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Technical Manual PD4-E-M (EtherCAT)
8 EtherCAT

8 EtherCAT

EtherCAT references: www.ethercat.org.

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ETG.1000.1 - Overview, Date: 03.01.2013, Version 1.0.3

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ETG.1000.2 - Physical Layer service and protocol specification, Date: 03.01.2013, Version 1.0.3

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ETG.1000.3 - Data Link Layer service definition, Date: 03.01.2013, Version 1.0.3

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ETG.1000.4 - Data-link layer protocol specification, Date: 03.01.2013, Version 1.0.3

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ETG.1000.5 - Application layer service definition, Date: 03.01.2013, Version 1.0.3

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ETG.1000.6 - Application layer protocol specification, Date: 03.01.2013, Version 1.0.3

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ETG.1300 - Indicator and Labeling specification, Date: 11.11.2014, Version 1.1.0.2

Version: 1.0.1 / FIR-v1748

Summary of Contents for PD4-E-M

Page 1: ...l Manual PD4 E M Fieldbus EtherCAT For use with the following devices PD4 E591L42 M 65 1 PD4 EB59CD M 65 1 Valid with firmware version FIR v1748 Technical Manual Version 1 0 1 and since hardware versi...

Page 2: ...ed drawings 11 3 3 Electrical properties and technical data 12 3 4 Overtemperature protection 13 3 5 LED signaling 15 3 6 Pin assignment 18 4 Commissioning 23 4 1 Establishing communication 24 4 2 Aut...

Page 3: ...ameters 114 1018h Identity Object 118 1020h Verify Configuration 119 1600h Receive PDO 1 Mapping Parameter 121 1601h Receive PDO 2 Mapping Parameter 123 1602h Receive PDO 3 Mapping Parameter 125 1603h...

Page 4: ...oJ Init Parameters 180 2500h NanoJ Outputs 181 2600h NanoJ Debug Output 182 2701h Customer Storage Area 183 2800h Bootloader And Reboot Settings 184 3202h Motor Drive Submode Select 185 3203h Feedback...

Page 5: ...243 606Dh Velocity Window 243 606Eh Velocity Window Time 244 6071h Target Torque 244 6072h Max Torque 245 6074h Torque Demand 245 6075h Motor Rated Current 246 6077h Torque Actual Value 246 607Ah Targ...

Page 6: ...Resolution Motor Revolutions 280 60EDh Additional Gear Ratio Driving Shaft Revolutions 281 60EEh Additional Feed Constant Driving Shaft Revolutions 282 60F2h Positioning Option Code 283 60F4h Followi...

Page 7: ...rror corrections FIR v1748 W002b 1 2 Copyright marking and contact Copyright 2013 2018 Nanotec Electronic GmbH Co KG All rights reserved Nanotec Electronic GmbH Co KG Kapellenstra e 6 D 85622 Feldkirc...

Page 8: ...lations 1 6 Other applicable regulations In addition to this technical manual the following regulations are to be observed Accident prevention regulations Local regulations on occupational safety 1 7...

Page 9: ...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...

Page 10: ...r 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 re...

Page 11: ...tion Value Protection class IP65 except for shaft output Ambient temperature operation 10 40 C Air humidity non condensing 0 85 Altitude of site above sea level without drop in performance 1500 m Ambi...

Page 12: ...e Ncm Rated peak torque Ncm Rated sped rpm PD4 E591L42 187 N A N A PD4 EB59CD N A 60 180 3500 3 3 3 Technical data Operating modes Profile Position Mode Profile Velocity Mode Profile Torque Mode Veloc...

Page 13: ...f the controller a medium slow tripping characteristics should be used 3 4 Overtemperature protection Above a temperature of approx 75 C on the power board corresponds to 65 72 C outside on the back c...

Page 14: ...m the controller was in operation for longer than 2 hours without having been switched off The temperature on the cover was stable at approx 60 C At 45 C 48 V 4 2 6 A rms Velocity Mode 30 rpm temperat...

Page 15: ...or applications in which current level and ambient temperature pose a problem 3 5 LED signaling 3 5 1 Power LED Normal operation In normal operation the green power LED L1 flashes briefly once per sec...

Page 16: ...For each error that occurs a more precise error code is stored in object 1003h 3 5 2 EtherCAT LEDs The PD4 E is equipped with three LEDs LINK RUN ERR which indicate the status of the controller on the...

Page 17: ...he slave is in the PRE OPERATIONAL state Single flash SAFE OPERATIONAL The slave is in the SAFE OPERATIONAL state Flickering INITIALISATION or BOOTSTRAP The slave is in the initialisation phase and ha...

Page 18: ...in the power state machine of the slave Flickering Booting Error Error when loading the firmware continuously red Application controller failure The slave no longer responds 3 6 Pin assignment 3 6 1...

Page 19: ...Data 4 RD Receiver Data 3 6 3 Connector X2 EtherCAT OUT Connection for EtherCAT Connector type M12 4 pin D coded female Pin Function Note 1 TD Transmission Data 2 RD Receiver Data 3 TD Transmission Da...

Page 20: ...in assignment Pin Function Note 1 Ub 12 48 V DC 5 2 Ub 12 48 V DC 5 3 GND 4 GND 5 n c Not used Permissible operating voltage The maximum operating voltage is 51 5 V DC If the input voltage of the cont...

