data type UNSIGNED32 Ac...

Page 293: ...ged from read write to read only Firmware version FIR v1650 B472161 Access table entry for subindex 02 changed from read write to read only Firmware version FIR v1650 B472161 Name entry changed from Temperature PCB d C to Temperature PCB Celsius 10 Firmware version FIR v1650 B472161 Access table entry for subindex 03 changed from read write to read only Value description Subindex 00h Name Highest ...

Page 294: ...indices contain 01h Current voltage supply voltage in mV 02h Current logic voltage in mV 03h Current temperature in d C tenths of degree 4040h Drive Serial Number Function This object contains the serial number of the controller Object description Index 4040h Object name Drive Serial Number Object Code VARIABLE Data type VISIBLE_STRING Savable no Access read only PDO mapping no Allowed values Pres...

Page 295: ... of the last error that occurred It corresponds to the lower 16 bits of object 1003h For the description of the error codes refer to object 1003h Object description Index 603Fh Object name Error Code Object Code VARIABLE Data type UNSIGNED16 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 0000h Firmware version FIR v1426 Change history Description For the meaning of the ...

Page 296: ...nction dependent on the currently selected mode OMS 3 FR EV SO EO QS OMS HALT 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SO Switched On Value 1 Switches to the Switched on state EV Enable Voltage Value 1 Switches to the Enable voltage state QS Quick Stop Value 0 Switches to the Quick stop state EO Enable Operation Value 1 Switches to the Enable operation state OMS Operation Mode Specific Meaning is dep...

Page 297: ...e with respect to function dependent on the currently selected mode QS VE WARN SOD SO RTSO FAULT OE OMS 2 CLA REM SYNC ILA TARG 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 RTSO Ready To Switch On Value 1 Controller is in the Ready to switch on state SO Switched On Value 1 Controller is in the Switched on state OE Operation Enabled Value 1 Controller is in the Operation enabled state FAULT Error occurred...

Page 298: ...the bit masks that break down the state of the controller Statusword 6041h State xxxx xxxx x0xx 0000 Not ready to switch on xxxx xxxx x1xx 0000 Switch on disabled xxxx xxxx x01x 0001 Ready to switch on xxxx xxxx x01x 0011 Switched on xxxx xxxx x01x 0111 Operation enabled xxxx xxxx x00x 0111 Quick stop active xxxx xxxx x0xx 1111 Fault reaction active xxxx xxxx x0xx 1000 Fault 6042h Vl Target Veloci...

Page 299: ...DO mapping TX PDO Allowed values Preset value 0000h Firmware version FIR v1426 Change history 6044h Vl Velocity Actual Value Function Specifies the current actual speed in user defined units In open loop mode the source of this object can be set with object 320Ah 03h to either the internal calculated value or to the encoder Object description Index 6044h Object name Vl Velocity Actual Value Object...

Page 300: ...are version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name MinAmount Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 02h Name MaxAmount Data type UNSIGNED32 Access read write PDO mapping RX PDO Allow...

Page 301: ...p in Velocity Mode see Velocity Object description Index 6048h Object name Vl Velocity Acceleration Object Code RECORD Data type VELOCITY_ACCELERATION_DECELERATION Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h ...

Page 302: ...cription Index 6049h Object name Vl Velocity Deceleration Object Code RECORD Data type VELOCITY_ACCELERATION_DECELERATION Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name DeltaSpeed Data type UNSIGNED32 Acces...

Page 303: ...ion ramp if the Quick Stop state is initiated in Velocity Mode Object description Index 604Ah Object name Vl Velocity Quick Stop Object Code RECORD Data type VELOCITY_ACCELERATION_DECELERATION Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values P...

Page 304: ...ension Factor Function The unit for speed values is defined here for the objects associated with Velocity Mode Object description Index 604Ch Object name Vl Dimension Factor Object Code ARRAY Data type INTEGER32 Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping ...

Page 305: ...ue 1 and subindex 2 is set to the value 60 factory setting the speed is specified in revolutions per minute 1 revolution per 60 seconds 605Ah Quick Stop Option Code Function The object contains the action that is to be executed on a transition of the CiA 402 Power State Machine to the Quick Stop state Object description Index 605Ah Object name Quick Stop Option Code Object Code VARIABLE Data type ...

