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Technical Manual PD4-E-M (EtherCAT)
11 Copyrights

These notices must be retained in any copies of any part of this documentation and/or software.

11.4 uIP

Copyright (c) 2005, Swedish Institute of Computer Science

All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided
that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the

following disclaimer.

2. Redistributions in binary form must reproduce the 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 names of its contributors may be used to endorse or

promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' 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 SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

11.5 DHCP

Copyright (c) 2005, Swedish Institute of Computer Science

All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided
that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the

following disclaimer.

2. Redistributions in binary form must reproduce the 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 names of its contributors may be used to endorse or

promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' 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 SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

11.6 CMSIS DSP Software Library

Copyright (C) 2010 ARM Limited. All rights reserved.

Version: 1.0.1 / FIR-v1748

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Summary of Contents for PD4-E

Page 1: ...al 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 version W002b ...

Page 2: ...ned 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 Auto setup 25 4 3 Test run 27 4 4 Special drive modes clock direction and analog speed 28 5 General concepts 31 5 1 Control modes 31 5 2 CiA 402 Power State Machine 35 5 3 User defined units 40 5 4 Limi...

Page 3: ...rameters 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 Receive PDO 4 Mapping Parameter 128 1A00h Transmit PDO 1 Mapping Parameter 130 1A01h Transmit PDO 2 Mapping Parameter 132 1A02h Transmit PDO 3 Mapping Parameter 135 1A03h Transmit PDO 4 Mapping Para...

Page 4: ...noJ 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 Selection 186 3204h Feedback Mapping 188 3210h Motor Drive Parameter Set 189 3212h Motor Drive Flags 194 3220h Analog Inputs 195 3221h Analogue Inputs Control 197 3240h Digital Inputs Control 197 32...

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 Target Position 247 607Bh Position Range Limit 247 607Ch Home Offset 248 607Dh Software Position Limit 249 607Eh Polarity 250 607Fh Max Profile Velocity 251 6080h Max Motor Speed 251 6081h Profile Veloci...

Page 6: ...r 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 Following Error Actual Value 284 60F8h Max Slippage 285 60FAh Control Effort 285 60FCh Position Demand Internal Value 286 60FDh Digital Inputs 287 60FEh Digital Outputs 287 60FFh Target Velocity 288 6502h S...

Page 7: ...error 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 Kapellenstraße 6 D 85622 Feldkirchen Munich Phone 49 0 89 900 686 0 Fax 49 0 89 900 686 50 Internet us nanotec com TwinCAT is a registered trademark of the Beckhoff Automation GmbH 1 3 Intended use The PD4 E M is designed for use un...

Page 8: ...ulations 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 EU directives for product safety The following EU directives were observed RoHS directive 2011 65 EU 2015 863 EU EMC directive 2014 30 EU 1 8 Used icons All notices are in the same format The degree ...

Page 9: ...s state the value 1 must be written in 3212h 01h 1 10 Numerical values Numerical values are generally specified in decimal notation The use of hexadecimal notation is indicated by a subscript h at the end of the number The objects in the object dictionary are written with index and subindex as follows Index Subindex Both the index as well as the subindex are specified in hexadecimal notation If no...

Page 10: ...or Voltage peaks during operation may damage the controller Install suitable circuits e g charging capacitor that reduce voltage peaks Note There is no polarity reversal protection Polarity reversal results in a short circuit between supply voltage and GND earth via the power diode Install a line protection device fuse in the supply line Note The device contains components that are sensitive to el...

Page 11: ...ition 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 Ambient temperature storage 25 85 C 3 2 Dimensioned drawings 3 2 1 PD4 E591L42 M 65 1 Front view and mounting Side view Rear view View X Version 1 0 1 FIR v1748 11 ...

Page 12: ...ue 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 Velocity Mode Homing Mode Interpolated Position Mode Cyclic Sync Position Mode Cyclic Sync Velocity Mode Cyclic Synchronous Torque Mode Clock Direction Mode Set value setting programming EtherCAT analog i...

Page 13: ...of 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 cover the power part of the controller switches off and the error bit is set see objects 1001h and 1003h After cooling down and confirming the error see table for the controlword Fault reset the contr...

Page 14: ...pm 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 temperature protection switched off the controller after approx 21 stepper motor or 14 BLDC motor minutes Version 1 0 1 FIR v1748 14 ...

Page 15: ...for 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 second 1s 2s 3s 4s 5s 6s 7s 8s 9s Case of an error If an error has occurred the LED turns red and signals an error number In the following figure the error number 3 is signaled 1s 2s 3s 4s 5s 6s 7s 8s 9...

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 EtherCAT bus LINK The green LINK LED is on if the EtherCAT cable is connected and flashes during data transfer Version 1 0 1 FIR v1748 16 ...

Page 17: ...The 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 has not yet achieved the INIT status or the slave is in boot loader mode and firmware is being loaded continuously green OPERATIONAL The slave is in the OPERATIONAL state ERR The red ERR LED indicates ...

Page 18: ...r 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 Overview Connector Function X1 EtherCAT IN X2 EtherCAT OUT X3 Voltage supply X4 Inputs outputs and external logic supply L1 Power LED see chapter Power LED RUN EtherCAT RUN LED see chapter EtherCAT L...

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 Data 4 RD Receiver Data 3 6 4 Connector X3 voltage supply Connection for the main supply Connector type M12 5 pin B coded male Version 1 0 1 FIR v1748 19 ...

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 controller exceeds this threshold value the motor is switched off and an error triggered Above 50 5 V the integrated ballast circuit 3 W power is activated The minimum operating voltage is 10 V DC If the ...

Page 21: ...h 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 3240h max 1 MHz 7 Digital input 6 5 V 24 V signal switchable by means of software with object 3240h max 1 MHz 8 Analog input 10 bit 0 V 10 V or 0 20 mA switchable by means of software with object 3221h 9...

Page 22: ...ential 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 Direction input in clock direction mode Clock Direction 5 Input 4 Input 2 Direction input in clock direction mode Digital input 4 Direction 6 Input 5 Input 3 Clock input in clock direction mode Digital i...

Page 23: ...es 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 injuries If the motor is unsecured it can e g fall down Foot injuries or damage to the motor could occur If you operate the motor free standing observe the motor switch it off immediately in the event ...

Page 24: ...ge 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 can be found in the Plug Drive Studio download folder b From Nanotec support 4 Close the TwinCAT system manager if it is open 5 Then copy the ESI file to the TwinCAT subfolder If you use TwinCAT vers...

Page 25: ...ng 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 on the limit switches see Limitation of the range of motion Tip As long as the motor connected to the controller or the sensors for feedback encoders Hall sensors are not changed auto setup is only to...

Page 26: ...ing 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 object 6040h 00h controlword Identify motor type Start Auto Setup Determine windings resistance Determine windings inductivity Determine magnetic flux Encoder and encoder index available End Auto Setup S...

Page 27: ...6041h 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 Parameter memory After a successful auto setup the determined parameter values are automatically taken over into the corresponding objects and stored with the storage mechanism see Saving objects and 101...

Page 28: ...read 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 via the clock and direction input or the analog input by activating the special drive modes These include Clock direction Analog speed Test run with 30 rpm You can also determine the control mode op...

Page 29: ...imum 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 take effect until after the controller is restarted 4 4 2 Clock direction The controller internally sets the operating mode to clock direction You must connect the release clock and direction inputs ...

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 in the positive direction The dead zone here extends from Umax 2 20 mV Analogue input voltage Rotational speed dead zone 0 V Umax 2 max max Umax 4 4 4 Test run with 30 rpm The motor rotates at 30 rpm ...

