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NANOTEC PD4-C5918M4204-E-01, Manual

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NANOTEC PD4-C5918M4204-E-01 Manual Download Page 229

Manual PD4-C (USB)

13 Copyright notice

Version: 1.4.1 / 22.07.2016 / FIR-v1626

229

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13.10 lwIP

Copyright (c) 2001-2004 Swedish Institute of Computer Science.

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This file is part of the lwIP TCP/IP stack.

Author: Adam Dunkels <[email protected]>

Summary of Contents for PD4-C5918M4204-E-01

Page 1: ...918L4204 E 01 PD4 C6018L4204 E 01 PD4 CB59M024035 E 01 Valid with firmware version FIR v1626 Manual Version 1 4 1 and since hardware version W005 NANOTEC ELECTRONIC GmbH Co KG Tel 49 0 89 900 686 0 Ka...

Page 2: ...11 5 Technical data and pin configuration 12 5 1 Dimensioned drawings 12 5 2 Electrical properties 12 5 3 Overtemperature protection 13 5 4 LED signaling 15 5 5 Pin configuration 16 6 Configuration 20...

Page 3: ...Device Name 90 1009h Manufacturer Hardware Version 91 100Ah Manufacturer Software Version 91 1010h Store Parameters 91 1011h Restore Default Parameters 93 1018h Identity Object 95 1020h Verify Config...

Page 4: ...2330h NanoJ In output Data Selection 140 2400h NanoJ Inputs 143 2410h NanoJ Init Parameters 144 2500h NanoJ Outputs 145 2600h NanoJ Debug Output 146 2700h User Storage Area 147 3202h Motor Drive Subm...

Page 5: ...200 6072h Max Torque 201 6074h Torque Demand 201 6077h Torque Actual Value 202 607Ah Target Position 202 607Bh Position Range Limit 203 607Ch Home Offset 204 607Dh Software Position Limit 204 607Eh Po...

Page 6: ...opyright notice 226 13 1 Introduction 226 13 2 AES 226 13 3 Arcfour RC4 226 13 4 MD5 227 13 5 uIP 227 13 6 DHCP 227 13 7 CMSIS DSP Software Library 228 13 8 FatFs 228 13 9 Protothreads 228 13 10 lwIP...

Page 7: ...ts produced by third parties The licensing conditions and copyrights of these code components can be found in the Copyright notice section Nanotec Electronic GmbH Co KG Kapellenstra e 6 85622 Feldkirc...

Page 8: ...o 3321h Analogue Input Pre scaling from 6432h to 3322h 1 1 7 FIR v1436 10 09 2014 Corrections 1 1 15 FIR v1446 18 11 2014 Corrections The object Mode of modulo operation at 2070h has been replaced wit...

Page 9: ...ured by Nanotec must show appropriate warning notices and instructions for a safe application and safe operation on delivery to the end user All warning notices provided by Nanotec must be immediately...

Page 10: ...dous situation that when the instruction is neglected will unavoidably cause a serious or fatal accident WARNING The WARNING sign indicates a potentially hazardous situation that when the instruction...

Page 11: ...index are in hexadecimal notation Sub index 0 is in force when no sub index is noted Example Sub index 5 of object 1003h is addressed with 1003h 05h sub index 0 of object 6040h with 6040h In the last...

Page 12: ...wings 5 1 1 PD4 C5918M4204 E 01 Front view and mounting Side view Rear view Y 5 1 2 PD4 C6018L4204 E 01 Front view and mounting Side view Rear view Y 5 1 3 PD4 CB59M024035 E 01 Front view and mounting...

Page 13: ...application and has to be greater than the maximum controllers current consumption and smaller than the maximum current of the voltage supply In case the fuse being close to the current consumption of...

Page 14: ...vironment Thermo TEC Ambient temperature 25 or 45 C Measurement point rear at power transistors on the outside of the housing The following graphics show the temperature test results 0 10 000 2 000 4...

Page 15: ...50 40 60 50 70 45 55 65 time in seconds temperature in Celsius PD4 CB Controller temperature at 45 Celsius ambient temperature and 8A motor current 5 4 LED signaling 5 4 1 Operating LED Normal operati...

Page 16: ...rrent 5 Control Note A considerably more exact error code is stored in object 1003h for every error that has occurred 5 5 Pin configuration 5 5 1 Overview 5 5 2 Analogue input connector X1 Connections...

Page 17: ...n Function Remark 1 Digital Input 1 0 24 V 2 Digital Input 2 0 24 V 3 Digital Input 3 0 24 V 4 Enable 5 V 24 V signal all pins together switchable via software with object 3240h max 1 MHz 5 Enable 5 V...

Page 18: ...t neverexceeds the admissible operating voltage of the motor In particular interferences by other consumers or by voltages induced by the motor must be considered and if necessary a voltage must be se...

Page 19: ...or cross section flexible with ferrule with plastic sleeve min 0 25 mm 2 0 75 mm 2 Conductor cross section AWG min 24 16 Minimum AWG according to UL CUL 24 16 Permissible operating voltage The maximum...

Page 20: ...ion in the following sequence 1 Configuration file is read out and processed 2 The DIP switches are read out and applied as configuration 3 The NanoJ program is launched 6 2 DIP switches The motor con...

Page 21: ...t In this mode the direction input determines the direction of rotation left right the analoge voltage determines the revolution speed Offset 5 V joystick mode If the switch is set in analoge mode the...

Page 22: ...fore advisable to use a script file that does this work In Windows you can create a text file with file extension bat and the following content copy SOURCE TARGET For Linux you can create a script wit...

