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Rx PDO

d T

i i

Tx PDO

3.1.3

Process Data Communication

Process Data Communication (PDO Communication) commands and receives Process Data Objects (PDO) with

Master periodically. Data that will be delivered and received is already defined at the initial stage of

communication by PDO Mapping.

PDO communication is categorized as transmission PDO (following Tx PDO) delivers controller status information

and Receipt PDO (following Rx PDO) delivers command from master.

This communication can be used under Operational status of controller and Tx PDO is only available for Safe-

Operational.

Figure 3.2: EtherCAT PDO Communication

EtherCAT

Master

eCLD

EtherCAT

Summary of Contents for ECL E Series

Page 2: ...4 2 4 5 Encoder Connection Connector 25 2 4 6 Motor Connection Connector 25 2 4 7 Power Connection Connector 25 3 EtherCAT Communication 26 3 1 CAN application protocol over EtherCAT 27 3 1 1 Object Dictionary 27 3 1 2 Mailbox Communication 27 3 1 3 Process Data Communication 28 3 2 PDO Mapping Module 29 3 2 1 PDO Mapping 29 3 2 2 PDO Assign 29 3 2 3 Module 30 3 3 EtherCAT State Machine 31 3 4 Syn...

Page 3: ... Sequence 60 5 2 Setting 60 5 2 1 Installation 60 5 2 2 Wiring 60 5 2 3 Input Power 60 5 2 4 PDO Mapping 60 5 2 5 Set Communication Status 60 5 3 Operation 61 5 3 1 Drive Status Control 61 5 3 2 Set Mode 61 5 3 3 Set Operation 61 5 3 4 Movement Command 61 5 3 5 Check Statues 61 5 4 Drive Setting Adjustment 61 5 4 1 Change Rotation Direction 61 5 4 2 Change I O Signal Level 62 6 EtherCAT Object Dic...

Page 4: ...6 5 14 Object 6067h Position window 77 6 5 15 Object 606Ch Velocity actual value 77 6 5 16 Object 607Ah Target position 77 6 5 17 Object 607Ch Home oﬀset 78 6 5 18 Object 607Dh Software position limit 78 6 5 19 Object 607Eh Polarity 78 6 5 20 Object 607Fh Max profile velocity 79 6 5 21 Object 6081h Profile velocity 79 6 5 22 Object 6083h Profile acceleration 79 6 5 23 Object 6084h Profile decelera...

Page 5: ... resolution 88 6 6 5 Object 2006h Start speed 88 6 6 6 Object 2007h Run current 88 6 6 7 Object 2008h Boost current 89 6 6 8 Object 2009h Stop current 89 6 6 9 Object 200Ah Motor number 89 6 6 10 Object 200Ch Reference resolution 89 6 6 11 Object 200Dh Position control gain 89 6 6 12 Object 200Eh In position mode 89 6 6 13 Object 2010h Brake delay 90 6 6 14 Object 2011h Digital input levels 90 6 6...

Page 6: ...Introduction Before Operation 6 ...

Page 7: ...art of the equipment while it is in operation This product is sold as a motion control component to be installed in a complete system using good engineering practice Care must be taken to ensure that the product is installed and used in a safe manner according to local safety laws and regulations In particular the product must be positioned such that no part is accessible while power may be applie...

Page 8: ...Chapter 1 Product Specification 10 ...

Page 9: ...11 1 1 Part Numbering ...

Page 10: ......

Page 11: ...13 1 2 Product Dimension Figure 1 3 Dimensions ...

Page 12: ...ddress at Master 1 65535 Topology Line Tree Star When use Switch hub Support Protocol CoE CANopen application protocol over EtherCAT FoE File Access over EtherCAT Control Profile CiA 402 drive profile IEC61800 7 Supported Operation Mode Cyclic Synchronous Position Mode Profile Position Mode Homing Mode Processing Data Fixed PDO Mapping 1600h 1A00h Configurable PDO Mapping 1601h 1A01h Support Modul...

Page 13: ...ulse Resolution setting by Object Protection Function Over current Over Speed Step out Position Tracking Error Over load Over Temperature Over regenerated voltage Motor connect error En coder connect error Motor voltage error In Position error System error ROM error Input voltage error Position overflow error LED Display Power status In Position status Servo On status Alarm status I O Signal Input...