Page 306: ...16 Savable yes category application Access read write PDO mapping no Allowed values Preset value 0001h Firmware version FIR v1426 Change history Description Value Description 32768 1 Reserved 0 Immediate stop 1 Braking with slow down ramp deceleration deceleration ramp depending on operating mode and subsequent state change to Switch on disabled 2 32767 Reserved 605Ch Disable Option Code Function ...

Page 307: ... Halt Option Code Function The object contains the action that is to be executed if bit 8 Halt is set in controlword 6040h Object description Index 605Dh Object name Halt Option Code Object Code VARIABLE Data type INTEGER16 Savable yes category application Access read write PDO mapping no Allowed values Preset value 0001h Firmware version FIR v1426 Change history Description Value Description 3276...

Page 308: ...002h Firmware version FIR v1426 Change history Description Value Description 32768 1 Reserved 0 Immediate stop 1 Braking with slow down ramp deceleration deceleration ramp depending on operating mode 2 Braking with quick stop ramp deceleration deceleration ramp depending on operating mode 3 32767 Reserved 6060h Modes Of Operation Function The desired operating mode is entered in this object Object...

Page 309: ...elocity Mode 4 Profile Torque Mode 5 Reserved 6 Homing Mode 7 Interpolated Position Mode 8 Cyclic Synchronous Position Mode 9 Cyclic Synchronous Velocity Mode 10 Cyclic Synchronous Torque Mode 6061h Modes Of Operation Display Function Indicates the current operating mode See also 6060h Modes Of Operation Object description Index 6061h Object name Modes Of Operation Display Object Code VARIABLE Dat...

Page 310: ...v1426 Change history 6063h Position Actual Internal Value Function Contains the current rotary encoder position in increments Unlike objects 6062h and 6064h this value is not set to 0 following a Homing operation Note If the encoder resolution in object 2052h 0 the numerical values of this object are invalid Object description Index 6063h Object name Position Actual Internal Value Object Code VARI...

Page 311: ...ode VARIABLE Data type INTEGER32 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 00000000h Firmware version FIR v1426 Change history 6065h Following Error Window Function Defines the maximum allowed following error in user defined units symmetrically to the demand position Object description Index 6065h Object name Following Error Window Object Code VARIABLE Data type UN...

Page 312: ...ARIABLE Data type UNSIGNED16 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 0064h Firmware version FIR v1426 Change history Firmware version FIR v1504 Savable entry changed from no to yes category application Description If the actual position deviates so much from the demand position that the value of object 6065h is exceeded bit 13 in object 604...

Page 313: ...e Position Window 6067h for this time in milliseconds for the target position to be considered having been met in the Profile Position and Interpolated Position Mode modes Object description Index 6068h Object name Position Window Time Object Code VARIABLE Data type UNSIGNED16 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 0064h Firmware version F...

Page 314: ...ves as the preset value for the speed controller 606Ch Velocity Actual Value Function Current actual speed in user defined units Object description Index 606Ch Object name Velocity Actual Value Object Code VARIABLE Data type INTEGER32 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 00000000h Firmware version FIR v1426 Change history 606Dh Velocity Window Function Specifi...

Page 315: ...ocity Mode 606Eh Velocity Window Time Function The current speed must be within the Velocity Window 606Dh for this time in milliseconds for the target to be considered having been met Object description Index 606Eh Object name Velocity Window Time Object Code VARIABLE Data type UNSIGNED16 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 0000h Firmwa...

Page 316: ...ory application Description This object is calculated as thousandths of the torque e g the value 500 means 50 of the rated torque 1100 is equivalent to 110 The rated torque corresponds to the rated current in object 203Bh 01 The target torque may not exceed the peak torque proportional to the peak current in 2031h 6072h Max Torque Function The object describes the maximum torque for the Profile To...