Page 23: ...4 3 Structure of configuration file Comments Lines that start with a semicolon are ignored by the motor controller Example This is a comment line Assignments CAUTION Beforeyou set a value find out ab...

Page 24: ...to On the previous value is overwritten 2057 00 00000001 1 2057 00 00000002 6 5 NanoJ program A NanoJ program may be executed on the motor controller Carry out the following steps to load and launch a...

Page 25: ...vmmcode usr If the NanoJ program was deleted an empty file with name vmmcode usr is created at the next startup Tip Deletion of the old NanoJ program and copying of the new one can be automated with...

Page 26: ...ter switching off the voltage supply wait until the back up capacitors have discharged There is a danger of electric shock from the residual voltage Do not disassemble the stepper motor or the positio...

Page 27: ...the speed of rotation when the clock generator frequency changes 7 2 2 Analogue mode CAUTION Make sure that the voltage at the analogue input does not exceed the value of 10 V Read the Configuration...

Page 28: ...rsion 1 4 1 22 07 2016 FIR v1626 28 CAUTION Complex computations are performed during auto setup Often this results in a lack of sufficient computing power to operate the field buses in a timely manne...

Page 29: ...corresponding state transitions State transitions The diagram shows the possible state transitions Not ready to switch on Start Software cannot rectify error Switched on disabled Ready to switch on S...

Page 30: ...le that the motor gives a start when switching the operating modes Status word The following table lists the bit masks that describe the state of the motor controller Status word 6041h State xxxx xxxx...

Page 31: ...Switched on disabled Ready to switch on Switched on Operation enabled Quick stop active Fault Fault reaction active Error occures Torque voltage switched on for controller High level voltage switched...

Page 32: ...change to Switch on disabled 2 to 32767 Reserved Switched on Transition to the Switched on state disable operation option In this case the action stored in object 605Ch is executed see the following t...

Page 33: ...g error set the object 6065h to the value 1 FFFFFFFFh 8 2 User defined units 8 2 1 Overview Settings The motor controller supports the possibility of setting user defined units In this way the corresp...

Page 34: ...jects can likewise be specified in user units Object Mode Meaning 606Bh Profile Velocity Mode Output value of ramp generator 60FFh Profile Velocity Mode Speed specification 6099h Homing mode Speed for...

Page 35: ...lue 1 2064h to the value 60 Therefor the user unit is rounds per second per minute and nacceleration 1 60 When the 60C5h gets set to the value 600 the internal value will get set to 600 r s min x 1 60...

Page 36: ...bject 607Eh bit 0 If bit 0 in object 607Eh is set to the value 1 this corresponds to a polarity reversal or the value 1 in the formula Motor revolutions 608Fh 2 Encoder cycles 608Fh 1 Resolution of th...

Page 37: ...is carried out on a transition of 0 to 1 Bit 5 If this bit is set to 1 a travel order triggered by bit 4 is immediately carried out If it is set to 0 the travel order just being carried out is comple...

Page 38: ...r controller is ready to carry out new move commands If a new travel order is sent although this bit is still set the latest travel order is ignored The bit is not set if one of the following conditio...

Page 39: ...set point acknowledge changes to 0 if another move command can be buffered see time 1 in the following diagram While a target position is being moved to a second target position can be transferred to...

Page 40: ...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 Destination point reached 6041h Bit 10 t t t t 607Ah Transition procedure for second target position The following graphic sho...

Page 41: ...completely In this example the end speed 6082h of the first target position is zero If bit 9 is set to 1 the end speed is held until the target position is reached only then do the new marginal condit...

Page 42: ...300 position 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 50...

Page 43: ...e set immediately 6040h 00 Bit 5 1 Move absolute 6040h 00 Bit 6 0 Target position 300 Target position 1100 absolute 0 100 500 1100 300 position 1400 800 Relative to the actual position 60F2h 00 1 Chan...

Page 44: ...to 04h Objects for describing the limit values for the jerk This value will be clipped by the Real Jerk Limit see 2067h for further information 2067h Jerk Limit internal object for the jerk limit Obje...

Page 45: ...h Profile deceleration 6084h End velocity 6082h 9 1 5 Precision loss with relative movements Chaining relative move commands can lead to loss of precision when having the end velocity set to a non zer...

Page 46: ...g operating mode is only usable with a NanoJ program Further information on programming and use of a NanoJ program can be found in the Programming with NanoJ section 9 2 2 Description This mode operat...

Page 47: ...on Sub index 1 contains the speed change and sub index 2 the associated time in seconds Both together are computed as the acceleration Delta time 6048h 2 Delta speed 6048h 1 VL velocity acceleration 6...

Page 48: ...ction Reverse factor function VL velocity actual value 6044h VL velocity demand 6043h Status word 6041h Bit 11 internal limit active Reverse factor function 9 3 Profile Velocity 9 3 1 Special feature...

Page 49: ...0 9 3 6 Object entries The following objects are required to control this mode 606Bh Velocity Demand Value This object contains the output of the ramp generator which is the specified value for the s...

Page 50: ...ration and the Power State machine see DS402 Power State machine was switched to Operation Enabled the motor is accelerated to the target speed in 60FFh see the following diagrams The speed the accele...

Page 51: ...r at minimum once before using this function Otherwise a switch to the state Operational Enabled is not possible Note The limit switches and therefore the tolerance bands are active in this mode See c...

Page 52: ...074h Torque Demand Current output value of the ramp generator torque for the control 6087h Torque Slope Maximum change of the torque per second Note The values are not limited to 100 of the nominal cu...

Page 53: ...ration see DS402 Power State machine If a reference and or limit switch is used these special functions first need to be activated in the I O configuration see Digital inputs and outputs When using th...