Page 14: ...Chapter 2 Installation 16 ...

Page 15: ...ould be 0 55 2 If temperature of the case is 50 radiate the outside to cool down 3 Do not install this product under direct rays or near magnetic or radioactiveobjects 4 If more than 2 drives are installed in a line keep the interval of atleast20mm or more vertically and 50mm or more horizontally over 50mm over 20mm ...

Page 16: ...2 2 System Configuration EtherCAT Cable Figure 2 1 System Configuration Diagram ...

Page 17: ...2 3 External Wiring Diagram ...

Page 18: ......

Page 19: ...e 2 5 EtherCAT ID ID Setting Change EtherCAT ID Configured Alias ID value by Rotary switch setting Right switch indicates tens and left switch indicates units Setting range is 0 99 ID Indication 7 Segment indicates Physical Address or EtherCAT ID EtherCAT configured Alias value Conditions forvalue indicationasbelow When Rotary Switch set all 0 7 Segment indicates EtherCAT Physical Address Value Be...

Page 20: ...n between controller and master It indicates 0 Once Master assigns each controllers physical address it indicates relevantvalue If Rotary switch set as not 0 but other value 7 Segment indicates relevant set value EtherCAT configured Alias ...

Page 21: ...mmunication status RUN LED ERROR LED positions at the front side of product and Link Activity LED individually positions at the top of right corner of EtherCAT ports Name Color Status Description RUN Green OFF INIT Status or Power OFF Blinking PRE OPERATIONAL Status Single Flash SAFE OPERATIONAL Status ON OPERATIONAL Status Flickering BOOTSTRAP Status ERROR Red OFF Non error status or Power OFF Bl...

Page 22: ...nto communication connection ECAT IN If there is next controller connect communication cable from ECAT OUT to next controller of ECAT IN EtherCAT Communication Cable Recommend to use communication cable Min CAT5e level above Above CAT5e Shield type SF FTP S FTP SF UTP Length Max 50m Distance between Nodes ...

Page 23: ... generates according to Servo ON OFF status and Alarm generation This output function can be only using under 200 mA DC24V of Brake current consumption Input Signal This product provides 7 points of Inputs Please individually prepare Power for Input circuit as DC 24V 10 Current consumption is around 5mA Circuit Output Signal This product provides 6 points of Outputs Please individually prepare Pow...

Page 24: ... Less than 30V of supplyvoltage Less than 15mA of current flow ...

Page 25: ...ection Connector Motor Connector Type of Connector Molex 5569 04A2 2 4 7 Power Connection Connector No Function 1 2 Input Voltage 24VDC 10 Input Voltage GND Table 2 5 Power Connection Connector Power Supply Connector Type of Connector Molex 5569 02A2 No Function 1 A 2 A 3 B 4 B 5 Z 6 Z 7 5VDC 8 5VDC GND 9 Frame GND 10 Frame GND No Function 1 A Phase 2 B Phase 3 A Phase 4 B Phase ...

Page 26: ...Chapter 3 EtherCAT Communication ...

Page 27: ... 26 ...

Page 28: ......

Page 29: ...ionary Object Dictionary is dictionary of Objects what product has 3 1 2 Mailbox Communication Master and Slave commands and receives Service Data Object SDO at Mailbox communication SDO Communication This communication method is the wayof message transfer and master delivers com mandand slaveresponses SDO Communication used for setting or confirmation of objects at Object Dictionary This communic...

Page 30: ...lready defined at the initial stage of communication by PDO Mapping PDO communication is categorized as transmission PDO following Tx PDO delivers controller status information and Receipt PDO following Rx PDO delivers command from master This communication can be used under Operational status of controller and Tx PDO is only available for Safe Operational Figure 3 2 EtherCAT PDO Communication Eth...

Page 31: ...f data that will be delivered and received are recorded at Mapping Table RxPDO Mapping RxPDO 1 Figure 3 3 PDO Mapping 3 2 2 PDO Assign PDO Assign is to set PDO Mapping Object will be assigned at SyncManager SyncManager PDO Assign Object PDO Mapping Object 1C12h is object to assign Rx PDO and can assign one object among Rx PDO Object 1600h or 1601h 1C13h is object to assign Tx PDO and can assign on...