Page 317: ... Code VARIABLE Data type INTEGER16 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 0000h Firmware version FIR v1426 Change history Description This object is calculated as thousandths of the torque e g the value 500 means 50 of the rated torque 1100 is equivalent to 110 The rated torque corresponds to the rated current in object 203Bh 01 The target torque may not exceed ...

Page 318: ...tion in user defined units for the Profile Position and Cyclic Synchronous Position modes Object description Index 607Ah Object name Target Position Object Code VARIABLE Data type INTEGER32 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 00000FA0h Firmware version FIR v1426 Change history Firmware version FIR v1626 Savable entry changed from no to ...

Page 319: ...e Max Position Range Limit Data type INTEGER32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Description If this range is exceeded or not reached an overflow occurs To prevent this overflow limit values for the target position can be set in object 607Dh Software Position Limit 607Ch Home Offset Function Specifies the difference between the zero position of the controll...

Page 320: ...d units Object description Index 607Dh Object name Software Position Limit Object Code ARRAY Data type INTEGER32 Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Min Position Limit Data type INTEGER32 Access ...

Page 321: ...ect description Index 607Eh Object name Polarity Object Code VARIABLE Data type UNSIGNED8 Savable yes category application Access read write PDO mapping no Allowed values Preset value 00h Firmware version FIR v1426 Change history Description The following generally applies for direction reversal If a bit is set to the value 1 reversal is activated If the value is 0 the direction of rotation is as ...

Page 322: ...DO mapping RX PDO Allowed values Preset value 000001F4h Firmware version FIR v1426 Change history 6082h End Velocity Function Specifies the speed at the end of the traveled ramp in user defined units Object description Index 6082h Object name End Velocity Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 0000...

Page 323: ...on deceleration ramp in user defined units Object description Index 6084h Object name Profile Deceleration Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 000001F4h Firmware version FIR v1426 Change history 6085h Quick Stop Deceleration Function Specifies the maximum Quick Stop Deceleration in user defined ...

Page 324: ...BLE Data type INTEGER16 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 0000h Firmware version FIR v1426 Change history Description Value 0 Trapezoidal ramp Value 3 Ramp with limited jerk 6087h Torque Slope Function This object contains the slope of the torque in Torque mode Object description Index 6087h Object name Torque Slope Object Code VARIAB...

Page 325: ...Encoder Resolution Function Virtual encoder increments per revolution See chapter User defined units Object description Index 608Fh Object name Position Encoder Resolution Object Code ARRAY Data type UNSIGNED32 Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping n...

Page 326: ...shaft revolution Object description Index 6091h Object name Gear Ratio Object Code ARRAY Data type UNSIGNED32 Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Motor Revolutions Data type UNSIGNED32 Access rea...

Page 327: ...er revolution on the drive Object description Index 6092h Object name Feed Constant Object Code ARRAY Data type UNSIGNED32 Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Feed Data type UNSIGNED32 Access rea...

Page 328: ...description Index 6098h Object name Homing Method Object Code VARIABLE Data type INTEGER8 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 23h Firmware version FIR v1426 Change history 6099h Homing Speed Function Specifies the speeds for Homing Mode 6098h in user defined units Object description Index 6099h Object name Homing Speed Object Code ARRAY...

Page 329: ...ated with the numerator in object 2061h and the dominator in object 2062h The speed for the search for the switch is specified in subindex 1 The lower speed for the search for the reference position is specified in subindex 2 Note The speed in subindex 2 is simultaneously the initial speed when starting the acceleration ramp If this is set too high the motor loses steps or fails to turn at all If ...

Page 330: ...0A4h Profile Jerk Function In the case of a ramp with limited jerk the size of the jerk can be entered in this object An entry with the value 0 means that the jerk is not limited Object description Index 60A4h Object name Profile Jerk Object Code ARRAY Data type UNSIGNED32 Savable yes category application Firmware version FIR v1426 Change history Firmware version FIR v1614 Name entry changed from ...

Page 331: ...dex 03h Name End Acceleration Jerk Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 000003E8h Subindex 04h Name End Deceleration Jerk Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 000003E8h Description Subindex 01h Begin Acceleration Jerk Initial jerk during acceleration Subindex 02h Begin Deceleration Jerk Initial jerk during br...