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 model based feedback systems collectively referred to as sensorless systems are also used Both feedback systems can also be used in combination to further improve the control quality Motor Controller ...

Page 32: ...ion Open loop mode is only used with stepper motors and is by definition a control mode without feedback The field rotation in the stator is specified by the controller The rotor directly follows the magnetic field rotation without step losses as long as no limit parameters such as the maximum possible torque are exceeded Compared to closed loop no complex internal control processes are needed in ...

Page 33: ...ious measures are effective for largely reducing resonances Reduce or increase current see object 2031h Max Current Excessive torque reserve promotes resonances Reduce or increase the operating voltage taking into account the product specific ranges with sufficient torque reserve The permissible operating voltage range can be found in the product data sheet Optimize the control parameters of the c...

Page 34: ...ded and sinusoidal phase currents generated in the motor windings Vector control of the magnetic field ensures that the magnetic field of the stator is always perpendicular to that of the rotor and that the field strength corresponds precisely to the desired torque The current thereby controlled in the windings provides a uniform motor force and results in an especially smooth running motor that c...

Page 35: ...Drive 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 the controller to the ready state it is necessary to run through a state machine This is defined in CANopen standard 402 State changes are requested in object 6040h controlword The actual state of th...

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 combinations for the controlword that result in the corresponding state transitions An X here corresponds to a bit state that requires no further consideration The only exception is the resetting of the...

Page 37: ...ch 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 with fieldbus type EtherCAT In this case after the bus error is rectified the state automatically changes back to the Switch on disabled state Operating mode The operating mode is set in object 6060h Th...

Page 38: ...h 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 stop active Transition to the Quick stop active state quick stop option In this case the action stored in object 605Ah is executed see following table Value in object 605Ah Description 32768 1 Reserv...

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 bit is valid in the following modes Profile Position Velocity Profile Velocity Profile Torque Interpolated Position Mode When setting bit 8 in object 6040h controlword the reaction stored in 605Dh i...

Page 40: ...768 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 Reserved You can deactivate error monitoring by setting object 6065h to the value 1 FFFFFFFFh or object 60F8h to the value 7FFFFFFFh 5 3 User defined units The controller offers you the possibility to ...

Page 41: ...ell 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 60A8h Position unit or 60A9h Speed unit Depending on the unit that is used Feed constant 6092h and or Gear ratio 6091h are is taken into account Name Unit symbol Value 6091h 6092h Description meter m 01...

Page 42: ...unit 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 Hour day d 49h Day year a 4Ah Year 365 25 days Listed in the following table are the possible exponents and their values for 60A8h Position unit and 60A9h Speed unit Factor Exponent Value 10 6 6 06h 10 ...

Page 43: ...ition 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 00h reserved 00h Example If 60A8h is written with the value FF410000h bits 16 23 41h and bits 24 31 FFh the unit is set to tenths of degree factory setting With a relative target position 607Ah of 3600...

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 604Ch Vl Dimension Factor Conversion factor for the speed unit You can set an additional factor for the speed unit Thus a unit of e g 1 3 revolutions minute is possible The factor n is calculated from...

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 fault state see also State transitions 5 4 2 Software limit switches The controller takes into account software limit switches 607Dh Software Position Limit Target positions 607Ah are limited by 607Dh th...

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

Page 47: ...ggered 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 absolute and with 1 the target position is relative The reference position is dependent on bits 0 and 1 of object 60F2h Bit 8 Halt If this bit is set to 1 the motor stops On a transition from 1 to 0 the mo...

Page 48: ...ccepted 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 the following conditions is met The new target position can no longer be reached while adhering to all boundary conditions A target position was already traveled to and a target position was already sp...

Page 49: ...es 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 preparation All parameters such as speed acceleration braking deceleration etc can thereby be reset time 2 If the buffer is empty the next time can be queued up time 3 If the buffer is already full a new set ...

Page 50: ...int 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 procedure for the second target position while moving to the first target position In this figure bit 5 of object 6040h controlword is set to 1 the new target value is thus taken over immediately Versio...

Page 51: ...the final speed 6082h of the target position is equal to zero If bit 9 is set to 1 the profile speed 6081h is maintained until the target position is reached only then do the new boundary conditions apply Destination point 607Ah Actual Speed New destination point 6040h Bit 4 6040h Bit 9 1 6040h Bit 9 0 Destination point confirmation 6041h Bit 12 Destination point reached 6041h Bit 10 t t t t t Pos...

Page 52: ...on 1400 Target position 1100 absolute 800 0 100 Relative to the preceding target position 60F2h 00 0 Change on setpoint 6040h 00 Bit 5 0 Move relative 6040h 00 Bit 6 1 Target position 300 500 1100 300 position 1400 Target position 1100 absolute 800 0 100 Change set immediately 6040h 00 Bit 5 1 Move absolute 6040h 00 Bit 6 0 Target position 300 500 1100 300 position 1400 Target position 1100 absolu...

Page 53: ...n 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 illustrates the reason Position t Target position Arriving at target position 1ms 1 Sampling before arriving the target position 2 Sampling after arriving the target position The current position is sampled o...

Page 54: ...the 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 position 60C6h Max Deceleration The maximum braking deceleration that may not be exceeded when moving to the end position 60A4h Profile Jerk subindex 01h to 04h Objects for specifying the limit values for ...

Page 55: ...erk 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 jerk limited mode Description A distinction is made between the jerk limited and non jerk limited modes Jerk limited mode Jerk limited positioning can be achieved by setting object 6086h to 3 The entr...

Page 56: ...on 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 values are converted to revolutions per minute If for example subindex 1 is set to the value 60 and subindex 2 is set to the value 1 the speed is specified in revolutions per second 60 revolutions pe...

Page 57: ...n 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 Ramp function Velocity limit function Velocity control function Reverse factor function VL velocity actual value 6044h VL velocity demand 6043h Status word 6041h Bit 11 internal limit active Reverse fac...

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 speed 606Dh Velocity Window This value specifies by how much the actual speed may vary from the set speed for bit 10 target speed reached Target Reached in object 6041h statusword to be set to 1 606Eh V...

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 Limitations in the jerk limited case The following figure shows the adjustable limits in the jerk limited case 6086h 3 Acceleration Jerk Speed Profile velocity 60FFh t t t Max acceleration 60C5h Begin accelera...

Page 60: ...ust be set in object 6060h Modes Of Operation see CiA 402 Power State Machine 6 4 3 Controlword The following bits in object 6040h controlword have a special function Bit 8 Halt If this bit is set to 1 the motor stops If this bit is set from 1 to 0 the motor is started up according to the presets When setting from 0 to 1 the motor is again brought to a standstill taking the preset values into cons...

Page 61: ...e 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 maximum duration of the peak current 203Bh 02h is set see I2t Motor overload protection All torque objects are limited by the peak current The following objects are also needed for this operating mode 3202...

Page 62: ...ord have a special function Bit 4 If the bit is set to 1 referencing is started This is performed until either the reference position is reached or bit 4 is reset to 0 Statusword The following bits in object 6041h statusword have a special function Bit 13 Bit 12 Bit 10 Description 0 0 0 Homing is performed 0 0 1 Homing is interrupted or not started 0 1 0 Homing confirmed but target not yet reached...

Page 63: ...can 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 203Ah 02h Period Of Blocking Specifies the time in ms that the motor is to continue to run against the block after block detection Homing speeds The figure shows the homing speeds using method 4 as an ex...

Page 64: ...imit 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 detected 2 Blocking duration In object 203Ah 02 the duration during which the motor moves against the block is set t motor current position Block level of blocking current 203Ah 01 blocking time 203Ah 02 Ov...