Page 21: ...object 3240h max 1 MHz 5 Digital input 4 5 V 24 V signal switchable by means of software with object 3240h max 1 MHz 6 Digital input 5 5 V 24 V signal switchable by means of software with object 3240...

Page 22: ...ntial Single ended Differential 2 Input 1 Input 1 Release Release 3 Input 2 direction input in clock direction mode Input 1 Direction Release 4 Input 3 clock input in clock direction mode Input 2 Dire...

Page 23: ...s may result Do not reach for moving parts during operation After switching off wait until all movements have ended CAUTION In free standing operation motor movements are uncontrolled and can cause in...

Page 24: ...e 3 Obtain the ESI file that corresponds exactly to the used firmware version from the following sources a From the Nanotec website us nanotec com The current version of the firmware and the ESI file...

Page 25: ...g power During the auto setup this 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 o...

Page 26: ...ng mode enter the value 2 FEh in object 6060h 00h The power state machine must now switch to the Operation enabled state see CiA 402 Power State Machine 2 Start auto setup by setting bit 4 OMS in obje...

Page 27: ...041h 00h Bit 9 5 4 1 0 1 write 6040h 00h 000Fh read 6041h 00h Bit 9 5 4 2 1 0 1 write 6040h 00h 001Fh Wait for auto setup to finish read 6041h 00h Bit 12 9 5 4 2 1 0 1 write 6040h 00h 0000h 4 2 3 Para...

Page 28: ...ead 6040h 00h 0000h write 6042h 00h 00C8h 4 To stop the motor set controlword 6040h to 0 4 4 Special drive modes clock direction and analog speed You have the possibility to control the motor directly...

Page 29: ...mum speed 1000 rpm Closed Loop 0Fh Analog speed Offset 5 V joystick mode Maximum speed 100 rpm Closed Loop You must save object 4015h application category see chapterSaving objects the changes do not...

Page 30: ...Half of the maximum analog voltage corresponds to the speed 0 If the voltage drops below half the speed increases in the negative direction If the speed rises above half the speed increases likewise i...

Page 31: ...loop 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 m...

Page 32: ...on 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 m...

Page 33: ...ous 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...

Page 34: ...ed 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 tha...

Page 35: ...rive motors it is not necessary to perform the auto setup as this was already performed at the factory Bit 0 in 3202h must be set 5 2 CiA 402 Power State Machine 5 2 1 State machine CiA 402 To switch...

Page 36: ...7 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 com...

Page 37: ...h on disabled state Note If an unrecoverable error occurs the controller changes to the Not ready to switch on state and remains there Furthermore this state can be reached by means of a bus error wit...

Page 38: ...level 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...

Page 39: ...Description 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...

Page 40: ...68 1 Reserved 0 Immediate stop 1 Braking with slow down ramp braking deceleration depending on operating mode 2 Braking with quick stop ramp braking deceleration depending on operating mode 3 32767 Re...

Page 41: ...ll as a number of specific units are supported It is also possible to specify a power of ten as a factor Listed in the following table are all supported units for the position and their values for 60A...

Page 42: ...nit Listed in the following table are all supported units for the time and their values for 60A9h Speed unit Name Unit symbol Value Description second s 03h Second minute min 47h Minute hour h 48h Hou...

Page 43: ...tion unit see chapter Units Bits 24 to 31 The exponent of a power of ten see chapter Units 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 Factor Unit reserved 00...

Page 44: ...bits 8 15 FDh 3 bits 16 23 01h and bits 24 31 03h the unit is set to millimeters per second Note The speed unit in Velocity mode is preset to revolutions per minute You can only set the unit via the 6...

Page 45: ...ree 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 immediate stop and it switches to the fau...

Page 46: ...Technical Manual PD4 E M EtherCAT 5 General concepts Task Cycle time Speed controller 250 s 4 kHz Position controller 1 ms Version 1 0 1 FIR v1748 46...

Page 47: ...gered by bit 4 is immediately executed If it is set to 0 the just executed travel command is completed and only then is the next travel command started Bit 6 With 0 the target position 607Ah is absolu...

Page 48: ...cepted and the controller is ready to execute new travel commands If a new travel command is sent even though this bit is still set the newest travel command is ignored The bit is not set if one of th...

Page 49: ...s to 0 if another travel command can be buffered see time 1 in the following figure As long as a target position is being moved to a second target position can be passed to the controller in preparati...

Page 50: ...nt 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 shows the transition pro...

Page 51: ...he 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 ap...

Page 52: ...n 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...

Page 53: ...1100 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 illustrat...

Page 54: ...he jerk is not limited 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 positi...

Page 55: ...rk 60A4h 3 End acceleration jerk 60A4h 2 End deceleration jerk 60A4h 4 Max deceleration 60C6h Profile acceleration 6083h Profile deceleration 6084h End velocity 6082h 6 1 5 Jerk limited mode and non j...

Page 56: ...n Factor The unit for speed values is defined here for the following objects Subindex 1 contains the denominator multiplier and subindex 2 contains the numerator divisor with which the internal speed...

Page 57: ...VL target velocity 6042h VL dimension factor 604Ch VL velocity min max amount 6046h VL velocity acceleration 6048h VL velocity deceleration 6049h VL quick stop 604Ah Control word 6040h Bit 8 halt Ram...