Page 32: ... Set Name Rx PDO Assign Tx PDO Assign 119800h csp axis Axis only supports csp 1600h 1A00h 219800h Axis Normal dynamic select operation mode 1601h 1A01h csp axis is Module for Cyclic synchronous Position Mode Mode of operation is basically set as 8 and Synchronization selects DC Mode as a basic Axis Normal can freely select Mode PDO Mapping can be modified according to requirements ...

Page 33: ...tus of communication is not available at this stage PRE OP Available Non Available Non Available After initialization of communication enters into this stage Network setting is initialized Only mailbox communication is available at this stage SAFE OP Available Non Available Available Stage of Tx PDO communication is available OP Available Available Available All of communication is available BOOT ...

Page 34: ...unication SM Event is gener ated once controller receives EtherCAT Frame Once synchronization by SM Event each one of controller has few us range of jitter 3 4 3 DC Sync Event SynchronizedcontrollerrunsunderSyncInterruptisgeneratedaccordingtoDistributedClock following DC DC is synchronized time shared between Master and Slave With synchronized clock interrupt is gener ated underaccuratesynchroniza...

Page 35: ... with EtherCAT Master This file is described slave device information as XML format based on EtherCAT specifications With recording of XML file into EtherCAT Master Equipment through EtherCAT setting equipment easily implement PDO and SDO setting of Slavedevice Information XML file can be downloaded from product website of archives ...

Page 36: ...Chapter 4 CiA 402 Drive Profile ...

Page 37: ... 34 ...

Page 38: ......

Page 39: ...ce The drive function shall be enabled 5 Disable Operation command from control device The drive function shall be disabled Motor power shall be switched oﬀ 6 Shutdown command from control device 7 Quick Stop or Disable Voltage command from con trol device 8 Shutdown command from control device The drive function shall be disabled Motor power shall be switched oﬀ 9 Disable Voltage command from con...

Page 40: ...aiting at correspondent status Able to move to Operation Enabled status by Enable Operation command of Control word Status word of values per each status are as follows Status word Status xxxx xxxx x0xx 0000b Not ready to switch on xxxx xxxx x1xx 0000b Switch on disabled xxxx xxxx x01x 0001b Ready to switch on xxxx xxxx x011 0011b Switched on xxxx xxxx x011 0111b Operation enabled xxxx xxxx x00x 0...

Page 41: ...289 E 009 Motor Voltage Error Input voltage for motor is lower than limit value 0xFF0A 65290 E 010 In position Error After operation is finished position error over 1 generated more than 3 seconds 0xFF0E 65294 E 014 Input Voltage Error Input voltage is exceeds setting value 0xFF0F 65295 E 015 Position Overflow Error Position error value is higher than given value after completion of position movem...

Page 42: ...ecided by Mode of operation display 6061h Able to set selected operation mode by Mode of operation 6060h Currently activated operation mode can be checked by Mode of operation display 6061h Operation modes supported by current controller are as follows Mode of operation Description 1 6 8 Profile Position Mode Homing Mode Cyclic Synchronous Position Mode Table 4 6 Supported Operation Modes ...

Page 43: ...f operation display 6061h is shown as Cyclic Synchronous Position Mode Targetposition transmitted from master Object 607Ah Target position is executed 4 4 2 Related Objects Target Position 607Ah Following Error Window 6065h Interpolation time period 60C2h Position actual value 6064h Velocity actual value 60F4h Following error actual value 606Ch Figure 4 2 CSP Mode Objects 4 4 3 Control word and St...

Page 44: ...efer to drive status control for the rest of bits Table 4 9 Status word of Bit 10 Bit Value Description 12 0 Target position value ignored 1 Target position value executed Table 4 10 Status word of Bit 12 Bit Value Description 13 1 Following Error generated Table 4 11 Status word of Bit 13 Bit Value Description 10 0 Control Word of Halt Bit 8 0 Not reached at the target position Control Word of Ha...