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 the right switching edge of the home switch is used as reference Index pulse 5 5 6 6 Reference switch Methods 7 to 14 Reference to the home switch and index pulse with limit switches Version 1 0 1 FI...

Page 66: ...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 Methods 11 to 14 take the negative limit switch into account Index pulse 11 12 12 12 13 13 13 14 14 14 11 11 Reference switch Negative limit switch Methods 17 and 18 Reference to the limit switch without the index pulse Method 17 references to the negative limit switch 17 Negative l...

Page 67: ...ds 21 and 22 equivalent to methods 5 and 6 the right switching edge of the home switch is used as reference 21 21 22 22 Reference switch Methods 23 to 30 Reference to the home switch without the index pulse with limit switches With these methods the current position relative to the home switch is not important With method 26 for example referencing is always performed to the index pulse to the rig...

Page 68: ...ke the negative home switch into account Negative limit switch 30 29 30 29 29 30 28 27 27 28 27 28 Reference switch Methods 33 and 34 Reference to the next index pulse With these methods referencing is only performed to the respective subsequent index pulse Index pulse 33 34 Method 35 References to the current position Version 1 0 1 FIR v1748 68 ...

Page 69: ...ldbus 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 is recommended that a time interval of the SYNC object be used 6 6 2 Activation To activate the mode the value 7 must be set in object 6060h Modes Of Operation see CiA 402 Power State Machine 6 6 3 C...

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 set to the Operation enabled state see CiA 402 Power State Machine 6 6 7 Operation After setting up the task of the higher level controller is to write the target positions to object 60C1h 01h in time ...

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 Target Position This object must be written cyclically with the position set value 607Bh Position Range Limit This object contains the preset for an overrun or underrun of the position specification ...

Page 72: ...ses 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 switches and thus the tolerance bands are active in this mode For further information on the limit switches see Limitation of the range of motion Activation To activate the mode the value 9 must be ...

Page 73: ...rted 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 mode the controller passes an absolute torque preset via the fieldbus at fixed time intervals referred to in the following as a cycle The controller then no longer calculates any ramps but rather on...

Page 74: ...C2h 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 read in this mode 606Ch Velocity Actual Value 6074h Torque Demand 6 10 Clock direction mode 6 10 1 Description In clock direction mode the motor is operated via two inputs by a higher level positioni...

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 µs must elapse before the new clock signal is applied 6 10 4 Statusword The following bits in object 6041h statusword have a special function Bit 13 Following Error This bit is set in closed loop mode if the following error is greater ...

Page 76: ...ed 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 this was already performed at the factory For details see the corresponding section in chapter Commissioning Note The limit switches and thus the tolerance bands are active in this mode For further ...

Page 77: ...nction Bit 4 starts a travel command This is carried out on a transition from 0 to 1 6 11 4 Statusword The following bits in object 6041h statusword have a special function Bit 10 Indexed indicates whether 1 or not 0 an encoder index was found Bit 12 Aligned this bit is set to 1 after auto setup has concluded Version 1 0 1 FIR v1748 77 ...

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 read bit 0 in 60FDh Bit 16 in 60FDh also shows the status of input 1 independent of whether or not the special function of the input was activated This assignment is graphically illustrated in the fol...

Page 79: ...e 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 switches and one home switch are used bits 0 2 in 3240h 01h must be set to 1 3240h 02h Function Inverted This subindex switches from normally open logic a logical high level at the input yields the ...

Page 80: ...gative 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 Bit15 Bit16 Bit31 Default setting Value of the input pin 1 Bit in 3240h 4 1 Value 1 0 Value 0 Bit in 3240h 2 1 invert logic 0 do not invert logic Alternative Bit in 3240h 1 0 switch pin off 1 do not s...

Page 81: ...ce 00 00 Signal is always 0 01 01 Physical input 1 02 02 Physical input 2 03 03 Physical input 3 04 04 Physical input 4 05 05 Physical input 5 06 06 Physical input 6 07 07 Physical input 7 08 08 Physical 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 16 10 Physical input ...

Page 82: ...puts Outputs The outputs are controlled via object 60FEh Here output 1 corresponds to bit 16 in object 60FEh output 2 corresponds to bit 17 etc as with the inputs The outputs with special functions are again entered in the firmware in the lower bits 0 to 15 The only bit assigned at the present time is bit 0 which controls the motor brake Wiring Note Always observe the maximum capacity of the outpu...

Page 83: ...om normally open to normally closed Configured as normally open the input outputs a logical high level if the bit is 1 With the normally closed configuration a logical low level is output accordingly for a 1 in object 60FEh 3250h 03h If a bit is set here the output is controlled manually The value for the output is then in object 3250h 4h this is also possible for the brake output 3250h 04h The bi...

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 Mode assigns an output a signal source a control bit in object 60FEh 01h switches the signal on or off The source is selected with 3252h 01 to 05 in the high byte bit 15 to bit 8 The assignment of a c...

Page 85: ...tput if available 02h Configuration of output 1 03h Configuration of output 2 if available 04h Configuration of output 3 if available 05h Configuration of output 4 if available Note The maximum output frequency of output 1 and output 2 is 10 kHz of the PWM output it is 2 kHz All other outputs can only produce signals up to 500 Hz Subindices 3252h 01h to 05h are 16 bits wide whereby the high byte s...

Page 86: ...cy 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 11XXh Inverted PWM signal that is configured with object 2038h 05h and 06h Example The encoder signal 6063h is to be applied to output 1 with a frequency divider 4 The output is to be controlled with ...

Page 87: ...tion 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 switched to 203Bh 4h CalcValue specifies the calculated value that is compared with the threshold for setting the current 203Bh 5h LimitedCurrent shows the momentary current value that was set by I ...

Page 88: ...ire 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 Parameters related to external interfaces such as PDO configuration etc Application Parameters related to operating modes User Parameters that are written and read by the customer user only and are ign...

Page 89: ...n 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 Clockwise Counter Clockwise Mode 2084h Bootup Delay 2300h NanoJ Control 2410h NanoJ Init Parameters 2800h Bootloader And Reboot Settings 3210h Motor Drive Parameter Set 3212h Motor Drive Flags 3221h ...

Page 90: ...eration 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 Homing Method 6099h Homing Speed 609Ah Homing Acceleration 60A2h Jerk Factor 60A4h Profile Jerk 60A8h SI Unit Position 60A9h SI Unit Velocity 60B0h Position Offset 60B1h Velocity Offset 60B2h Torque ...

Page 91: ...e 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 undefined Always wait until the controller has signaled that the save process has been successfully completed with the value 1 in the corresponding subindex in object 1010h There is a subindex in obj...

Page 92: ...figuration 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 with a date and time and then saved together with all other savable objects with 1010h 01 The entries of 1020h are reset to 0 as soon as a savable object including 1010h 0x h except for 1010h 01h and ...

Page 93: ...n 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 definition Date 03 01 2013 Version 1 0 3 ETG 1000 6 Application layer protocol specification Date 03 01 2013 Version 1 0 3 ETG 1300 Indicator and Labeling specification Date 11 11 2014 Version 1 1 0 ...

Page 94: ...g 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 of computing time is available to the user program depending on operating mode and application In this time the user program must run through the cycle and either complete the cycle or yield the compu...

Page 95: ...nipulate these variables as regular C variables At the end of the time slot the new values are then automatically copied by the firmware back to the respective OD entries To optimize the performance three types of mapping are defined input output and input output In Out InOut Input mappings can only be read they are not transferred back to the object dictionary Output mappings can only be written ...

Page 96: ...In 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 writing object 2300h bit 0 1 Note It can take up to 200 ms for the NanoJ program to start Check entry 2302h for error code and object 2301h bit 0 1 To stop a running program write entry 2300h with bit ...