Page 58: ...Demand Value This object contains the output of the ramp generator which simultaneously serves as the preset value for the speed controller 606Ch Velocity Actual Value Indicates the current actual spe...

Page 59: ...the target speed in object 60FFh see following figures The speed and acceleration values are taken into account here for jerk limited ramps the jerk limit values are also taken into account Limitation...

Page 60: ...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...

Page 61: ...in 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 maximu...

Page 62: ...rd 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...

Page 63: ...an be reset to 0 if this is required by the application 203Ah 01h Minimum Current For Block Detection Minimum current threshold which if exceeded is to detect the blocking of the motor at a block 203A...

Page 64: ...mit switch a block limit stop is used for positioning Two settings are to be made here 1 Current level In object 203Ah 01 the current level is defined above which movement against the block is detecte...

Page 65: ...to 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...

Page 66: ...he 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...

Page 67: ...s 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...

Page 68: ...e 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...

Page 69: ...dbus This SYNC object is to be sent by the higher level controller in regular intervals Synchronization occurs as soon as the controller is switched to the Operational NMT mode Note Where possible it...

Page 70: ...to be approached The speed is is limited by 607Fh Max Profile Velocity and 6080h Max Motor Speed the smaller value is used as the limit To be able to turn the motor the power state machine is to be se...

Page 71: ...13 1 Following error Bit 11 Limit exceeded The demand position is above or below the limit values set in 607Dh 6 7 2 Object entries The following objects are necessary for controlling this mode 607Ah...

Page 72: ...es a speed 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 The limit...

Page 73: ...ted this yields a time basis of 1 millisecond The following objects can be read in this mode 606Ch Velocity Actual Value 607Eh Polarity 6 9 Cyclic Synchronous Torque 6 9 1 Overview Description In this...

Page 74: ...2h 02h Interpolation Time Index This object specifies the time basis of the cycles Currently only value 60C2h 02h 3 is supported this yields a time basis of 1 millisecond The following objects can be...

Page 75: ...r This 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 s must elapse before the new clock...

Page 76: ...d sensors encoders Hall sensors an auto setup is performed Closed Loop operation requires a successfully completed auto setup With the Plug Drive motors it is not necessary to perform an auto setup as...

Page 77: ...ction 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 whe...

Page 78: ...to 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 r...

Page 79: ...signal generator The object has no effect on bits 16 to 31 The firmware evaluates the following bits Bit 0 Negative limit switch Bit 1 Positive limit switch Bit 2 Home switch If for example two limit...

Page 80: ...ative limit switch the result of the complete computation is stored in bit 16 60FDh Range in which the firmware expects special entries reference and limit switches Range of the calculated Bits Bit0 B...

Page 81: ...e 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 Physic...

Page 82: ...uts 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...

Page 83: ...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 fo...

Page 84: ...3 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 M...

Page 85: ...put 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...

Page 86: ...y divider 16 0EXXh Position Actual Value 6064h with frequency divider 32 0FXXh Position Actual Value 6064h with frequency divider 64 10XXh PWM signal that is configured with object 2038h 05h and 06h 1...

Page 87: ...ion of the maximum current in ms The following objects indicate the current state of I 2 t 203Bh 3h Threshold specifies the limit in mAs that determines whether the maximum current or rated current is...

Page 88: ...re collections of objects referred to in the following as categories can be saved together individual objects cannot be saved An object can be assigned one of the following categories Communication Pa...

Page 89: ...203Dh Torque Window 203Eh Torque Window Time Out 203Fh Max Slippage Time Out 2056h Limit Switch Tolerance Band 2057h Clock Direction Multiplier 2058h Clock Direction Divider 205Bh Clock Direction Or...

Page 90: ...ration 6084h Profile Deceleration 6085h Quick Stop Deceleration 6086h Motion Profile Type 6087h Torque Slope 6091h Gear Ratio 6092h Feed Constant 6096h Velocity Factor 6097h Acceleration Factor 6098h...

Page 91: ...save process and may not be started up while saving Saving may take a few seconds Under no circumstances may you interrupt the voltage supply while saving The state of the saved objects is otherwise...

Page 92: ...iguration It acts as a modification marker similar to common text editors as soon as a file is modified in the editor a marker usually an asterisk is added The entries of object 1020h can be written w...

Page 93: ...1 0 3 ETG 1000 3 Data Link Layer service definition Date 03 01 2013 Version 1 0 3 ETG 1000 4 Data link layer protocol specification Date 03 01 2013 Version 1 0 3 ETG 1000 5 Application layer service...

Page 94: ...time 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 o...

Page 95: ...ipulate 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 th...

Page 96: ...n output Data Selection Example To select and start the TEST1 USR user program the following sequence can for example be used Check entry 2302h for error code If no error Start the NanoJ program by wr...

Page 97: ...void 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...

Page 98: ...type 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 declar...

Page 99: ...ecution 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 thu...

Page 100: ...ted 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 t...

Page 101: ...e 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 Obj...

Page 102: ...E 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...

Page 103: ...if 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...

Page 104: ...escription 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 t...