Page 45: ...rol command 4 5 2 Related Objects Target Position 607Ah Software Position Limit 607Dh Polarity 607Eh Profile Velocity 6081h Max Profile Velocity 607Fh Position actual value 6064h Velocity actual value 60F4h Following error actual value 606Ch Start Speed 2006h Profile Acceleration 6083h Profile Deceleration 6084h Figure 4 3 Profile Position Mode 4 5 3 Control word and Status word Control word under...

Page 46: ...9 15 Reserved Table 4 12 Profile Position Mode of Control Word Please refer to 4 3 for the rest of bits ...

Page 47: ...ble 4 17 Status word of Bit 10 Bit Value Description 12 0 Control Word of New Set Point Bit 4 has reset and previous position movement command processed Able to input new position 1 Control word of New Set Point Bit 4 is already set or previous position movement command is under processing Table 4 18 Status word of Bit 12 Bit Name Description 0 Ready to switch on 1 Switched on 2 Operation enabled ...

Page 48: ...cknowledge Bit 12 t Target Reached Bit 10 t Figure 4 4 New Set Point Once reaches at target position Status word of Target Reached Bit 10 goes to SET If it does not reach at target position due to error or status as below Target Reached Bit 10 can not be changed as SET Fault status due to Error generation Out of Operation Enabled Status Stops during movement due to Limit Switch of operation direct...

Page 49: ...12 is going to be RESET of Control word of Ne Set Point Bit 4 and it goes to RESET after completion of previous position movement command Target Reached Bit 10 goes to SET once all of position movements completed Target position override In case of using Control word of Change Set Immediately Bit 5 under SET status during position movement command able to cancel currently operating position moveme...

Page 50: ...us target position it will move to new target position passingbyprevioustargetposition 2 If new target position is behind of previous target position it will be decelerated according to correspondent position and if need it can stop and move to opposite direction If there is no previous position movement command or already completed command under Change Set Immediately Bit 5 under SET status is sa...

Page 51: ...ﬀerentiated byHoming Method 6098h If it is not Homing method byLimit Switch once Limit Switch goes ON during origin searching it will move to opposite directionagainstmovementdirection During motion towards opposite direction if opposite side of Limit Switch goes ON origin search goes failure If Sensor origin and mechanical origin is diﬀerent able to set with using Home Oﬀset 607Ch Once position o...

Page 52: ...Please refer to drive status control for the rest of bits ...

Page 53: ...n 0 Ready to switch on 1 Switched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning 8 Reserved 8 10 11 12 Remote Target Reached Internal Limit Active Homing attained Origin search status Origin search completed 13 14 15 Homing Error Reserved Origin search failed Bit 13 Bit 12 Bit 10 Description 0 0 0 Origin search operation is on going 0 0 1 Origin search...

Page 54: ...ion origin 36 reserved 37 Set the current position origin and reset current position 3 Homing on Negative Limit touch 4 Homing on Positive Limit touch and Index Pulse 5 Homing on Negative Limit touch 6 Homing on Positive Limit touch and Index Pulse Table 4 24 Homing Method List Supported origin searching method lists can be also checked from Supported homing methods 60E3h Method 1 Homing on Negati...

Page 55: ...et correspondent position as sensor origin position Method 7 Homing on Origin Switch Positive Direction Negative Edge and Index Pulse Index Pulse Home Switch Positive Limit Switch Figure 4 10 Homing Method 7 This origin methods is to start toward Positive Direction and movement velocity is the value of Speed during search for switch 6099h index 01h Positive Limit Switch goes ON it goes to opposite...

Page 56: ...ON it goes to opposite direction and moves by velocity of Speed during search for zero 6099h index 02h Index Pulse goes ON then stops and set correspondent position as sensororiginposition Method 17 Homing on Negative Limit Switch Negative Limit Switch Figure 4 12 Homing Method 17 ThisoriginsearchmethodgoesforNegativeDirectionandmovementvelocityisthevalueofSpeedduring search for switch 6099h index...