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 main cpp map S32 outputReg1 as inout 0x2500 1 include wrapper h user program void user U16 counter 0 while 1 counter if counter 100 InOut outputReg1 0 else if counter 200 InOut outputReg1 1 else coun...

Page 98: ...a 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 declared as an input output or inout This defines whether a variable is readable input writable output or both inout and the structure by means of which it must be addressed in the program INDEX SUBINDEX I...

Page 99: ...execution is only possible in the protected area of the sandbox this is implemented via so called Cortex Supervisor Calls Svc Calls An interrupt is triggered when the function is called The firmware thus has the possibility of temporarily allowing code execution outside of the sandbox Developers of user programs do not need to worry about this mechanism for them the system calls can be called up l...

Page 100: ...ated with a yield Example while od_read 2400 2 0 wait until 2400 2 is set yield 9 3 2 Process control void yield This function returns the processor time to the operating system In the next time slot the program continues at the location after the call void sleep U32 ms This function returns the processor time to the operating system for the specified number of milliseconds The user program is the...

Page 101: ...ue description Description Here more exact information on the individual bits of an entry is provided or any compositions explained A more exact description can be found in section Description 10 3 Object description The object description consists of a table that contains the following entries Index Designates the object index in hexadecimal notation Object name The name of the object Object Code...

Page 102: ...LE data type Access The access restriction is entered here The following restrictions are available read write The object can both be read as well as written read only The object can only be read from the object dictionary It is not possible to set a value PDO mapping Some bus systems such as CANopen or EtherCAT support PDO mapping Described in this table entry is whether the object can be inserte...

Page 103: ...d 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 mapping Allowed values In some cases only certain values may be written in the sub entry If this is the case these values are listed here If there are no restrictions the field is empty Preset value...

Page 104: ...Description of bit A bits with a gray background are not used 1000h Device Type Function Describes the controller type Object description Index 1000h Object name Device Type Object Code VARIABLE Data type UNSIGNED32 Savable no Access read only PDO mapping no Allowed values Preset value PD4 E591L42 M 65 1 00040192h PD4 E601L42 M 65 1 00040192h PD4 EB59CD M 65 1 00020192h Firmware version FIR v1426 ...

Page 105: ...ase 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 PDO mapping TX PDO Allowed values Preset value 00h Firmware version FIR v1426 Change history Description PROF 7 6 5 4 3 2 1 0 COM MAN RES CUR GEN TEMP VOL GEN General error CUR Current VOL Voltage TE...

Page 106: ...fined 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 PDO mapping no Allowed values Preset value 00h Subindex 01h Name Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Subindex 02h Name Stan...

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

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 Input voltage too high 2 Output current too high 3 Input voltage too low 4 Error at fieldbus 5 Motor turns in spite of active block in the wrong direction 6 CANopen only NMT master takes too long to sen...

Page 109: ...cal 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 undervoltage at controller input 4200h Temperature error within the controller 6010h Software reset watchdog 6100h Internal software error generic 6320h Rated current must be set 203Bh 01h 7121h Mot...

Page 110: ...ta 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 65 1 Firmware version FIR v1426 Change history 1009h Manufacturer Hardware Version Function This object contains the hardware version as character string Object description Index 1009h Object name Ma...

Page 111: ...tart 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 Allowed values Preset value Firmware version FIR v1426 Change history Firmware version FIR v1436 Object name entry changed from Store Parameter to Store Parameters Firmware version FIR v1436 The number of...

Page 112: ...ues 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 03h Name Save Application Parameters To Non volatile Memory Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000001h Subindex 04h Name Save Customer Parameters To Non...

Page 113: ...ellaneous 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 volatile Memory Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 09h Name Save Reserved2 Configurations To Non volatile Memory Data type UNSIGNED32 Acces...

Page 114: ...lowed 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 memory category can be saved To start the save process of a memory category value 65766173h must be written in the corresponding subindex This corresponds to the decimal of 1702257011d or the ASCII str...

Page 115: ...om 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 The Application Default Parameters to Restore Application Default Parameters Firmware version FIR v1540 The number of entries was changed from 5 to 7 Firmware version FIR v1738 B501312 The number of e...

Page 116: ...set 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 Default Parameters Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000001h Subindex 06h Name Restore Tuning Default Parameters Data type UNSIGNED32 Access read write ...

Page 117: ...a 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 PDO mapping no Allowed values Preset value 00000001h Subindex 0Bh Name Restore Modbus RTU Configurations To Non volatile Memory Data type UNSIGNED32 Access read write PDO mapping no Allowed values Pre...

Page 118: ...t 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 manufacturer product code revision and serial number Tip Have these values ready in the event of service inquiries Object description Index 1018h Object name Identity Object Object Code RECORD Data type ...

Page 119: ...Revision 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 values Preset value 00000000h 1020h Verify Configuration Function This object indicates the date and time that the configuration was stored A configuration tool or a master can use this object to veri...

Page 120: ...upported 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 Preset value 00000000h Subindex 02h Name Configuration Time Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Description Subindex 01h configuration date is to...

Page 121: ...eading 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 description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 04h Subindex 01h Name 1st Object To Be Mapped Data type UNSIG...

Page 122: ...es 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 Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name 7th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed va...

Page 123: ...contains 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 PDO 2 Object description Index 1601h Object name Receive PDO 2 Mapping Parameter Object Code RECORD Data type PDO_MAPPING Savable yes category communication Firmware version FIR v1426 Change history Fi...

Page 124: ...NSIGNED32 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 value 00000000h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type...

Page 125: ...alue 00000000h Description Each subindex 1 8 describes a different mapped object A mapping entry consists of four bytes which are structured according to the following graphic 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Index 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SubIndex 8 Length 8 Index 16 This contains the index of the object to be mapped Subindex 8 This contains the subindex of the obje...

Page 126: ...t 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 Allowed values Preset value 01h Subindex 01h Name 1st Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 60420010h Subindex 02h Name 2nd Object To Be Mapp...

Page 127: ...ED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name 7th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 08h Name 8th Object To Be Mapped Data type UNSI...

Page 128: ...ading 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 description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 01h Subindex 01h Name 1st Object To Be Mapped Data type UNSI...

Page 129: ...es Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name 7th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed va...

Page 130: ...Firmware 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 changed from Drive Status to Transmit PDO 1 Mapping Parameter Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowed values Pres...

Page 131: ...o Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name 7th Object...

Page 132: ...ct 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 Function This object contains the mapping parameters for PDOs that the controller can send TX PDO 2 Object description Index 1A01h Object name Transmit PDO 2 Mapping Parameter Object Code RECORD Data ty...

Page 133: ...rite 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 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read...

Page 134: ...O mapping no Allowed values Preset value 00000000h Subindex 08h Name 8th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Description Each subindex 1 8 describes a different mapped object A mapping entry consists of four bytes which are structured according to the following graphic 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Index ...

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 Velocity Status to Transmit PDO 3 Mapping Parameter Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 0...

Page 136: ...ED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h Name 7th Object To Be Mapped Data type UNSI...

Page 137: ...dex 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 contains the mapping parameters for PDOs that the controller can send TX PDO 4 Object description Index 1A03h Object name Transmit PDO 4 Mapping Parameter Object Code RECORD Data type PDO_MAPPING Savabl...

Page 138: ...0FD0020h 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 UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 33200220h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value...

Page 139: ...Object To Be Mapped Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Description Each subindex 1 8 describes a different mapped object A mapping entry consists of four bytes which are structured according to the following graphic 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Index 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SubIndex 8 Length 8 Index 16 Thi...