Page 105: ...se of an error If the error no longer exists it is deleted automatically Object description Index 1001h Object name Error Register Object Code VARIABLE Data type UNSIGNED8 Savable no Access read only...

Page 106: ...ined Error Field Object Code ARRAY Data type UNSIGNED32 Savable no Firmware version FIR v1426 Change history Value description Subindex 00h Name Number Of Errors Data type UNSIGNED8 Access read write...

Page 107: ...read only PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Subinde...

Page 108: ...4 3 2 1 0 Error Code 16 Error Number 8 This can be used to pinpoint the cause of the error The meaning of the number can be found in the following table Error number Description 0 Watchdog Reset 1 Inp...

Page 109: ...al to object 1001h Error Code 16 Refer to the following table for the meaning of the bytes Error Code Description 1000h General error 2300h Current at the controller output too large 3100h Overvoltage...

Page 110: ...a type VISIBLE_STRING Savable no Access read only PDO mapping no Allowed values Preset value PD4 E591L42 M 65 1 PD4 E591L42 M 65 1 PD4 E601L42 M 65 1 PD4 E601L42 M 65 1 PD4 EB59CD M 65 1 PD4 EB59CD M...

Page 111: ...art the saving of objects See chapter Saving objects Object description Index 1010h Object name Store Parameters Object Code ARRAY Data type UNSIGNED32 Savable no Access read only PDO mapping no Allow...

Page 112: ...es Preset value 00000001h Subindex 02h Name Save Communication Parameters To Non volatile Memory Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000001h Subindex 03...

Page 113: ...llaneous Configurations To Non volatile Memory Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000001h Subindex 08h Name Save Reserved1 Configurations To Non volati...

Page 114: ...owed values Preset value 00000001h Description Each subindex of the object stands for a certain memory class By reading out the entry it is possible to determine whether value 1 or not value 0 this me...

Page 115: ...m 4 to 5 Firmware version FIR v1512 Name entry changed from Restore The Comm Default Parameters to Restore Communication Default Parameters Firmware version FIR v1512 Name entry changed from Restore T...

Page 116: ...et value 00000001h Subindex 04h Name Restore Customer Default Parameters Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000001h Subindex 05h Name Restore Drive Def...

Page 117: ...type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 0Ah Name Restore CANopen Configurations To Non volatile Memory Data type UNSIGNED32 Access read write P...

Page 118: ...is used decides which range is reset For a detailed description see chapter Discarding the saved data 1018h Identity Object Function This object returns general information on the device such as manu...

Page 119: ...evision Number Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 06D40000h Subindex 04h Name Serial Number Data type UNSIGNED32 Access read only PDO mapping no Allowed v...

Page 120: ...pported 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 no Allowed values Pr...

Page 121: ...ading entry changed from 1600h Drive Control to 1600h Receive PDO 1 Mapping Parameter Firmware version FIR v1426 Object Name entry changed from Drive Control to Receive PDO 1 Mapping Parameter Value d...

Page 122: ...s Preset value 60600008h 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...

Page 123: ...ontains the length of the object to be mapped in units of bits 1601h Receive PDO 2 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can receive RX PD...

Page 124: ...SIGNED32 Access read write PDO mapping no Allowed values Preset value 60810020h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset va...

Page 125: ...lue 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 2...

Page 126: ...Name entry changed from Velocity Control to Receive PDO 3 Mapping Parameter Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowe...

Page 127: ...D32 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 0...

Page 128: ...ding entry changed from 1603h Output Control to 1603h Receive PDO 4 Mapping Parameter Firmware version FIR v1426 Object Name entry changed from Output Control to Receive PDO 4 Mapping Parameter Value...

Page 129: ...s 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...

Page 130: ...irmware version 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...

Page 131: ...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 A...

Page 132: ...t 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 1A01h Transmit PDO 2 Mapping Parameter Fun...

Page 133: ...ite PDO mapping no Allowed values Preset value 60640020h Subindex 02h Name 2nd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex...

Page 134: ...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...

Page 135: ...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...

Page 136: ...D32 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 137: ...ex 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 1A03h Transmit PDO 4 Mapping Parameter Function This object con...

Page 138: ...FD0020h Subindex 02h Name 2nd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 33200120h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGN...

Page 139: ...bject 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 consist...

Page 140: ...he number of entries was changed from 2 to 5 Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 04h Subinde...

Page 141: ...cess data 1C12h Sync Manager PDO Assignment Function This object lists the activated Rx PDO mappings see 1600h and is written by the EtherCAT master Object description Index 1C12h Object name Sync Man...

Page 142: ...lue 01h Subindex 01h Name PDO Mapping Index Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset value 1600h Subindex 02h Name PDO Mapping Index Data type UNSIGNED16 Access read...

Page 143: ...v1650 B472161 Name entry changed from PDO Mapping Index to PDO Mapping Index Firmware version FIR v1650 B472161 Name entry changed from PDO Mapping Index to PDO Mapping Index Firmware version FIR v16...

Page 144: ...ronization parameters for Tx PDO mapping for EtherCAT see 1C12h These are set by the EtherCAT master Object description Index 1C32h Object name Output Sync Manager Synchronization Object Code RECORD D...

Page 145: ...chronization Type Data type UNSIGNED16 Access read only PDO mapping no Allowed values Preset value 0000h Subindex 02h Name Cycle Time Data type UNSIGNED32 Access read only PDO mapping no Allowed value...