Page 54: ...ive or negative limit switch the motor controller permits a tolerance range that the motor may not further travel If this tolerance range is exceeded the motor stops and the motor controller changes t...

Page 55: ...Description The reference run method is written into object 6098h as a number and defines whether referencing should be performed on a switch flank rising falling a current threshold for block detect...

Page 56: ...on the block is detected 2 Blocking time in object 203Ah 02 the duration of blocking in which to motor drives against the block is defined t motor current position Block level of blocking current 203A...

Page 57: ...methods reference the switch flank of the reference switch and index pulse In the methods 3 and 4 the left switch flank of the reference switch is used as a reference Index pulse 3 3 4 4 Reference swi...

Page 58: ...methods 7 to 10 take the positive limit switch into account Index pulse 8 7 9 9 9 7 8 8 7 10 10 10 Reference switch Positive limit switch The methods 11 to 14 take the negative limit switch into acco...

Page 59: ...nce switch In the methods 21 and 22 equivalent to methods 5 and 6 the right switch flank of the reference switch is used as a reference 21 21 22 22 Reference switch Methods 23 to 30 These methods refe...

Page 60: ...erence switch The methods 27 to 30 take the negative limit 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 the next index pul...

Page 61: ...hes 9 6 2 Activation The activation is not done via the object dictionary but a DIP switch For the settings of the switches see chapter DIP switches 9 6 3 General The following data apply to all sub m...

Page 62: ...on input min 35 s t t Clockwise counterclockwise mode CW CCW mode The object 205Bh needs to be set to 1 in order to activate this mode In this sub mode the used input determines the direction of rotat...

Page 63: ...otational speed dead zone 0 V n 0 max Umax Joystick mode DIP switch 2 ON The half of the maximum analogue input voltage corresponds to the rotational speed zero If the input voltage falls below the ha...

Page 64: ...tive limit switch the bit 0 has to be used The assignment is displayed once more in the following image 0 31 15 16 Input 1 Special function e g limit switch Value of the input Bits of any object for c...

Page 65: ...7h The limit switches are described in chapter Tolerance bands of the limit switches Object entries The following object dictionary settings can be used to manipulate the value of an input in which ca...

Page 66: ...stored in bit 16 60FDh Range in which the firmware expects special entries reference and limit switches Range of the calculated Bits Bit0 Bit15 Bit16 Bit31 Default setting Value of the input pin 1 Bit...

Page 67: ...ables 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...

Page 68: ...cal input 15 144 90 Inverted physical input 16 193 C1 Inverted hall input U 194 C2 Inverted hall input V 195 C3 Inverted hall input W 196 C4 Inverted encoder input A 197 C5 Inverted encoder input B 19...

Page 69: ...d to get used further on For that purpose a circuit like to one shown in the following image is necessary Nanotec Controller Supply voltage Output signal Rextern On Off At a supply voltage of 24 V a r...

Page 70: ...of the bits for the outputs Value of Output Pin1 Bit0 Bit15 Bit16 Bit31 60FEh Standard setting Alternative Range of normal output pins Range of output pins with special function Value of brake Bit in...

Page 71: ...le 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 b...

Page 72: ...coder output signal will get routed to output 1 with a frequency divider of 4 The output will get controlled by bit 5 of the object 60FE 01 3250h 08h 1 switch on routing 3252h 02h 0405h 04XXh 0005h Th...

Page 73: ...nt in ms The following objects indicate the actual state of I 2 t 203Bh 3h Threshold specifies the limit in mA from which is determined whether switching is to the maximum current or nominal current 2...

Page 74: ...ached and the current is limited to the nominal current During the following time period t2 a current comes that corresponds to the maximum current Accordingly the value for I 2 tLim is reached faster...

Page 75: ...ram must have completed its operations and must either have closed or have yielded the computing time with the yield function In the first case the user program is started again when the next 1 ms cyc...

Page 76: ...he object directory and copy them into the Inputs and Outputs areas 2 Execute the user program 3 Copy values from the Outputs and Inputs areas back to the object directory The configuration of the cop...

Page 77: ...t 2300h Bit 0 to 1 or restart the controller Check the object 2302h if an error has occurred and check the objects 2301h Bit 0 to be set to 1 vmm is actually running Note Due to limitations in the USB...

Page 78: ...am has been properly translated Rename the output file main usr to vmmcode usr 3 Use USB to copy the file to the motor controller The motor controller must be restarted to launch the program please re...

Page 79: ...output 0x6040 00 map U08 statusWord as input 0x6041 00 map U08 modeOfOperation as inout 0x6060 00 include wrapper h void user Out controlWord 1 U08 tmpVar In statusword InOut modeOfOperation tmpVar P...

Page 80: ...en in the object directory value Value to be written Note It is strongly advised to generate processor time with yield after a od_write has been called up The value is immediately written to the OD Ho...

Page 81: ...he debug outputs are first written to a separate area of the object dictionary and are read out from there by the web interface This object dictionary entry has the index 2600h and is 64 characters lo...

Page 82: ...ly available for the Array or Record data type and gives detailed information on the subentries A more detailed description of entries can be found in the Value description section Description More pr...

Page 83: ...o in which category Firmware Version The firmware version of the first occurence of the object is entered here Change history ChangeLog Any changes to the object are noted here Additionally there are...

Page 84: ...ect directory It is not possible to set a value PDO Mapping Some bus systems such as CANopen or EtherCAT support PDO mapping This table entry specifies whether the subentry may be inserted in a mappin...

Page 85: ...ion at this position applies when bit 2 is at 0 and bit 3 at 1 Value 10b The description at this position applies when bit 2 is at 1 and bit 3 at 0 Value 11b The description at this position applies w...