Page 57: ...Origin Switch Positive Direction Negative Edge Home Switch Positive Limit Switch Figure 4 14 Homing Method 24 Initial movement direction of this origin search method is Positive Direction and movement velocity is the value of Speed during search for switch 6099h index 01h Positive Limit Switch goes ON it goes to opposite direction by velocity of Speed during search for zero 6099h index 02h and get...

Page 58: ...arches Origin Switch again by velocity of Speed during search for zero 6099h index 02h then stops when it goes ON then set correspondent position as sensor origin position Method 33 34 Homing Index Pulse Index Pulse Figure 4 16 Homing Method 33 Origin search method 33 is to move from current position to Negative direction 34 is moving to Positive Direction and movement velocity is Speed during sea...

Page 59: ...od 37 Set the current position origin and reset current position This origin search method is to set current position as sensor origin position If set value of Home oﬀset 607Ch is not 0 initialize current position as Home oﬀsetvalue ...

Page 60: ...99h index 02h Index Pulse goes ON then stops and set correspondent position as sensor origin position Method 5 Homing on Positive Limit touch This origin search method is to start toward Positive Direction and movement velocity is the value of Speedduring search for zero 6099h index 02h If it sense certain Load then stops and set correspondent position as sensor originposition Method 6 Homing on P...

Page 61: ...be 1 Touch probe 1 negative value RO Indicate detected position of Rising edge of Touch Probe 2 Touch probe 2 negative value RO Indicate detected position of Falling edge of Touch Probe 2 Touch probe 1 positive edge counter RO Indicate detected frequency of Rising edge of Touch Probe 1 Touch probe 2 positive edge counter RO Indicate detected frequency of Falling edge of Touch Probe 1 Touch probe 1...

Page 62: ...60B8h Bit 0 Bit 8 60B8h Bit 4 Bit 5 Bit 12 Bit 13 Input Signal 60B9h Bit 0 Bit 8 60B9h Bit 1 Bit 2 Bit 9 Bit 10 60BAh 60BBh 60BCh 60BDh Figure 4 17 Touch Probe Operation Bit 1 Bit 9 0 Able to check whether input signal acknowledged through Touch probe status of bit number 1 2 9 10 Detected Acknowledged position value please check Touch probe 1 positive value Touch probe 2 positive value Touch prob...

Page 63: ... 60B9h Bit 1 Bit 2 Bit 9 Bit 10 60B9h 1 2 Bit 6 7 Bit 14 15 60BAh 60BBh XXXX YYYY 60BCh 60BDh 60D5h 60D6h 1 2 60D7h 60D8h Figure 4 18 Touch Probe Operation Bit 1 Bit 9 1 Touch probe status of bit number 6 7 14 15 Counter value increases every single of input signal acknowledgement Range of this value is 0 3 For the frequency of input signal acknowledgement please check Touch probe 1 positive edge ...

Page 64: ...d LIMIT input signals Digital input levels 2011h R W Active Level of user inputs Digital output levels 2012h R W Active Level of user outputs Brake delay 2010h R W Set Delay at BRAKE output Table 4 26 I O related Objects 4 8 3 User I O Able to set Active Level of user I O through Digital input levels Digital output levels Following picture describes the relationship between Digital inputs and Digi...

Page 65: ... Limit 1 CW Positive Limit Negative Limit 80h 0 CCW Positive Limit Negative Limit 1 CCW Negative Limit Positive Limit Table 4 27 Relationship between Polarity and Limit Sensor 4 8 5 BRAKE Output BRAKE output signal activates according to Operation Enabled of Status word 6041h Timing of BRAKE ON can be set by Brake delay 2010h Enable Status Brake Status ON OFF ON OFF Enable Command Figure 4 20 Brak...

Page 66: ...Chapter 5 Operataion ...

Page 67: ... 59 ...

Page 68: ...cution 11 Set Drive Reset object if need 5 2 Setting 5 2 1 Installation Installmotor controlleraccordingtoconditionsofinstallation Checkoperationinadvanceunderunload status and recommend to connect Load Please refer to 2 1 Precautions of Installation 5 2 2 Wiring Check power cable motor encoder cable I O cable EtherCAT communication cables are properly con nected Please refer to 2 2 System Configu...