Page 146: ...ry for subindex 01 changed 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 Ac...

Page 147: ...ory 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 Ch...

Page 148: ...ontrol 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...

Page 149: ...bindex 03h Name Program Control DataFlash Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h 1F57h Program Status Function This object indicates the programming statu...

Page 150: ...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...

Page 151: ...the maximum current value is specified here in mA Within the controller the entered value is always interpreted as the root mean square Object description Index 2031h Object name Maximum Current Objec...

Page 152: ...voltage is less than voltage of object 2034h minus 2 volts 2035h Lower Voltage Warning Level Function This object contains the threshold value for the Undervoltage error in millivolts Object descript...

Page 153: ...ry 2037h Open Loop Current Reduction Value factor Function This object describes the rms current to which the motor current is to be reduced if current reduction is activated in open loop bit 3 in 320...

Page 154: ...Note If the rated current is greater than 0 in 203Bh 01 the smaller of 2031h and 203Bh 01 is used as the rated current for calculating the current reduction 2038h Brake Controller Timing Function Thi...

Page 155: ...write PDO mapping no Allowed values Preset value 000003E8h Subindex 04h Name Start Operation Delay Time Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subi...

Page 156: ...This object contains the measured motor currents in mA Object description Index 2039h Object name Motor Currents Object Code ARRAY Data type INTEGER32 Savable no Firmware version FIR v1426 Change his...

Page 157: ...read only PDO mapping TX PDO Allowed values Preset value 00000000h Subindex 04h Name I_b Data type INTEGER32 Access read only PDO mapping TX PDO Allowed values Preset value 00000000h Description Note...

Page 158: ...IGNED32 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 to INTEGER32 Firmware versi...

Page 159: ...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 cl...

Page 160: ...Duration Of Peak Current Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value PD4 E591L42 M 65 1 00000000h PD4 E601L42 M 65 1 00000000h PD4 EB59CD M 65 1 000003E8h Subind...

Page 161: ...nitoring 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 wh...

Page 162: ...n met Object description Index 203Eh Object name Torque Window Time Out Object Code VARIABLE Data type UNSIGNED16 Savable yes category application Access read write PDO mapping RX PDO Allowed values P...

Page 163: ...bject 1003h 2056h Limit Switch Tolerance Band Function Specifies how far a limit switch may be passed over in the positive or negative direction before the controller triggers an error This tolerance...

Page 164: ...s processed further Object description Index 2058h Object name Clock Direction Divider Object Code VARIABLE Data type INTEGER32 Savable yes category application Access read write PDO mapping no Allowe...

Page 165: ...nction 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 Absolute Sensor Boot Value in User Un...

Page 166: ...ad write PDO mapping no Allowed values Preset value 00000000h Firmware version FIR v1504 Change history 2084h Bootup Delay Function Defines the period between the time that supply voltage is applied t...

Page 167: ...nt 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 CA...

Page 168: ...sion 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...

Page 169: ...cription 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...

Page 170: ...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 f...

Page 171: ...e 0000h Firmware version FIR v1426 Change history Description ERR ECAT Bus Status 4 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 DC Mode ECAT Bus Status 4 The current EtherCAT bus status is entered here Valu...

Page 172: ...trol 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 value 1 or off value 0 With a rising edge in...

Page 173: ...ES Reserved ERR Program was ended with an error Cause of the error can be read from object 2302h 2302h NanoJ Error Code Function Indicates which error occurred during the execution of the user program...

Page 174: ...ped 1000h Access of a nonexistent object in the object dictionary 1001h Write access of a write protected entry in the OD 1002h Internal file system error File system error codes when loading the user...

Page 175: ...t of the NanoJ program Object description Index 2310h Object name NanoJ Input Data Selection Object Code ARRAY Data type UNSIGNED32 Savable no Access read write PDO mapping no Allowed values Preset va...

Page 176: ...ch 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...

Page 177: ...e 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...

Page 178: ...ss 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 In output Data Selection to Nan...

Page 179: ...o be mapped Length 8 This contains the length of the object to be mapped in units of bits 2400h NanoJ Inputs Function Located here is an array with 32 32 bit integer values that is not used within the...

Page 180: ...it Parameters Function This object functions identically to object 2400h with the difference that this object can be stored Object description Index 2410h Object name NanoJ Init Parameters Object Code...

Page 181: ...h 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...

Page 182: ...ion 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...

Page 183: ...le 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 UNS...

Page 184: ...ED32 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 Suppor...

Page 185: ...rive 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 co...

Page 186: ...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 spee...

Page 187: ...apping RX PDO Allowed values Preset value 03h Subindex 01h Name 1st Feedback Interface Data type UNSIGNED8 Access read write PDO mapping RX PDO Allowed values Preset value 00h Subindex 02h Name 2nd Fe...

Page 188: ...ave been queried If a feedback is found whose parameterization is set it is assigned to the corresponding controller and the search ended Note If bit 0 in 3202h is set to 0 closed loop is deactivated...

Page 189: ...eset value 33B4h Description The subindices have the following function 00h Value 1 to n where n is the number of existing feedbacks nh Subindex n refers to the index of the respective object for the...

Page 190: ...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 ver...