Page 86: ...odule Device profile number 16 Describes the supported CANopen standard Values 0192h resp 0402d specified value The DS402 standard is supported 1001h Error Register Function Error register In the even...

Page 87: ...or stack with up to eight entries Object description Index 1003h Object Name Pre defined Error Field Object Code ARRAY Data type UNSIGNED32 Saveable No Firmware Version FIR v1426 Change History Amount...

Page 88: ...Sub index 04h Name Standard Error Field Data type UNSIGNED32 Access Read only PDO Mapping No Admissible Values Specified Value 00000000h Sub index 05h Name Standard Error Field Data type UNSIGNED32 Ac...

Page 89: ...or number Description 1 Input voltage too high 2 Output current too high 3 Input voltage too low 4 Field bus error 5 Motor rotating in wrong direction despite activated block 6 CANopen only NMT master...

Page 90: ...aulty 7600h Flash storage full or corrupted restart controller for a cleanup 8000h Field bus error 8130h Only CANopen Life guard error or heartbeat error 8200h Only CANopen Slave needed too much time...

Page 91: ...RIABLE Data type VISIBLE_STRING Saveable No Access Read only PDO Mapping No Admissible Values Specified Value Firmware Version FIR v1426 Change History 100Ah Manufacturer Software Version Function Thi...

Page 92: ...ersion FIR v1540 Amount of subentries has changed from 5 to 7 Value description Sub index 00h Name Highest Sub index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Spe...

Page 93: ...cess Read write PDO Mapping No Admissible Values Specified Value 00000001h 1011h Restore Default Parameters Function This object has no significance for this motor controller Object description Index...

Page 94: ...Value 06h Sub index 01h Name Restore All Default Parameters Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000001h Sub index 02h Name Restore Communication...

Page 95: ...0h 1018h Identity Object Function The object contains information on the manufacturer the product code and the revision and serial numbers Object description Index 1018h Object Name Identity Object Ob...

Page 96: ...3h Name Revision Number Data type UNSIGNED32 Access Read only PDO Mapping No Admissible Values Specified Value 065A0000h Sub index 04h Name Serial Number Data type UNSIGNED32 Access Read only PDO Mapp...

Page 97: ...dmissible Values Specified Value 00000000h Sub index 02h Name Configuration Time Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h 2028h MODBUS Slave Ad...

Page 98: ...FIR v1436 Change History 202Ch MODBUS RTU Stop Bits Funktion This object contains the number of stop bits of modbus interface Object description Index 202Ch Object Name MODBUS RTU Stop Bits Object Co...

Page 99: ...Firmware Version FIR v1540 Change History Description The following values apply Value 0x00 Party none stop bits 2 Value 0x04 Pairty Even stop bits 1 Value 0x06 Pairty odd stop bits 1 2030h Pole Pair...

Page 100: ...Object description Index 2031h Object Name Maximum Current Object Code VARIABLE Data type UNSIGNED32 Saveable yes category tuning Access Read write PDO Mapping No Admissible Values Specified Value 00...

Page 101: ...Specifies the maximum positional change in user units corresponding to Target Position 607Ah that is permitted in the corresponding direction Object description Index 2033h Object Name Plunger Block...

Page 102: ...L4204 E 01 0000C92Ch PD4 C5918M4204 KSAR2 0000C92Ch Firmware Version FIR v1426 Change History Description If the input voltage of the motor controller rises above this threshold value the motor is swi...

Page 103: ...h Object Name Open Loop Current Reduction Idle Time Object Code VARIABLE Data type UNSIGNED32 Saveable yes category application Access Read write PDO Mapping No Admissible Values Specified Value 00000...

Page 104: ...e will reduce the current reduction to 0 mA 2039h Motor Currents Function This object contains the measured motor currents in mA Object description Index 2039h Object Name Motor Currents Object Code A...

Page 105: ...ed Value 00000000h Sub index 04h Name I_b Data type INTEGER32 Access Read only PDO Mapping TX PDO Admissible Values Specified Value 00000000h 203Ah Homing On Block Configuration Function This object c...

Page 106: ...ex 01h Name Minimum Current For Block Detection Data type INTEGER32 Access Read write PDO Mapping No Admissible Values Specified Value FFFFFFBAh PD4 C5918M4204 E 01 000004ECh PD4 C6018L4204 E 01 00000...

Page 107: ...y high short time maximum current without damaging the motor Object description Index 203Bh Object Name I2t Parameters Object Code ARRAY Data type UNSIGNED32 Saveable yes category tuning Firmware Vers...

Page 108: ...2 00000000h Sub index 03h Name Threshold Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 04h Name CalcValue Data type UNSIGNED32 Access Read...

Page 109: ...t shows the actual current value as root mean square RMS that was set by I 2 t 06h Actual status If the subentry value is 0 I 2 t is deactivated if the value is 1 I 2 t is activated 203Dh Torque Windo...

Page 110: ...unction This value specifies the angle offset between the rotor and the electrical field Object description Index 2050h Object Name Encoder Alignment Object Code VARIABLE Data type INTEGER32 Saveable...

Page 111: ...me Highest Sub index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 03h Sub index 01h Name Parameter 1 Data type INTEGER32 Access Read write PDO Mappin...

Page 112: ...rsion FIR v1426 Change History Firmware Version FIR v1540 Entry Saveable modified from No to yes category tuning Description A negative value means that the encoder is operated in the opposite directi...

Page 113: ...VARIABLE Data type INTEGER32 Saveable yes category application Access Read write PDO Mapping No Admissible Values Specified Value 00000080h Firmware Version FIR v1426 Change History 2058h Clock Direc...