Page 69: ...ontrol word 5 3 5 Check Statues Check motor operates according to command or whether fault generated Check motor achieves set operation visually Check noise or abnormal vibration from motor during operation After completion of motor operation check Status word whether Target Reached shown as 1 Check Status word whether Fault shown as 1 If so check Error code and execute appropriate action 5 4 Driv...

Page 70: ...If rotation direction of motor goes opposite direction set Polarity 607Eh value then able to change rotation direction of motor ...

Page 71: ... 5 4 2 Change I O Signal Level Limit Limit Origin Input Signal If Active Level of Limit Limit Origin input signal has set diﬀerent from actual connection indication value of Actual signal input and Digital inputs can be diﬀerent Reset Active Level of signals by setting the value of Sensors logics 2001h Able to set Active Level of Origin signal by Sensors logics User I O Active Level of User I O Us...

Page 72: ...Chapter 6 EtherCAT Object Dictionary ...

Page 73: ... 63 ...

Page 74: ...iption 0000h 0FFFh Data type area Data type definitions 1000h 1FFFh Communication profile area 2000h 5FFFh Manufacture specific area 6000h 9FFFh Standardised Device Profile Area CiA 402 A000h FFFFh Reserved Reserved Table 6 1 Object INDEX If various parameter cabined at the one object able to access throughSub Index Please refer to each object of Sub Index 0 Number of entries for Max accessible su...

Page 75: ...O Tx PDO Object can be mapping at Tx PDO Rx PDO Object can be mapping at Rx PDO Table 6 4 PDO Mapping Description 6 1 7 Constant Value Default value what correspondent object indicates correspondent value can be diﬀerentially indicated by model or version of product 6 1 8 Value Range ValueRange indicates input range of correspondent object correspondent range can be indicated as any range or range...

Page 76: ...eneric error 1 Current error 2 Voltage error 3 Temperature error 4 Communication error 5 Device profile specific 6 Reserved 7 Manufacture specific Table 6 6 Type of Error correspondent bit can be set if correspondent error generated General Error always goes to be set once bit error generated 6 2 3 Object 1008h Device name Index Sub index Name Type Access Constant Value 1008h 0 Device name STR 18 ...

Page 77: ... does not store EEPROM and returns Abort SDO Transfer abort code 0800 002xh When reads Sub index 01h following value will be returned Bit Value Description 0 1 31 1 0 Support save Parameter Reserved Table 6 8 Save Parameters State Check SAVE part for each object 6 2 7 Object 1011h Restore default parameters Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 1011h 0 Number ...

Page 78: ...0000 1001h 3 Revision number U32 RO 0000 0000h 4 Serial number U32 RO 0000 0000h This object indicates information of device 6 2 9 Object 10F1h Error settings Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 10F1h 0 Number of entries U8 RO No No 2 1 Local error reaction U32 RO No No 0000 0000h 2 Sync error counter limit U32 RW No No 0000 0004h Information Value for each ...

Page 79: ...0 10 1 1st PDO object U32 RW Yes No 6040 0010h 2 2nd PDO object U32 RW Yes No 607A 0020h 3 3rd PDO object U32 RW Yes No 6081 0020h 4 4th PDO object U32 RW Yes No 6060 0008h 5 5th PDO object U32 RW Yes No 0000 0000h 6 6th PDO object U32 RW Yes No 0000 0000h 7 7th PDO object U32 RW Yes No 0000 0000h 8 8th PDO object U32 RW Yes No 0000 0000h 9 9th PDO object U32 RW Yes No 0000 0000h 10 10th PDO objec...

Page 80: ...Following objects are already mapping Status word 6041h Position Actual Value 6064h TxPDO Map 0 is configurable Please refer to 3 2 PDO Mapping Module ...

Page 81: ...4 0020h 3 3rd PDO object U32 RW Yes No 606C 0020h 4 4th PDO object U32 RW Yes No 6061 0008h 5 5th PDO object U32 RW Yes No 0000 0000h 6 6th PDO object U32 RW Yes No 0000 0000h 7 7th PDO object U32 RW Yes No 0000 0000h 8 8th PDO object U32 RW Yes No 0000 0000h 9 9th PDO object U32 RW Yes No 0000 0000h 10 10th PDO object U32 RW Yes No 0000 0000h This object points TxPD0 1 information among TxPD0 TxP...