Page 140: ...The 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 Subindex 01h Name Sync Manager Communication Type Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 01h Subindex 02h Name Sync Manager Communication Type Data type UNSIGNED8 Ac...

Page 141: ...ocess 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 Manager PDO Assignment Object Code ARRAY Data type UNSIGNED16 Savable yes category communication Firmware version FIR v1426 Change history The number of entries was changed from 2 to 5 Firmware version ...

Page 142: ...alue 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 write PDO mapping no Allowed values Preset value 0000h Subindex 03h Name PDO Mapping Index Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset value 0000h Subindex 04h Name P...

Page 143: ...R 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 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 Value description Subindex ...

Page 144: ...hronization 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 Data type SYNCMGR_SYNCHRONIZATION Savable no Firmware version FIR v1426 Change history Firmware version FIR v1626 Savable entry changed from no to yes category communication Firmware version FIR v1650...

Page 145: ...nchronization 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 values Preset value 00000000h Subindex 03h Name Shift Time Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h 1C33h Input Sync Manager Synchronization Function Loca...

Page 146: ...try 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 Access table entry for subindex 03 changed from read write to read only Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed value...

Page 147: ...mory area Object description Index 1F50h Object name Program Data Object Code ARRAY Data type DOMAIN Savable no Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 03h Subindex 01h Name Program Data Bootloa...

Page 148: ...Control Function This object is used to control the programming of memory areas of the controller Each entry stands for a certain memory area Object description Index 1F51h Object name Program Control Object Code ARRAY Data type UNSIGNED8 Savable no Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub ...

Page 149: ...ubindex 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 status during the programming of memory areas of the controller Each entry stands for a certain memory area Object description Index 1F57h Object name Program Status Object Code ARRAY Data type UNSIGNED32...

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 Program Status DataFlash Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h 2030h Pole Pair Count Function Contains the number of pole pairs of the connected ...

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 Object Code VARIABLE Data type UNSIGNED32 Savable yes category tuning Access read write PDO mapping no Allowed values Preset value PD4 E591L42 M 65 1 00000834h PD4 E601L42 M 65 1 00000834h PD4 EB59CD M 65...

Page 152: ...t 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 description Index 2035h Object name Lower Voltage Warning Level Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping no Allowed values Preset value 0000271...

Page 153: ...ory 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 3202h 1 and the motor is at a standstill Object description Index 2037h Object name Open Loop Current Reduction Value factor Object Code VARIABLE Data type INTEGER32 Savable yes category application Acc...

Page 154: ...A 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 This object contains the times for the brake control in milliseconds as well as the PWM frequency and the duty cycle Object description Index 2038h Object name Brake Controller Timing Object Code ARRAY ...

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 Subindex 05h Name PWM Frequency Data type UNSIGNED32 Access read write PDO mapping no Allowed values between 0 and 2000 7D0h Preset value 00000000h Subindex 06h Name PWM Duty Cycle Data type UNSIGNED32 A...

Page 156: ...n 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 history Firmware version FIR v1504 PDO mapping table entry for subindex 01 changed from no to TX PDO Firmware version FIR v1504 PDO mapping table entry for subindex 02 changed from no to TX PDO Firmware...

Page 157: ...s 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 Motor currents I_d subindex 01h and I_q subindex 02h are only displayed if closed loop was activated the value 0 is otherwise output 203Ah Homing On Block Configuration Function This object contains...

Page 158: ...SIGNED32 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 version FIR v1614 Data Type entry changed from UNSIGNED32 to INTEGER32 Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Pr...

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 closed loop mode If I 2 t is activated in open loop mode the current is reduced to the smaller of 203Bh and 2031h Object description Index 203Bh Object name I2t Parameters Object Code ARRAY Data type U...

Page 160: ...m 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 Subindex 03h Name Threshold Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 04h Name CalcValue Data type UNSIGNED32 Access read write PDO mapping no All...

Page 161: ...onitoring is not activated The specified value is interpreted as root mean square 02h Specifies the maximum duration of the peak current in ms 03h Threshold specifies the limit in mA that determines whether the maximum current or rated current is switched to 04h CalcValue specifies the calculated value that is compared with the threshold for setting the current 05h LimitedCurrent contains the mome...

Page 162: ...en 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 Preset value 0000h Firmware version FIR v1540 Change history Firmware version FIR v1614 Savable entry changed from no to yes category application Firmware version FIR v1738 B501312 Object Name entry c...

Page 163: ...object 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 band is necessary for example to complete homing operations in which limit switches can be actuated error free Object description Index 2056h Object name Limit Switch Tolerance Band Object Code VARIA...

Page 164: ...is 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 Allowed values Preset value 00000001h Firmware version FIR v1426 Change history 2059h Encoder Configuration Function This object can be used to switch the supply voltage and the type of encoder Object desc...

Page 165: ...unction 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 Units Object Code VARIABLE Data type INTEGER32 Savable no Access read only PDO mapping no Allowed values Preset value 00000000h Firmware version FIR v1446 Change history Firmware version FIR v1512 Acce...

Page 166: ...ead 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 to the controller and the functional readiness of the controller in milliseconds Object description Index 2084h Object name Bootup Delay Object Code VARIABLE Data type UNSIGNED32 Savable yes category ...

Page 167: ...ent the physical interface bits 16 to 31 the used protocol if necessary 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 MTCP MRTU E IP 15 14 13 12 11 10 9 8 E CAT 7 6 5 4 3 2 1 0 E NET SPI RS485 USB CAN RS232 USB Value 1 The USB fieldbus is available RS 485 Value 1 An RS 485 interface is available RS 232 Value 1 An RS 232 interface is available CAN Value 1 The CANopen fieldbus is available E NET V...

Page 168: ...rsion FIR v1540 Change history Firmware version FIR v1626 Savable entry changed from yes category application to yes category communication Description Object 2103h 1h contains all physical interfaces protocols that can be activated deactivated These can be switched in this object 2102h The current status of the activated fieldbuses is in object 2103h 2h The following distribution of the bits appl...

Page 169: ...scription Index 2103h Object name Fieldbus Module Status Object Code ARRAY Data type UNSIGNED32 Savable no Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Fieldbus Module Disable M...

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 following distribution of the bits applies for subindices 1 and 2 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 MTCP MRTU E IP 15 14 13 12 11 10 9 8 E CAT 7 6 5 4 3 2 1 0 E NET SPI RS485 USB CAN RS2...

Page 171: ...ue 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 Value 01h Bus status INIT Value 02h Bus status PREOPERATIONAL Value 03h Bus status BOOT Value 04h Bus status SAFEOPERATIONAL Value 08h Bus status OPERATIONAL ERR Value 1 An error is active DC mode Value ...

Page 172: ...ntrol 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 bit 0 the program is first reloaded and the variable range reset Note Startup of the NanoJ program can take up to 200 ms 2301h NanoJ Status Function Indicates the operating state of the user program...

Page 173: ...RES 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 Object description Index 2302h Object name NanoJ Error Code Object Code VARIABLE Data type UNSIGNED32 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 00000000h Firmware ve...

Page 174: ...pped 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 program Number Description 10002h Internal file system error 10003h Storage medium not ready 10004h File not found 10005h Folder not found 10006h Invalid file name folder name 10008h Access of file ...

Page 175: ...ut 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 value Firmware version FIR v1650 B472161 Change history Firmware version FIR v1436 Object Name entry changed from VMM Input Data Selection to NanoJ Input Data Selection Firmware version FIR v1650 B4721...

Page 176: ...ich are structured according to the following graphic 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Index 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SubIndex 8 Length 8 Index 16 This contains the index of the object 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 2320h NanoJ Output Data Sele...