Page 114: ...7 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 TYPE VOLT Setting this bit to the value 0 the supply voltage of the encoder is set to 5V Setting this bit to the value 1 the supply voltage of the encoder is...

Page 115: ...ckwise mode value 1 Object description Index 205Bh Object Name Clock Direction Or Clockwise Counter Clockwise Mode Object Code VARIABLE Data type UNSIGNED32 Saveable yes category application Access Re...

Page 116: ...Code VARIABLE Data type UNSIGNED32 Saveable yes category application Access Read write PDO Mapping No Admissible Values Specified Value 00000001h Firmware Version FIR v1426 Change History Description...

Page 117: ...IABLE Data type UNSIGNED32 Saveable yes category application Access Read write PDO Mapping No Admissible Values Specified Value 00000001h Firmware Version FIR v1426 Change History Description The inte...

Page 118: ...tion Index 2065h Object Name Jerk Numerator Object Code VARIABLE Data type UNSIGNED32 Saveable yes category application Access Read write PDO Mapping No Admissible Values Specified Value 00000001h Fir...

Page 119: ...s deactivated if this object is set to the value 0 The following formula describes the calculation of the real jerk limit Jerk Limit Real Jerk limit internal 2067h x Jerk denominator 2066h 2048 x Jerk...

Page 120: ...Access Read only PDO Mapping No Admissible Values Specified Value 00190001h Firmware Version FIR v1426 Change History Firmware Version FIR v1426 Entry Data Type modified from INTEGER32 to UNSIGNED32 F...

Page 121: ...get activated or deactivated Object description Index 2102h Object Name Fieldbus Module Control Object Code VARIABLE Data type UNSIGNED32 Saveable yes category communication Savable yes category appl...

Page 122: ...rface RS 232 RS 232 interface CAN CANopen interface E NET EtherNET interface E CAT EtherCAT interface SPI SPI interface MRTU Modbus RTU protocol MTCP Modbus TCP protocol E IP EtherNet IP protocol 2103...

Page 123: ...ead only PDO Mapping No Admissible Values Specified Value 00000000h Description Sub index 1 Fieldbus Module Disable Mask in this entry all physically interfaces and protocols are shown able to get act...

Page 124: ...talled sampler used to cyclically record any values from the Dictionary object Object description Index 2200h Object Name Sampler Control Object Code VARIABLE Data type UNSIGNED32 Saveable yes categor...

Page 125: ...nge 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 OVER ACT ACT Value 1 The sampler is active and is recording data OVER Value 1 The recordin...

Page 126: ...es Specified Value 02h Sub index 01h Name Sample Value 1 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 60430010h Sub index 02h Name Sample Value 2 Data type U...

Page 127: ...ible Values Specified Value 00000000h Sub index 08h Name Sample Value 8 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Description Each sub index 1 8...

Page 128: ...Firmware Version FIR v1626 Table entry Access at subindex 02 modified from Read write to Read only Firmware Version FIR v1626 Table entry Access at subindex 03 modified from Read write to Read only Va...

Page 129: ...s object contains the scan interval of the sampler in milliseconds Object description Index 2204h Object Name Sample Time In Ms Object Code VARIABLE Data type UNSIGNED32 Saveable yes category applicat...

Page 130: ...s a rising flank in bit 0 the program is first reloaded and the variable range is reset Note The launch of the NanoJ program might be delayed up to 200ms TIM Switches the timing control off value 1 or...

Page 131: ...d when the user program was executed Object description Index 2302h Object Name NanoJ Error Code Object Code VARIABLE Data type UNSIGNED32 Saveable No Access Read only PDO Mapping TX PDO Admissible Va...

Page 132: ...des when loading the user program Number Description 10002h Internal file system fault 10003h Storage medium not ready 10004h File not found 10005h Directory not found 10006h Invalid file name directo...

Page 133: ...ect Code RECORD Data type PDO_MAPPING Saveable yes category application Firmware Version FIR v1426 Change History Amount of subentries has changed from 2 to 17 Firmware Version FIR v1436 Entry Object...

Page 134: ...ping No Admissible Values Specified Value 00000000h Sub index 05h Name Mapping 5 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 06h Name Ma...

Page 135: ...es Specified Value 00000000h Sub index 0Bh Name Mapping 11 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 0Ch Name Mapping 12 Data type UNS...

Page 136: ...7 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 Contains the index of the object to be mapped Sub index 8 Contains the sub index of the o...

Page 137: ...x 01h Name Mapping 1 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 02h Name Mapping 2 Data type UNSIGNED32 Access Read write PDO Mapping N...

Page 138: ...ad write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 08h Name Mapping 8 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub i...

Page 139: ...alues Specified Value 00000000h Sub index 0Eh Name Mapping 14 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 0Fh Name Mapping 15 Data type...

Page 140: ...he VMM program and after its execution are copied back into the output PDO mapping Object description Index 2330h Object Name NanoJ In output Data Selection Object Code RECORD Data type PDO_MAPPING Sa...

Page 141: ...00000000h Sub index 04h Name Mapping 4 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 05h Name Mapping 5 Data type UNSIGNED32 Access Read w...

Page 142: ...ex 0Ah Name Mapping 10 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 0Bh Name Mapping 11 Data type UNSIGNED32 Access Read write PDO Mappin...

Page 143: ...dex 1 16 describes a mapped object A mapping entry consists of four bytes made up 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...

Page 144: ...ble Values Specified Value 20h Sub index 01h 20h Name NanoJ Input 1 32 Data type INTEGER32 Access Read write PDO Mapping RX PDO Admissible Values Specified Value 00000000h Description This is where th...