Page 332: ...ory application Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1512 Change history Firmware version FIR v1626 Savable entry changed from no to yes category application Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 01h Subindex 01h Name 1st Set point Data type INTEGER...

Page 333: ...ly PDO mapping no Allowed values Preset value Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Interpolation Time Period Value Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 01h Subindex 02h Name Interpolati...

Page 334: ...nts Object description Index 60C4h Object name Interpolation Data Configuration Object Code RECORD Data type INTERPOLATION_DATA_CONFIGURATION Savable yes category application Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1512 Change history Firmware version FIR v1540 Access table entry for subindex 05 changed from read write to write only Firmware version FIR v1...

Page 335: ... no Allowed values Preset value 00000001h Subindex 03h Name BufferOrganization Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h Subindex 04h Name BufferPosition Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset value 0001h Subindex 05h Name SizeOfDataRecord Data type UNSIGNED8 Access write only PDO mapping no Allowed values Preset value...

Page 336: ...ceived data in the buffer deactivates access and deletes all interpolated records If the value 01h is written in subindex 06h it activates access to the input buffer 60C5h Max Acceleration Function This object contains the maximum permissible acceleration for the Profile Position and Profile Velocity modes Object description Index 60C5h Object name Max Acceleration Object Code VARIABLE Data type U...

Page 337: ...ue 0001h Firmware version FIR v1446 Change history Firmware version FIR v1614 Savable entry changed from no to yes category application Description Only the following bits are supported at the present time RADO 2 MS RESERVED 3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 RRO 2 CIO 2 REL OPT 2 IP OPTION 4 REL OPT Relative Option These bits determine the behavior with relative rotating movement in Profile ...

Page 338: ...on this is possible for the controller 1 1 Reserved RADO Rotary Axis Direction Option These bits determine the direction of rotation in Profile Position mode Bit 7 Bit 6 Definition 0 0 Normal positioning similar to a linear axis If one of the Position Range Limits 607Bh 01h and 02h is reached or exceeded the preset is automatically transferred to the other end of the limit Only with this bit combi...

Page 339: ...Preset value 00000000h Firmware version FIR v1426 Change history 60FDh Digital Inputs Function With this object the digital inputs of the motor can be read Object description Index 60FDh Object name Digital Inputs Object Code VARIABLE Data type UNSIGNED32 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 00000000h Firmware version FIR v1426 Change history Description 31 30...

Page 340: ...en Object description Index 60FEh Object name Digital Outputs Object Code ARRAY Data type UNSIGNED32 Savable yes category application Firmware version FIR v1426 Change history Firmware version FIR v1626 Savable entry changed from no to yes category application Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset v...

Page 341: ...y Function In this object the target speed for the Profile Velocity and Cyclic Synchronous Velocity modes is entered in user defined units Object description Index 60FFh Object name Target Velocity Object Code VARIABLE Data type INTEGER32 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Firmware version FIR v1426 Change history Firmware ve...

Page 342: ...is not supported 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 HM 7 6 5 4 3 2 1 0 CSP IP VL PP TQ PV CST CSV PP Profile Position Mode VL Velocity Mode PV Profile Velocity Mode TQ Torque Mode HM Homing Mode IP Interpolated Position Mode CSP Cyclic Synchronous Position Mode CSV Cyclic Synchronous Velocity Mode CST Cyclic Synchronous Torque Mode 6503h IEEE 802 MAC Address Func...

Page 343: ...e version FIR v1650 B472161 Object Name entry changed from Drive Catalogue Number to IEEE 802 MAC Address 6505h Http Drive Catalogue Address Function This object contains the manufacturer s web address as a character string Object description Index 6505h Object name Http Drive Catalogue Address Object Code VARIABLE Data type VISIBLE_STRING Savable no Access read only PDO mapping no Allowed values ...

Page 344: ...Y AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABI...

Page 345: ... OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 11 5 DHCP Copyright c 2005 Swedish Institute of Computer Science All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyr...

Page 346: ...bove copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution 3 Neither the name of the Institute nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission This software is provided by the Institute and contributors as is an...

Page 347: ...ISCLAIMED IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT...

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