Page 177: ...re version FIR v1650 B472161 Access table entry for subindex 01 changed from read write to read only Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 10h Subindex 01h 10h Name Mapping 1 16 Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Description Each subindex...

Page 178: ...ess 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 NanoJ In output Data Selection Firmware version FIR v1650 B472161 Savable entry changed from yes category application to no Firmware version FIR v1650 B472161 Access table entry for subindex 00 changed ...

Page 179: ...to 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 firmware and serves only for communicating with the user program via the fieldbus Object description Index 2400h Object name NanoJ Inputs Object Code ARRAY Data type INTEGER32 Savable no Firmware ve...

Page 180: ...nit 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 ARRAY Data type INTEGER32 Savable yes category application Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1450 Change history Firmware version FIR v1450 Data Type ...

Page 181: ...th the user program via the fieldbus Object description Index 2500h Object name NanoJ Outputs Object Code ARRAY Data type INTEGER32 Savable no Firmware version FIR v1426 Change history Firmware version FIR v1436 Object Name entry changed from VMM Outputs to NanoJ Outputs Firmware version FIR v1436 Name entry changed from VMM Output N to NanoJ Output N Value description Subindex 00h Name Highest Su...

Page 182: ...tion Index 2600h Object name NanoJ Debug Output Object Code ARRAY Data type UNSIGNED8 Savable no Firmware version FIR v1426 Change history Firmware version FIR v1436 Object Name entry changed from VMM Debug Output to NanoJ Debug Output Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h Subindex 01h 40...

Page 183: ...ble yes category customer Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Firmware version FIR v1540 Data Type entry changed from UNSIGNED32 to UNSIGNED8 Firmware version FIR v1748 B538662 entry Savable changed from yes category user to yes category customer Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Acc...

Page 184: ...NED32 Savable yes category application Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 03h Subindex 01h Name Reboot Command Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset va...

Page 185: ...Drive Submode Select Function Controls the controller mode such as the changeover between closed loop open loop and whether Velocity Mode is simulated via the S controller or functions with a real V controller in closed loop Object description Index 3202h Object name Motor Drive Submode Select Object Code VARIABLE Data type UNSIGNED32 Savable yes category drive Access read write PDO mapping RX PDO...

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 speed limiting thus object 6080h is ignored 3210h 3 and 3210h 4 have no effect on the control BLDC Value 1 Motor type BLDC brushless DC motor 3203h Feedback Selection Function In this object the sources ...

Page 187: ...mapping 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 Feedback Interface Data type UNSIGNED8 Access read write PDO mapping RX PDO Allowed values Preset value 00h Subindex 03h Name 3rd Feedback Interface Data type UNSIGNED8 Access read write PDO mapping RX...

Page 188: ...have 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 bit 2 commutation then has no meaning Bit 1 for the speed and bit 0 for the position in the respective subindicies are still used for the display of the actual position and speed values 3204h Feedbac...

Page 189: ...reset 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 configuration of the corresponding feedback Subindex 01h always corresponds to the first and always existing sensorless feedback 3210h Motor Drive Parameter Set Function Contains the P and I componen...

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 version FIR v1626 Name entry changed from I_I to Torque Current Loop Integral Gain dspDrive Stepper Motor open loop Firmware version FIR v1650 B472161 Name entry changed from Torque Current Loop Proport...

Page 191: ...tegral 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 UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value PD4 E591L42 M 65 1 00004E20h PD4 E601L42 M 65 1 00001B58h PD4 EB59CD M 65 1 0000EA60h Subindex 04h Name Velocity Loop Integral Gain ...

Page 192: ...1L42 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 PDO Allowed values Preset value PD4 E591L42 M 65 1 0007A120h PD4 E601L42 M 65 1 000668A0h PD4 EB59CD M 65 1 000061A8h Subindex 08h Name Torque Current Loop Integral Gain closed Loop Data type UNSIGNE...

Page 193: ...ccess 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 Preset value 00000000h Description Subindex 00h Number of entries Subindex 01h Proportional component of the S controller position Subindex 02h Integral component of the S controller position Subindex 0...

Page 194: ...uring 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 be changed Note Changes in subindex 02h do not take effect until after the controller is restarted Afterwards Auto setup must again be performed Object description Index 3212h Object name Motor Drive ...

Page 195: ...x 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 values for subindex 03h Value 0 Auto setup detects the motor type stepper motor or BLDC motor and uses the corresponding pre configured parameter set Value 1 Perform auto setup with the values for the ...

Page 196: ...IGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Analogue Input 1 Data type INTEGER16 Access read only PDO mapping TX PDO Allowed values Preset value 0000h Subindex 02h Name Analogue Input 2 Data type INTEGER16 Access read only PDO mapping TX PDO Allowed values Preset value 0000h Description Formulas for converting from digits to the respective unit Voltage ...

Page 197: ...hange history Description 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 AC2 AC1 In general If a bit is set to the value 0 the analog input measures the voltage if the bit is set to the value 1 the current is measured AC1 Setting for analog input 1 AC2 Setting for analog input 2 3240h Digital Inputs Control Function With this object digital inputs can be mani...

Page 198: ...D8 Access read only PDO mapping no Allowed values Preset value 08h Subindex 01h Name Special Function Enable Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 02h Name Function Inverted Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 03h Name Force Enable Data type UNSIGNED32 Access read...

Page 199: ...write 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 Description The subindices have the following function 3240h 01h Special Function Enable This bit allows special functions of an input to be switched off value 0 or on value 1 If input 1 is not used as e g a ...

Page 200: ...it 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 threshold of 24 V bit is 1 Bit 0 corresponds to input 1 here bit 1 to input 2 etc 3240h 07h Differential Select With the inputs this subindex switches between single ended input value 0 in the subindex and d...

Page 201: ...DO 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 Access read write PDO mapping TX PDO Allowed values Preset value 00000000h Subindex 02h Name Capture Count Data type UNSIGNED32 Access read write PDO mapping TX PDO Allowed values Preset value 00000...

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 determines the source of the input routing that ends in 60FDh Object description Index 3242h Object name Digital Input Routing Object Code ARRAY Data type UNSIGNED8 Savable yes category application Ac...

Page 203: ...2 03 03 Physical input 3 04 04 Physical input 4 05 05 Physical input 5 06 06 Physical input 6 07 07 Physical input 7 08 08 Physical 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 16 10 Physical input 16 128 80 Signal is always 1 129 81 Inverted physical input 1 130 82 Inv...

Page 204: ...input 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 PDO mapping no Allowed values Preset value Firmware version FIR v1738 B501312 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO ma...

Page 205: ...type 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 function was started is reset to 0 if subindex 01h is 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 chan...

Page 206: ...changed 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 UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 08h Subindex 01h Name No Function Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h S...

Page 207: ...ame 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 Allowed values Preset value 00000000h Subindex 07h Name Reserved2 Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 08h Name Routing Enable Data type...

Page 208: ...e 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 output this signal source can be controlled with 60FEh Object description Index 3252h Object name Digital Output Routing Object Code ARRAY Data type UNSIGNED16 Savable yes category application Access read...

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 values Preset value 0092h Subindex 05h Name Output Control 5 Data type UNSIGNED16 Access read write PDO mapping TX PDO Allowed values Preset value 0093h 3320h Read Analogue Input Function Displays the ins...

Page 210: ...EGER32 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 00000000h Description The user defined units are made up of offset 3321h and pre scaling value 3322h If both object entries are still set to the default values the value in 3320h is specified in the A...

Page 211: ...gue 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 UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Analogue Input 1 Data type INTEGER32 Access read write PDO mapping no Allowed values Preset value 00000000...