Page 191: ...egral Gain closed Loop Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 03h Name Velocity Loop Proportional Gain closed Loop Data type UNSIGNED3...

Page 192: ...L42 M 65 1 00001388h PD4 E601L42 M 65 1 00002EE0h PD4 EB59CD M 65 1 00000BB8h Subindex 07h Name Torque Current Loop Proportional Gain closed Loop Data type UNSIGNED32 Access read write PDO mapping RX...

Page 193: ...cess read write PDO mapping RX PDO Allowed values Preset value 000003E8h Subindex 0Ch Name Acceleration Feed Forward Factor Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Pre...

Page 194: ...ring deceleration as well 3212h Motor Drive Flags Function This object is used to specify whether or not auto setup is to adapt the controller parameters The direction of the rotating field can also b...

Page 195: ...02h Value 0 Use default values of the firmware Value 1 Force non inversion of the rotating field mathematically positive Value 1 Force inversion of the rotating field mathematically negative Valid va...

Page 196: ...GNED8 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 Subin...

Page 197: ...ange 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 i...

Page 198: ...8 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 000000...

Page 199: ...rite PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 08h Name Routing Enable Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Descripti...

Page 200: ...t was set in object 3240h 03h 3240h 06h Input Range Select This can be used to switch inputs that are equipped with this function from the switching threshold of 5 V bit is 0 to the switching threshol...

Page 201: ...O Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping TX PDO Allowed values Preset value 04h Subindex 01h Name Control Data type UNSIGNED32...

Page 202: ...set to 1 2 or 3 Subindex 03h Encoder position of the level change in absolute user units from 6064h Subindex 04h Encoder position of the level change 3242h Digital Input Routing Function This object d...

Page 203: ...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 input 8 09 09 Physical input 9 10 0A Physical input 10 11 0B Physical...

Page 204: ...nput that is used for the home switch Object description Index 3243h Object name Digital Input Homing Capture Object Code ARRAY Data type UNSIGNED32 Savable yes category application Access read only P...

Page 205: ...ype of level change Deactivate function Value 0 With rising edge Value 1 With falling edge Value 2 Both edges Value 3 Subindex 02h Specifies the number of the noted level changes since the time the fu...

Page 206: ...hanged from Special Function Enable to No Function Firmware version FIR v1512 The number of entries was changed from 6 to 9 Value description Subindex 00h Name Highest Sub index Supported Data type UN...

Page 207: ...me 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 PDO mapping RX PDO Allow...

Page 208: ...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 a signal source to an outpu...

Page 209: ...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 mapping TX PDO Allowed value...

Page 210: ...GER32 Access read only PDO mapping TX PDO Allowed values Preset value 00000000h Subindex 02h Name Analogue Input 2 Data type INTEGER32 Access read only PDO mapping TX PDO Allowed values Preset value 0...

Page 211: ...ue Input Offset Object Code ARRAY Data type INTEGER32 Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Number Of Analogue Inputs Data type...

Page 212: ...ng Object Code ARRAY Data type INTEGER32 Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Number Of Analogue Inputs Data type UNSIGNED8 Ac...

Page 213: ...p Object description Index 33A0h Object name Feedback Incremental A B I 1 Object Code ARRAY Data type UNSIGNED16 Savable yes category tuning Access read only PDO mapping RX PDO Allowed values Preset v...

Page 214: ...ncoder and the electric field The exact determination is only possible via auto setup The presence of this value is necessary for closed loop mode with encoder 33B4h SSI Encoder Multi Turn Function Co...

Page 215: ...d write PDO mapping no Allowed values Preset value 0A28h Subindex 03h Name Single Turn Resolution Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset value 000Ch Subindex 04h N...

Page 216: ...on is only possible via auto setup The presence of this value is necessary for closed loop mode with encoder 06h Encoder Home Raw Value The absolute encoder position is recorded in this subindex after...

Page 217: ...ains information 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 va...

Page 218: ...me 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...

Page 219: ...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 Temperatur...

Page 220: ...0000000h Subindex 04h Name Temperature Motor Celsius 10 Data type INTEGER32 Access read only PDO mapping TX PDO Allowed values Preset value 00000000h Subindex 05h Name Temperature Microcontroller Chip...

Page 221: ...pplication 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 UNSIG...

Page 222: ...Auto setup was executed in production Object description Index 4016h Object name Factory Settings Object Code ARRAY Data type UNSIGNED8 Savable no Access read only PDO mapping no Allowed values Preset...

Page 223: ...40h Object name Drive Serial Number Object Code VARIABLE Data type VISIBLE_STRING Savable no Access read only PDO mapping no Allowed values Preset value 0 Firmware version FIR v1450 Change history 404...

Page 224: ...mapping TX PDO Allowed values Preset value 0000h Firmware version FIR v1426 Change history Description For the meaning of the error see object 1003h Pre defined Error Field 6040h Controlword Function...

Page 225: ...s to the Enable operation state OMS Operation Mode Specific Meaning is dependent on the selected operating mode FR Fault Reset Resets an error if possible HALT Value 1 Triggers a halt valid in the fol...

Page 226: ...troller is in the Quick stop state SOD Switched On Disabled Value 1 Controller is in the Switched on disabled state WARN Warning Value 1 Warning SYNC synchronization Value 1 Controller is in sync with...