Page 145: ...with 32 32 bit integer values that is not used within the firmware and is only used for communication with the user program via the field bus Object description Index 2500h Object Name NanoJ Outputs O...

Page 146: ...UNSIGNED8 Saveable No Firmware Version FIR v1426 Change History Amount of subentries has changed from 2 to 65 Firmware Version FIR v1436 Entry Object Name modified from VMM Debug Output to NanoJ Debu...

Page 147: ...ct Code RECORD Data type USER_STORAGE_AREA Saveable No Access Read write PDO Mapping No Admissible Values Specified Value Firmware Version FIR v1426 Change History Firmware Version FIR v1426 Amount of...

Page 148: ...d Value 0000h Sub index 04h Name Storage 3 Data type UNSIGNED16 Access Read write PDO Mapping No Admissible Values Specified Value 0000h Sub index 05h Name Storage 4 Data type UNSIGNED16 Access Read w...

Page 149: ...t operates with a true v control in the closed loop Object description Index 3202h Object Name Motor Drive Submode Select Object Code VARIABLE Data type UNSIGNED32 Saveable yes category drive Access R...

Page 150: ...rwise a V control is superimposed BLDC Value 1 Motor type BLDC brushless DC motor 320Ah Motor Drive Sensor Display Open Loop Function It can be used to change the source for objects 6044h and 6064h in...

Page 151: ...ss Read write PDO Mapping No Admissible Values Specified Value 00000001h Description The following subindices haven a meaning 01h Unused 02h Unused 03h Changes the source of object 6044h Value 1 The i...

Page 152: ...e UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 04h Sub index 01h Name Commutation Data type INTEGER32 Access Read write PDO Mapping No Admissible Values Specified Value...

Page 153: ...Drive Parameter Set Object Code ARRAY Data type INTEGER32 Saveable yes category application Firmware Version FIR v1426 Change History Amount of subentries has changed from 9 to 11 Firmware Version FIR...

Page 154: ...on Loop Proportional Gain closed Loop Data type INTEGER32 Access Read write PDO Mapping No Admissible Values Specified Value 00000800h PD4 C5918M4204 E 01 00002710h PD4 C6018L4204 E 01 00000800h PD4 C...

Page 155: ...a type INTEGER32 Access Read write PDO Mapping No Admissible Values Specified Value 000668A0h PD4 C5918M4204 E 01 0007A120h PD4 C6018L4204 E 01 000668A0h PD4 CB59M024035 E 01 000061A8h PD4 C5918L4204...

Page 156: ...8L4204 E 01 00001388h PD4 C5918M4204 KSAR2 00001388h Sub index 09h Name Torque Current Loop Proportional Gain dspDrive Stepper Motor Open Loop Data type INTEGER32 Access Read write PDO Mapping No Admi...

Page 157: ...Open Loop Proportional value of the current controller for the torque forming component Sub index 0Ah Open Loop Integral value of the current controller for the torque forming component 3212h Motor Dr...

Page 158: ...Description For the sub index 01h are valid values Value 0 The output voltage for the motor PWM at state Switched On of DS402 Power State machine is set fix to 50 no holding torque is build up Value 1...

Page 159: ...02h Sub index 01h Name Analogue Input 1 Data type INTEGER16 Access Read only PDO Mapping TX PDO Admissible Values Specified Value 0000h Sub index 02h Name Analogue Input 2 Data type INTEGER16 Access...

Page 160: ...it is set to 0 the analog input measures the voltage if the bit is set to 1 the current is measured AC1 Setting for analog input 1 AC2 Setting for analog input 2 3225h Analogue Inputs Switches Functio...

Page 161: ...switches are stored in sub index 1 Bit 0 accords the switch 1 the value of the bit is 1 if the switch is set to on 3240h Digital Inputs Control Function This object can be used to manipulate the digit...

Page 162: ...02h Name Function Inverted Data type UNSIGNED32 Access Read write PDO Mapping RX PDO Admissible Values Specified Value 00000000h Sub index 03h Name Force Enable Data type UNSIGNED32 Access Read write...

Page 163: ...index forces an input value if the bit has the value 1 An input with a forced value is always set to the value entered in subentry 4h regardless of the applied voltage level 04h This sub index specifi...

Page 164: ...Values Specified Value 04h Sub index 01h Name Control Data type UNSIGNED32 Access Read write PDO Mapping RX PDO Admissible Values Specified Value 00000000h Sub index 02h Name Capture Count Data type...

Page 165: ...ex 04h Encoder value of the level change 3242h Digital Input Routing Function This object determines the sources of the input routing which will end up in the object 60FDh Object description Index 324...

Page 166: ...al input 7 08 08 Physical input 8 09 09 Physical input 9 10 0A Physical input 10 11 0B Physical input 11 12 0C Physical input 12 13 0D Physical input 13 14 0E Physical input 14 15 0F Physical input 15...

Page 167: ...coder input B 198 C6 Inverted encoder input Index 199 C7 Inverted USB power signal 200 C8 Inverted status Ethernet active 201 C9 Inverted DIP Switch 1 202 CA Inverted DIP Switch 2 203 CB Inverted DIP...

Page 168: ...Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 08h Sub index 01h Name No Function Data type UNSIGNED32 Access Read write PDO Mapping RX PDO Admissible...

Page 169: ...dmissible Values Specified Value 00000000h Description The subentries have the following function 01h No function 02h This sub index inverts the logic from opener logic to closer logic 03h This sub in...

Page 170: ...ue description Sub index 00h Name Highest Sub index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 05h Sub index 01h 05h Name Output Control 1 5 Data t...