Page 212: ...ing 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 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Analogue Input 1 Data type INTEGER32 Access read write PDO mapping no Allowed values All values permitted except 0 Pres...

Page 213: ...up 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 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 Preset va...

Page 214: ...encoder 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 Contains configuration values for the multi turn absolute encoder The values are determined by the Auto setup Object description Index 33B4h Object name SSI Encoder Multi Turn Object Code RECORD Data t...

Page 215: ...ad 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 Name Multi Turn Resolution Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset value 0012h Subindex 05h Name Alignment Data type UNSIGNED16 Access read write PDO mapping no All...

Page 216: ...ion 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 a homing operation has been concluded The object is savable Tuning category 3700h Deviation Error Option Code Function The object contains the action that is to be executed if a following or slippag...

Page 217: ...tains 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 value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 01h Subin...

Page 218: ...ame HW Configuration Object Code ARRAY Data type UNSIGNED32 Savable yes category application Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 01h Subindex 01h Name HW Configuration 1 Data type UNSIGNED32...

Page 219: ...y Firmware version FIR v1650 B472161 Access table entry for subindex 02 changed from read write to read only Firmware version FIR v1650 B472161 Name entry changed from Temperature PCB d C to Temperature PCB Celsius 10 Firmware version FIR v1650 B472161 Access table entry for subindex 03 changed from read write to read only Firmware version FIR v1738 B501312 The number of entries was changed from 4...

Page 220: ...00000000h 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 Celsius 10 Data type INTEGER32 Access read only PDO mapping TX PDO Allowed values Preset value 00000000h Description The subindices contain 01h Current voltage supply voltage in mV 02h Current logic...

Page 221: ...application Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1738 B501312 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Special Drive Mode Configuration Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset valu...

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 value Firmware version FIR v1738 B501312 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset valu...

Page 223: ...040h 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 4041h Device Id Function This object contains the ID of the device Object description Index 4041h Object name Device Id Object Code VARIABLE Data type OCTET_STRING Savable no Access read only PDO mappin...

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 This object controls the CiA 402 Power State Machine Object description Index 6040h Object name Controlword Object Code VARIABLE Data type UNSIGNED16 Savable yes category application Access read writ...

Page 225: ...es 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 following modes Profile Position Velocity Profile Velocity Profile Torque Interpolated Position Mode 6041h Statusword Function This object returns information about the status of the CiA 402 Power State...

Page 226: ...ntroller 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 the fieldbus value 0 Controller is not in sync with the fieldbus REM Remote Remote value of the bit is always 1 TARG Target reached ILA Internal Limit Active Limit exceeded OMS Operation Mode Specif...

Page 227: ...Object 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 version FIR v1626 Savable entry changed from no to yes category application 6043h Vl Velocity Demand Function Speed specification in user defined units for the controller in Velocity mode Object descripti...

Page 228: ...eset 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 description Index 6046h Object name Vl Velocity Min Max Amount Object Code ARRAY Data type UNSIGNED32 Savable yes category application Firmware version FIR v1426 Change history Value description Subindex...

Page 229: ...inimum 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 Internal Limit Reached in 6041h Statuswordh is set 6048h Vl Velocity Acceleration Function Sets the acceleration ramp in Velocity Mode see Velocity Object description Index 6048h Object name Vl Velocity Acc...

Page 230: ...et 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 in time 6049h Vl Velocity Deceleration Function Sets the deceleration deceleration ramp in Velocity Mode see Velocity Object description Index 6049h Object name Vl Velocity Deceleration Object Code RE...

Page 231: ...ype 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 Subindex 01h Contains the change in speed Subindex 02h Contains the change in time 604Ah Vl Velocity Quick Stop Function This object defines the deceleration deceleration ramp if the Quick Stop state is i...

Page 232: ...ED32 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 Description The deceleration 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 in time 604Ch V...

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 PDO mapping RX PDO Allowed values Preset value 00000001h Description Subindex 1 contains the numerator multiplier and subindex 2 contains the denominator divisor with which the internal speed values ...

Page 234: ...ue 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 with quick stop ramp and subsequent state change to Switch on disabled 3 32767 Reserved 605Bh Shutdown Option Code Function This object contains the action that is to be executed on a transition of the ...

Page 235: ...hat 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 Code VARIABLE Data type INTEGER16 Savable yes category application Access read write PDO mapping no Allowed values Preset value 0001h Firmware version FIR v1426 Change history Description Value Descr...

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 deceleration ramp depending on operating mode 3 32767 Reserved 605Eh Fault Option Code Function The object contains the action specifying how the motor is to be brought to a standstill in case of an error...

Page 237: ...n 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 write PDO mapping RX PDO Allowed values Preset value 00h Firmware version FIR v1426 Change history Firmware version FIR v1626 Savable entry changed from no to yes category application Description Mo...

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 Change history 6062h Position Demand Value Function Indicates the current demand position in user defined units Object description Index 6062h Object name Position Demand Value Object Code VARIABLE Data...

Page 239: ...n 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 FIR v1426 Change history 6064h Position Actual Value Function Contains the current actual position in user defined units Object description Index 6064h Object name Position Actual Value Object Code VA...

Page 240: ...eviates 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 Following Error Window is set to FFFFFFFF h following error monitoring is switched off A reaction to the following error can be set in object 3700h If a reaction is defined an error is also entered in objec...

Page 241: ...ed 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 values Preset value 0000000Ah Firmware version FIR v1426 Change history Firmware version FIR v1504 Savable entry changed from no to yes category application Description If the current position deviates fr...

Page 242: ...tion 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 specification in user defined units for the controller in Profile Velocity Mode Object description Index 606Bh Object name Velocity Demand Value Object Code VARIABLE Data type INTEGER32 Savable no Acces...

Page 243: ...ich 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 application Access read write PDO mapping RX PDO Allowed values Preset value 001Eh Firmware version FIR v1426 Change history Firmware version FIR v1614 Savable entry changed from no to yes category applic...

Page 244: ...y 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 must be satisfied for longer than the time defined in object 6066 see also statusword in Profile Velocity Mode 6071h Target Torque Function This object contains the target torque for the Profile Tor...

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 Allowed values Preset value 0000h Firmware version FIR v1426 Change history Description This object is calculated as thousandths of the torque e g the value 500 means 50 of the rated torque 1100 is equival...

Page 246: ...urrent 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 percent of the nominal torque for the internal controller Object description Index 6077h Object name Torque Actual Value Object Code VARIABLE Data type INTEGER16 Savable no Access read only PDO mapp...

Page 247: ...plication 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 application 607Bh Position Range Limit Function Contains the minimum and maximum position in user defined units Object description Index 607Bh Object name Position Range Limit Object Code ARRAY Data t...

Page 248: ...ge is exceeded or not reached an overflow occurs To prevent this overflow limit values for the target position can be set in object 607Dh Software Position Limit 607Ch Home Offset Function Specifies the difference between the zero position of the controller and the reference point of the machine in user defined units Object description Index 607Ch Object name Home Offset Object Code VARIABLE Data ...

Page 249: ...history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Min Position Limit Data type INTEGER32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 02h Name Max Position Limit Data type INTEGER32 Access read write PDO mapping RX PDO Allowed values Pre...

Page 250: ...r 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 rotation is as described in the respective mode POS VEL 7 6 5 4 3 2 1 0 VEL Velocity Direction of rotation reversal in the following modes Profile Velocity Mode Cyclic Synchronous Velocity Mode Velocity Mo...

Page 251: ...ile 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 Firmware version FIR v1738 B501312 Access table entry for subindex 00 changed from read only to read write Firmware version FIR v1738 B501312 PDO mapping table entry for subindex 00 changed from TX PDO to R...