Page 82: ......

Page 83: ...SAVE PDO Mapping Value Range Default Value 1C12h 0 Number of entries U8 RO No No 1 1 RxPDO assign U16 RW No No 1600h 6 3 6 Object 1C13h TxPDO assign Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 1C13h 0 Number of entries U8 RO No No 1 1 TxPDO assign U16 RW No No 1A00h ...

Page 84: ... No 0000 0000h 6 Calc and copy time U32 RO No No 0000 0000h 8 Get cycle time U16 RW No No 0000h 9 Delay time U32 RO No No 0000 0000h 10 Sync0 cycle time U32 RW No No 0000 0000h 11 SM Event missed U16 RO No No 0000h 12 Cycle time too small U16 RO No No 0000h 32 Sync error BOOL RO No No 0000h 6 4 3 Object 1C33h SM input parameter Index Sub index Name Type Access SAVE PDO Mapping Value Range Default ...

Page 85: ...e Range Default Value 6040h 0 Control word U16 RW No Rx PDO 0 This object controls device status Each bit of this object has a meaning as follows 4 7 6 Table 6 12 Definition of Control word Bit 4 6 and 10 15 can diﬀerentially be activated according to the valueof Mode of operation display 6061h For details please refer to each profile description Bit Name Description 0 Switch On Bits to control de...

Page 86: ...ption xxxx xxxx x0xx 0000b Not ready to switch on xxxx xxxx x1xx 0000b Switch on disabled xxxx xxxx x01x 0001b Ready to switch on xxxx xxxx x011 0011b Switched on xxxx xxxx x011 0111b Operation enabled xxxx xxxx x00x 0111b Quick stop active xxxx xxxx x0xx 1111b Fault reaction active xxxx xxxx x0xx 1000b Fault Table 6 14 Current status following by Status word Number 9 Remote bit indicates Control ...

Page 87: ...0 Shutdown option code I16 RW Yes No 0 This object is to set motion when controller goes Shutdown status Value Description 0 1 Torque Disable Motor Free After decelerated stop disable Motor Table 6 16 Shutdown Option Code 6 5 6 Object 605Ch Disable operation option code Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 605Ch 0 Disable operation option code I16 RW Yes No 1...

Page 88: ...ion once error occurs Value Description 0 1 2 Torque Disable Motor Free Decelerated stops Quick stops Table 6 19 Fault Reaction Option Code 6 5 9 Object 6060h Mode of operation Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 6060h 0 Mode of operation I8 RW No Rx PDO 0 This object is to set operation mode Value Description 128 1 0 1 2 6 5 7 8 9 127 Reserved Operation mod...

Page 89: ...6 EtherCAT Object Dictionary 77 6061h 0 Mode of operation display I8 RO No Tx PDO ...

Page 90: ...dex Name Type Access SAVE PDO Mapping Value Range Default Value 6065h 0 Following error window U32 RW Yes No 5000 Set the range of Follow Error Value 6 5 14 Object 6067h Position window Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 6067h 0 Position window U32 RW Yes No 0 63 0 Set the range of Positioning value 6 5 15 Object 606Ch Velocity actual value Index Sub index ...

Page 91: ...it I32 RW Yes No 2147483648 21474 83647 2147483647 Absolute position range where position objects can be positioned Controller is unable to get out of this range If needs to move position out of this range target position can be adjusted within range and if current position currently is out of range Status word of Internal Limit Active Bit goes SET and unable to move to correspondent direction Sof...

Page 92: ...6 5 19 Object 607Eh Polarity Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 607Eh 0 Polarity U8 RW Yes No 0 This object sets rotation direction of motor ...

Page 93: ...ult Value 6081h 0 Profile velocity U32 RW Yes Rx PDO 1 2500000 10000 This object sets movement velocity under Profile Position Mode 6 5 22 Object 6083h Profile acceleration Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 6083h 0 Profile acceleration U32 RW Yes Rx PDO 1000 1000000000 1000000 This object sets acceleration under Profile Position Mode Unit is speed of incre...