Page 227: ...bject Code VARIABLE Data type INTEGER16 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 00C8h Firmware version FIR v1426 Change history Firmware versi...

Page 228: ...set value 0000h Firmware version FIR v1426 Change history 6046h Vl Velocity Min Max Amount Function This object can be used to set the minimum speed and maximum speed in user defined units Object desc...

Page 229: ...nimum speed the minimum speed applies and bit 11 Internal Limit Reached in 6041h Statuswordh is set A target speed greater than the maximum speed sets the speed to the maximum speed and bit 11 Interna...

Page 230: ...t value 0001h Description The acceleration is specified as a fraction in user defined units Speed change per change in time Subindex 01h Contains the change in speed Subindex 02h Contains the change i...

Page 231: ...pe UNSIGNED16 Access read write PDO mapping RX PDO Allowed values Preset value 0001h Description The deceleration is specified as a fraction in user defined units Speed change per change in time Subin...

Page 232: ...D32 Access read write PDO mapping RX PDO Allowed values Preset value 00001388h Subindex 02h Name DeltaTime Data type UNSIGNED16 Access read write PDO mapping RX PDO Allowed values Preset value 0001h D...

Page 233: ...Factor Numerator Data type INTEGER32 Access read write PDO mapping RX PDO Allowed values Preset value 00000001h Subindex 02h Name Vl Dimension Factor Denominator Data type INTEGER32 Access read write...

Page 234: ...e 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 Braking wit...

Page 235: ...at is to be executed on a transition of the CiA 402 Power State Machine from the Operation enabled state to the Switched on state Object description Index 605Ch Object name Disable Option Code Object...

Page 236: ...Change history Description Value Description 32768 0 Reserved 1 Braking with slow down ramp deceleration deceleration ramp depending on operating mode 2 Braking with quick stop ramp deceleration decel...

Page 237: ...The desired operating mode is entered in this object Object description Index 6060h Object name Modes Of Operation Object Code VARIABLE Data type INTEGER8 Savable yes category application Access read...

Page 238: ...Index 6061h Object name Modes Of Operation Display Object Code VARIABLE Data type INTEGER8 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 00h Firmware version FIR v1426 Cha...

Page 239: ...Index 6063h Object name Position Actual Internal Value Object Code VARIABLE Data type INTEGER32 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 00000000h Firmware version F...

Page 240: ...viates so much from the demand position that the value of this object is exceeded bit 13 in object 6041h is set The deviation must last longer than the time in object 6066h If the value of the Followi...

Page 241: ...d Position Mode Object description Index 6067h Object name Position Window Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping RX PDO Allowed value...

Page 242: ...ion by less than the value of object 6067h bit 10 in object 6041h is set The condition must be satisfied for longer than the time defined in object 6066h 606Bh Velocity Demand Value Function Speed spe...

Page 243: ...ch the target is considered having been met in the Profile Velocity mode Object description Index 606Dh Object name Velocity Window Object Code VARIABLE Data type UNSIGNED16 Savable yes category appli...

Page 244: ...changed from no to yes category application Description Description If the current speed deviates from the set speed by less than the value of object 606Dh bit 10 in object 6041h is set The condition...

Page 245: ...percent of the rated torque Object description Index 6072h Object name Max Torque Object Code VARIABLE Data type UNSIGNED16 Savable yes category application Access read write PDO mapping RX PDO Allowe...

Page 246: ...rrent in 2031h 6075h Motor Rated Current Function Contains the rated current entered in 203Bh 01h in mA 6077h Torque Actual Value Function This object indicates the current torque value in tenths of a...

Page 247: ...lication 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 yes category a...

Page 248: ...e 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 th...

Page 249: ...istory 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 typ...

Page 250: ...subindex 00 changed from no to RX PDO 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 rotati...

Page 251: ...le Velocity Firmware version FIR v1738 B501312 Data type entry changed from INTEGER16 to UNSIGNED32 Firmware version FIR v1738 B501312 Savable entry changed from no to yes category application Firmwar...

Page 252: ...on Specifies the maximum travel speed in user defined units Object description Index 6081h Object name Profile Velocity Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Acces...

Page 253: ...es Preset value 000001F4h Firmware version FIR v1426 Change history 6084h Profile Deceleration Function Specifies the maximum deceleration deceleration ramp in user defined units Object description In...

Page 254: ...Type Function Specifies the ramp type for the Profile Position and Profile Velocity modes Object description Index 6086h Object name Motion Profile Type Object Code VARIABLE Data type INTEGER16 Savabl...

Page 255: ...31h 608Fh Position Encoder Resolution Function Contains the physical resolution of the encoder sensor that is used for position control Object description Index 608Fh Object name Position Encoder Reso...

Page 256: ...iption Position Encoder Resolution Encoder Increments 608Fh 01h Motor Revolutions 608Fh 02h 6090h Velocity Encoder Resolution Function Contains the physical resolution of the encoder sensor that is us...

Page 257: ...Preset value 00000000h Description Velocity Encoder Resolution Encoder Increments per second 6090h 01h Motor Revolutions per second 6090h 02h 6091h Gear Ratio Function Number of motor revolutions per...

Page 258: ...alue 00000001h Subindex 02h Name Shaft Revolutions Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000001h Description Gear Ratio Motor Revolutions 6091h 01h Sh...