Page 252: ...ion 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 Access read write PDO mapping RX PDO Allowed values Preset value 000001F4h Firmware version FIR v1426 Change history 6082h End Velocity Function Specifies the speed at the end of the traveled ramp in user...

Page 253: ...ues 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 Index 6084h Object name Profile Deceleration Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 000001F4h Firmwa...

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 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 0000h Firmware version FIR v1426 Change history Description Value 0 Trapezoidal ramp Value 3 Ramp with limi...

Page 255: ...031h 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 Resolution Object Code ARRAY Data type UNSIGNED32 Savable yes category tuning Firmware version FIR v1426 Change history Firmware version FIR v1738 B501312 Savable entry changed from yes category applicat...

Page 256: ...ription 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 used for speed control Object description Index 6090h Object name Velocity Encoder Resolution Object Code ARRAY Data type UNSIGNED32 Savable yes category tuning Access read only PDO mapping no Allowed ...

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 output shaft revolution Object description Index 6091h Object name Gear Ratio Object Code ARRAY Data type UNSIGNED32 Savable yes category application Firmware version FIR v1426 Change history Firmwar...

Page 258: ...value 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 Shaft Revolutions 6091h 02h 6092h Feed Constant Function Feed in the case of a linear drive in user defined units per output shaft revolutions Object description Index 6092h Object name Feed Constant O...

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 Velocity Factor Function This object contains the factor that is used for converting from user defined speed units See chapter User defined units Object description Index 6096h Object name Velocity Fac...

Page 260: ...2 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 Description The subindices have the following functions 01h Numerator of the factor 02h Denominator of the factor 6097h Acceleration Factor Function This object contains the factor that is used for con...

Page 261: ...dex 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 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 Description The subindices ha...

Page 262: ...Allowed values Preset value 23h Firmware version FIR v1426 Change history 6099h Homing Speed Function Specifies the speeds for Homing Mode 6098h in user defined units Object description Index 6099h Object name Homing Speed Object Code ARRAY Data type UNSIGNED32 Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported...

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 overlooked The speed in subindex 2 should therefore be less than 1000 steps per second The speed in subindex 1 must be greater than the speed in subindex 2 609Ah Homing Acceleration Function Specifies t...

Page 264: ...ined 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 Firmware version FIR v1738 B501312 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subi...

Page 265: ...d Object description Index 60A4h Object name Profile Jerk Object Code ARRAY Data type UNSIGNED32 Savable yes category application Firmware version FIR v1426 Change history Firmware version FIR v1614 Name entry changed from End Acceleration Jerk to Begin Deceleration Jerk Firmware version FIR v1614 Name entry changed from Begin Deceleration Jerk to End Acceleration Jerk Value description Subindex 0...

Page 266: ...ation Jerk Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 000003E8h Description Subindex 01h Begin Acceleration Jerk Initial jerk during acceleration Subindex 02h Begin Deceleration Jerk Initial jerk during braking Subindex 03h End Acceleration Jerk Final jerk during acceleration Subindex 04h End Deceleration Jerk Final jerk during braking 60A8h SI Unit Position ...

Page 267: ...1 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 name SI Unit Velocity Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping no Allowed values Preset value 00B44700h Firmware version FIR v1738 B5013...

Page 268: ...ABLE 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 Offset Function Offset for the speed set value in user defined units Is taken into account in the Cyclic Synchronous Position Cyclic Synchronous Velocity and Clock direction mode modes Object descriptio...

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 interpolation algorithm for the Interpolated Position operating mode Object description Index 60C1h Object name Interpolation Data Record Object Code ARRAY Data type INTEGER32 Savable yes category application Ac...

Page 270: ...chronization 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 INTERPOLATION_TIME_PERIOD Savable yes category application Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1426 Change history Value description Subindex 00h Name Hi...

Page 271: ...le 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 interpolated data and offers objects for defining the size of the record and for deleting the buffer It is also used to store the position of other data points Object description Index 60C4h Object name...

Page 272: ...scription 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 Access read only PDO mapping no Allowed values Preset value 00000001h Subindex 02h Name ActualBufferSize Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000001h Subind...

Page 273: ...bindex 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 value of subindex 05h is specified in units of byte If the value 00h is written in subindex 06h it deletes the received data in the buffer deactivates access and deletes all interpolated records If the ...

Page 274: ...eleration 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 60E4h Additional Position Actual Value Function Contains the current actual position of all existing feedbacks in user defined units Object description Index 60E4h Object name Additional Position Ac...

Page 275: ...ction 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 always existing sensorless feedback 60E5h Additional Velocity Actual Value Function Contains the current actual speed of all existing feedbacks in user defined units Object description Index 60E5h Object...

Page 276: ...the 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 Additional Position Encoder Resolution Encoder Increments Function With this object and with 60EBh the resolution of each existing feedback is calculated Object description Index 60E6h Object name A...

Page 277: ...er 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 Increments Feedback Interface 3 Data type INTEGER32 Access read write PDO mapping RX PDO Allowed values Preset value 00001000h Description The subindices have the following function 00h Value 1 to n where ...

Page 278: ...s 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 Preset value 03h Subindex 01h 03h Name Additional Gear Ratio Motor Shaft Revolutions Feedback Interface 1 3 Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 000000...

Page 279: ...PDO 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 Allowed values Preset value 03h Subindex 01h 03h Name Additional Feed Constant Feed Feedback Interface 1 3 Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000...

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 Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping RX PDO Allowed values Preset value 03h Subindex 01h 03h Name Additional Position Encoder Resolution Motor Revolutions...

Page 281: ...ing 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 mapping RX PDO 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 mappi...

Page 282: ...bject 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 UNSIGNED32 Savable yes category application Access read only PDO mapping RX PDO Allowed values Preset value Firmware version FIR v1738 B501312 Change history Value description Subindex 00h Name Highest Su...

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 category application Description Only the following bits are supported at the present time RADO 2 MS RESERVED 3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 RRO 2 CIO 2 REL OPT 2 IP OPTION 4 REL OPT Relative ...

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 exceeded the preset is automatically transferred to the other end of the limit Only with this bit combination is a movement greater than the modulo value possible 0 1 Positioning only in negative dir...

Page 285: ...ble 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 much from the set speed that the value absolute value of this object is exceeded bit 13 in object 6041h is set The deviation must last longer than the time in object 203Fh If the value of 60F8h is set t...

Page 286: ...e 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 controller See also chapter Closed Loop Position control loop Control Effort 60FAh 60FCh Position Demand Internal Value Function Indicates the current demand position in increments Object description Index ...

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 switch PLS Positive Limit Switch Positive limit switch HS Home Switch Home switch IN n Input n Input n the number of used bits is dependent on the given controller 60FEh Digital Outputs Function With t...

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 20 19 18 17 16 OUT2 OUT1 OUT4 OUT3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 BRK BRK Brake Bit for the brake output if the controller supports this function OUT n Output No n Bit for the respective digita...

Page 289: ...ed 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 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 000003EFh Firmware version FIR v1426 Change history Description The set bit specifies whether the respective mode is supported ...

Page 290: ...ous 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 VISIBLE_STRING Savable no Access read only PDO mapping no Allowed values Preset value 0 Firmware version FIR v1426 Change history 6505h Http Drive Catalogue Address Function This object contains the manuf...

Page 291: ...bject 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 nanotec de Firmware version FIR v1426 Change history Version 1 0 1 FIR v1748 291 ...

Page 292: ...LITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LI...

Page 293: ...NCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 11 5 DHCP Copyright c 2005 Swedish Institute of Computer Science All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above co...

Page 294: ...e 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 names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission This software is provided by the Institute and contributors as is...

Page 295: ...E 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 SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY ...

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