Page 171: ...d only PDO Mapping TX PDO Admissible Values Specified Value 00000000h Description The user units are combined from offset 3321h and pre scaling value 3322h When both objects are left to the default se...

Page 172: ...Values Specified Value 02h Sub index 01h Name Analogue Input 1 Data type INTEGER32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 02h Name Analogue Input 2 Data...

Page 173: ...Input 1 Data type INTEGER32 Access Read write PDO Mapping No Admissible Values All values allowed except 0 Specified Value 00000001h Sub index 02h Name Analogue Input 2 Data type INTEGER32 Access Read...

Page 174: ...ed Value 08h Sub index 01h Name 1st Object To Be Mapped Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 60400010h Sub index 02h Name 2nd Object To Be Mapped Dat...

Page 175: ...index 07h Name 7th Object To Be Mapped Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 60420010h Sub index 08h Name 8th Object To Be Mapped Data type UNSIGNED32...

Page 176: ...ndex 0Dh Name 13th Object To Be Mapped Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 0Eh Name 14th Object To Be Mapped Data type UNSIGNED3...

Page 177: ...pecified Value Firmware Version FIR v1614 Change History Value description Sub index 00h Name Highest Sub index Supported Data type UNSIGNED8 Access Read write PDO Mapping No Admissible Values Specifi...

Page 178: ...Mapping No Admissible Values Specified Value 60440010h Sub index 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 60FD0020h Sub...

Page 179: ...ble Values Specified Value 00000000h Sub index 0Ch Name 12th Object To Be Mapped Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 0Dh Name 13...

Page 180: ...llowing Error Option Code Object Code VARIABLE Data type INTEGER16 Saveable yes category application Access Read write PDO Mapping No Admissible Values Specified Value FFFFh Firmware Version FIR v1426...

Page 181: ...ping No Admissible Values Specified Value 01h Sub index 01h Name EEPROM Size In Bytes Data type UNSIGNED32 Access Read only PDO Mapping No Admissible Values Specified Value 00000000h Description Sub i...

Page 182: ...D16 Saveable No Access Read only PDO Mapping TX PDO Admissible Values Specified Value 0000h Firmware Version FIR v1426 Change History Description For the meaning of the error see object 1003h Pre defi...

Page 183: ...top state EO Enable Operation Value 1 Switches to the Enable operation state OMS Operation Mode Specific Meaning depends on the selected operating mode FR Fault Reset Resets an error if possible HALT...

Page 184: ...or controller is in the state Operational Enabled state FAULT Error occurred VE Voltage Enabled Voltage created QS Quick Stop Value 0 Motor controller is in the Quick Stop state SOD Switched On Disabl...

Page 185: ...me Vl Velocity Demand Object Code VARIABLE Data type INTEGER16 Saveable No Access Read only PDO Mapping TX PDO Admissible Values Specified Value 0000h Firmware Version FIR v1426 Change History 6044h V...

Page 186: ...Velocity Min Max Amount Object Code ARRAY Data type UNSIGNED32 Saveable yes category application Firmware Version FIR v1426 Change History Value description Sub index 00h Name Highest Sub index Suppor...

Page 187: ...d 6048h Vl Velocity Acceleration Function Sets the acceleration ramp in velocity mode see Velocity Object description Index 6048h Object Name Vl Velocity Acceleration Object Code RECORD Data type VELO...

Page 188: ...apter Velocity Object description Index 6049h Object Name Vl Velocity Deceleration Object Code RECORD Data type VELOCITY_ACCELERATION_DECELERATION Saveable yes category application Firmware Version FI...

Page 189: ...ange History Value description Sub index 00h Name Highest Sub index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 02h Sub index 01h Name DeltaSpeed Da...

Page 190: ...Sub index 01h Name Vl Dimension Factor Numerator Data type INTEGER32 Access Read write PDO Mapping RX PDO Admissible Values Specified Value 00000001h Sub index 02h Name Vl Dimension Factor Denominato...

Page 191: ...tion 32768 to 1 Reserved 0 Immediate stop with short circuit braking 1 Braking with slow down ramp deceleration depending on operating mode and subsequent state change to Switch on disabled 2 Braking...

Page 192: ...te to the Switched on state Object description Index 605Ch Object Name Disable Option Code Object Code VARIABLE Data type INTEGER16 Saveable yes category application Access Read write PDO Mapping No A...

Page 193: ...32767 Reserved 605Eh Fault Option Code Function The object contains the action that is to be executed when the motor needs to be brought to idling in case of a fault Object description Index 605Eh Ob...

Page 194: ...ersion FIR v1426 Change History Firmware Version FIR v1626 Entry Saveable modified from No to yes category application Description Mode Description 128 to 2 Manufacturer specific operation modes 1 Clo...

Page 195: ...Read only PDO Mapping TX PDO Admissible Values Specified Value 00000000h Firmware Version FIR v1426 Change History 6063h Position Actual Internal Value Function Contains the actual encoder position in...

Page 196: ...encoder resolution object 2052h is set to the value 0 and the encoder is selected as source Object description Index 6064h Object Name Position Actual Value Object Code VARIABLE Data type INTEGER32 S...

Page 197: ...category application Access Read write PDO Mapping RX PDO Admissible Values Specified Value 0064h Firmware Version FIR v1426 Change History Firmware Version FIR v1504 Entry Saveable modified from No...

Page 198: ...on Window Time Object Code VARIABLE Data type UNSIGNED16 Saveable yes category application Access Read write PDO Mapping RX PDO Admissible Values Specified Value 0064h Firmware Version FIR v1426 Chang...

Page 199: ...E Data type INTEGER32 Saveable No Access Read only PDO Mapping TX PDO Admissible Values Specified Value 00000000h Firmware Version FIR v1426 Change History 606Dh Velocity Window Function Specifies a s...