Page 259: ...02h Name Shaft Revolutions Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000001h Description Feed Constant Feed 6092h 01h Shaft Revolutions 6092h 02h 6096h Ve...

Page 260: ...Access read write PDO mapping RX PDO Allowed values Preset value 00000001h Subindex 02h Name Divisor Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000001h De...

Page 261: ...ex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Numerator Data type UNSIGNED32 Access read write PDO mappi...

Page 262: ...llowed 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 Obj...

Page 263: ...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 the setting is too high the index marking will be ove...

Page 264: ...ned units Object description Index 60A2h Object name Jerk Factor Object Code ARRAY Data type UNSIGNED32 Savable yes category application Access read only PDO mapping no Allowed values Preset value Fir...

Page 265: ...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 Na...

Page 266: ...tion 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 Beg...

Page 267: ...10 9 8 7 6 5 4 3 2 1 0 Factor Unit reserved 00h reserved 00h 60A9h SI Unit Velocity Function This object contains the speed unit See chapter User defined units Object description Index 60A9h Object n...

Page 268: ...BLE Data type INTEGER32 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Firmware version FIR v1738 B505321 Change history 60B1h Velocity Off...

Page 269: ...values Preset value 0000h Firmware version FIR v1738 B505321 Change history 60C1h Interpolation Data Record Function This object contains the demand position in user defined units for the interpolatio...

Page 270: ...hronization time 60C2h Interpolation Time Period Function This object contains the interpolation time Object description Index 60C2h Object name Interpolation Time Period Object Code RECORD Data type...

Page 271: ...e time value of 60C2h 01h 10 value of 60C2 02 seconds 60C4h Interpolation Data Configuration Function This object offers the maximum buffer size specifies the configured buffer organization of the int...

Page 272: ...cription Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 06h Subindex 01h Name MaximumBufferSize Data type UNSIGNED32 Acce...

Page 273: ...index 03h is 00h this means a FIFO buffer organization if it is 01h it specifies a ring buffer organization The value of subindex 04h is unitless and specifies the next free buffer entry point The val...

Page 274: ...leration Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 00001388h Firmware version FIR v1426 Change history...

Page 275: ...tion 00h Value 1 to n where n is the number of existing feedbacks nh Subindex n contains the current actual position of the corresponding feedback Subindex 01h always corresponds to the first and alwa...

Page 276: ...he number of existing feedbacks nh Subindex n contains the current actual speed of the corresponding feedback Subindex 01h always corresponds to the first and always existing sensorless feedback 60E6h...

Page 277: ...r Increments Feedback Interface 2 Data type INTEGER32 Access read write PDO mapping RX PDO Allowed values Preset value 00000001h Subindex 03h Name Additional Position Encoder Resolution Encoder Increm...

Page 278: ...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 RX PDO Allowed values P...

Page 279: ...DO 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 RX PDO...

Page 280: ...ARRAY Data type UNSIGNED32 Savable yes category tuning Access read only PDO mapping RX PDO Allowed values Preset value Firmware version FIR v1738 B501312 Change history Value description Subindex 00h...

Page 281: ...ng feedback Object description Index 60EDh Object name Additional Gear Ratio Driving Shaft Revolutions Object Code ARRAY Data type UNSIGNED32 Savable yes category application Access read only PDO mapp...

Page 282: ...ject and in 60E9h you can set a feed constant for each existing feedback Object description Index 60EEh Object name Additional Feed Constant Driving Shaft Revolutions Object Code ARRAY Data type UNSIG...

Page 283: ...category application Access read write PDO mapping RX PDO Allowed values Preset value 0001h Firmware version FIR v1446 Change history Firmware version FIR v1614 Savable entry changed from no to yes ca...

Page 284: ...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...

Page 285: ...le yes category application Access read write PDO mapping RX PDO Allowed values Preset value 00000190h Firmware version FIR v1738 B501312 Change history Description If the actual speed deviates so muc...

Page 286: ...demand position which is then passed on to the speed controller This correction value is dependent on the proportional component 3210h 01h and the integral component 3210h 02h of the position control...

Page 287: ...history Description 31 30 29 28 27 26 25 24 IN 6 23 22 21 20 19 18 17 16 IN 5 IN 8 IN 7 IN 2 IN 1 IN 4 IN 3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 PLS NLS HS NLS Negative Limit Switch Negative limit sw...

Page 288: ...mapping RX PDO Allowed values Preset value 00000000h Description To write the outputs the entries in object 3250h subindex 02h to 05h must also be taken into account 31 30 29 28 27 26 25 24 23 22 21 2...

Page 289: ...d Drive Modes Function The object describes the supported operating modes in object 6060h Object description Index 6502h Object name Supported Drive Modes Object Code VARIABLE Data type UNSIGNED32 Sav...

Page 290: ...us Torque Mode 6503h Drive Catalogue Number Function Contains the device name as character string Object description Index 6503h Object name Drive Catalogue Number Object Code VARIABLE Data type VISIB...

Page 291: ...ject 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 Preset value http www nano...

Page 292: ...ITY 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 IN...

Page 293: ...CE 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 reserve...

Page 294: ...above 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 name...

Page 295: ...DISCLAIMED 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 SERVICE...

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