Page 200: ...ion Access Read write PDO Mapping RX PDO Admissible Values Specified Value 0000h Firmware Version FIR v1426 Change History Firmware Version FIR v1614 Entry Saveable modified from No to yes category ap...

Page 201: ...e Max Torque Object Code VARIABLE Data type UNSIGNED16 Saveable yes category application Access Read write PDO Mapping RX PDO Admissible Values Specified Value 0000h Firmware Version FIR v1426 Change...

Page 202: ...ect Code VARIABLE Data type INTEGER16 Saveable No Savable No Access Read only PDO Mapping TX PDO Admissible Values Specified Value 0000h Firmware Version FIR v1540 Change History Description The nomin...

Page 203: ...Position Range Limit Object Code ARRAY Data type INTEGER32 Saveable yes category application Firmware Version FIR v1426 Change History Value description Sub index 00h Name Highest Sub index Supported...

Page 204: ...ee User defined units Object description Index 607Ch Object Name Home Offset Object Code VARIABLE Data type INTEGER32 Saveable yes category application Access Read write PDO Mapping RX PDO Admissible...

Page 205: ...ucted in each case Corrected min position limit min position limit home offset Corrected max position limit max position limit home offset 607Eh Polarity Function This object can be used to reverse th...

Page 206: ...defined units The motor controller is delivered with the units set to revolutions per minute Object description Index 6081h Object Name Profile Velocity Object Code VARIABLE Data type UNSIGNED32 Savea...

Page 207: ...Acceleration Object Code VARIABLE Data type UNSIGNED32 Saveable yes category application Access Read write PDO Mapping RX PDO Admissible Values Specified Value 000001F4h Firmware Version FIR v1426 Cha...

Page 208: ...apping RX PDO Admissible Values Specified Value 00001388h Firmware Version FIR v1426 Change History 6086h Motion Profile Type Function Specifies the ramp type Object description Index 6086h Object Nam...

Page 209: ...is nominal torque e g the value 500 means 50 of the nominal torque 1100 is equal to 110 This value cannot exceed the peak torque generated by peak current in 2031h 608Fh Position Encoder Resolution Fu...

Page 210: ...atio Function Number of motor revolutions per revolution of the output axis Object description Index 6091h Object Name Gear Ratio Object Code ARRAY Data type UNSIGNED32 Saveable yes category applicati...

Page 211: ...on Index 6092h Object Name Feed Constant Object Code ARRAY Data type UNSIGNED32 Saveable yes category application Firmware Version FIR v1426 Change History Value description Sub index 00h Name Highest...

Page 212: ...DO Admissible Values Specified Value 23h Firmware Version FIR v1426 Change History 6099h Homing Speed Function Specifies the speeds for the Homing Mode 6098h in revolutions s This object is computed w...

Page 213: ...The lower speed for the search for the reference position is specified in Sub index 2 Note The speed in Sub index 2 is also the starting speed for starting the acceleration ramp If this is set too hig...

Page 214: ...ject Code ARRAY Data type UNSIGNED32 Saveable yes category application Firmware Version FIR v1426 Change History Firmware Version FIR v1614 Entry Name modified from End Acceleration Jerk to Begin Dece...

Page 215: ...ord Function This object contains the target position for the interpolation algorithm of the operation mode Interpolated Position Object description Index 60C1h Object Name Interpolation Data Record O...

Page 216: ...ime Period Function This object contains the interpolation time in milliseconds Object description Index 60C2h Object Name Interpolation Time Period Object Code RECORD Data type INTERPOLATION_TIME_PER...

Page 217: ...ar the buffers This object is used to enable the drive device to receive the needed data in advance It also is used to store the positions and further data sent by the control device Object descriptio...

Page 218: ...Mapping No Admissible Values Specified Value 00000001h Sub index 03h Name BufferOrganization Data type UNSIGNED8 Access Read write PDO Mapping No Admissible Values Specified Value 00h Sub index 04h Na...

Page 219: ...polated data records If 01 is written to sub index 06h this enables access to the input buffers All other values are reserved 60C5h Max Acceleration Function This object contains the maximum admissibl...

Page 220: ...Entry Saveable modified from No to yes category application Description At the moment only the following bits are supported 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...

Page 221: ...e rotation in the Profile Position mode Bit 7 Bit 6 Definition 0 0 Normal positioning similar to linear axis If reaching or exceeding the position range limits 607Bh the input value shall wrap automat...

Page 222: ...bject Object description Index 60FDh Object Name Digital Inputs Object Code VARIABLE Data type UNSIGNED32 Saveable No Access Read only PDO Mapping TX PDO Admissible Values Specified Value 00000000h Fi...

Page 223: ...est Sub index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 01h Sub index 01h Name Digital Outputs 1 Data type UNSIGNED32 Access Read write PDO Mappin...

Page 224: ...category application Access Read write PDO Mapping RX PDO Admissible Values Specified Value 00000000h Firmware Version FIR v1426 Change History Firmware Version FIR v1626 Entry Saveable modified from...

Page 225: ...mode IP Interpolated Position mode CSP Cyclic Synchronous Position mode CSV Cyclic Synchronous Velocity mode CST Cyclic Sync Torque mode 6505h Http Drive Catalogue Address Function This object contai...

Page 226: ...AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHA...

Page 227: ...ights 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...

Page 228: ...ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 13 7 CMSIS DSP Software Library Copyright C 2010 ARM Limited All rights reserved 13 8 FatFs FatFs FAT file system module include file R0 08 C ChaN 2010 FatFs...

Page 229: ...sh 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 Redis...

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