Page 94: ... Homing Method 6 5 25 Object 6099h Homing speeds Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 6099h 0 Number of entries U8 RO No No 2 1 Speed during search for switch U32 RW Yes No 1 2500000 5000 2 Speed during search for zero U32 RW Yes No 1 500000 1000 This object sets values of velocity under Homing Mode Speed during search for switch index 01h is the velocity is ...

Page 95: ...ge of 1 signal 13 1 Sense falling edge of 1 signal 14 15 0 reserved 6 5 28 Object 60B9h Touch probe status Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 60B9h 0 Touch probe status U16 RO No Tx PDO This object indicates status of Touch Probe 1 2 Bit Value Description 0 0 Halt status of Touch probe 1 function 1 Touch probe 1 function already turn on 1 0 Rising edge of s...

Page 96: ...tes encoder position value sensed by Touch Probe 2 at rising edge 6 5 32 Object 60BDh Touch probe 2 negative value Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 60BDh 0 Touch probe 2 negative value I32 RO No Tx PDO This object indicates encoder position value sensed by Touch Probe 2 at falling edge 6 5 33 Object 60C2h Interpolation time period Index Sub index Name Typ...

Page 97: ...is object indicates frequency for acknowledgement of Touch Probe 1 rising edge 6 5 36 Object 60D6h Touch probe 1 negative edge counter Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 60D6h 0 Touch probe 1 negative edge counter U16 RO No Tx PDO This object indicates frequency for acknowledgement of Touch Probe 1 falling edge 6 5 37 Object 60D7h Touch probe 2 positive edg...

Page 98: ...b index Name Type Access SAVE PDO Mapping Value Range Default Value 60D8h 0 Touch probe 2 negative edge counter U16 RO No Tx PDO This object indicates frequency for acknowledgement of Touch Probe 2 falling edge ...

Page 99: ...O 5 17 17th supported homing method I16 RO 6 18 18th supported homing method I16 RO 0 19 19th supported homing method I16 RO 0 20 20th supported homing method I16 RO 0 This object indicates lists of origin search methods supported by controller 6 5 40 Object 60F4h Following error actual value Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 60F4h 0 Following error actual...

Page 100: ...ault Value 60FEh 0 Number of entries U8 RO No No 2 1 Physical outputs U32 RW No Rx PDO 0000 0000h 2 Bit mask U32 RW No No 003F 0000h Able to control User output throughthis Object and Brake Bit Name 0 1 15 16 17 18 19 20 21 22 31 Set Brake Reserved User Output 1 User Output 2 User Output 3 User Output 4 User Output 5 User Output 6 Reserved Table 6 29 Definition of Physical outputs and Bit mask Set...

Page 101: ...ported drive modes U32 RO No No This Object indicates Operation modes currently supported Bit Description 0 Profile Position Mode 1 Velocity Mode 2 Profile Velocity Mode 3 Torque Profile Mode 4 Reserved 5 Homing Mode 6 Interpolated Position Mode 7 Cyclic Sync Position Mode 8 Cyclic Sync Velocity Mode 9 Cyclic Sync Torque Mode 10 31 Reserved Table 6 32 Supported Drive Modes Current controllersuppor...

Page 102: ...e Definition 0 1 Low active High active Table 6 34 Definition of Logic Value 6 6 2 Object 2002h Reverse limit direction Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 2002h 0 Reverse limit direction U8 RW Yes No 0 1 0 This Object can set direction of Hardware Limit Sensor It sets 1 IN OUT connection of LIMIT and LIMIT inputs will be exchanged Information Please use for...

Page 103: ...ss SAVE PDO Mapping Value Range Default Value 2005h 0 Encoder resolution U32 RO No No This Object indicates Resolution of Encoder currently installed 6 6 5 Object 2006h Start speed Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 2006h 0 Start speed U16 RW Yes No 1 50000 1 This Object sets initial velocity of motor pps 6 6 6 Object 2007h Run current Index Sub index Name ...

Page 104: ...Motor number U16 RO No No This Object indicates number of motor currently set 6 6 10 Object 200Ch Reference resolution Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 200Ch 0 Reference resolution U32 RW Yes No 500 20000 10000 This Object sets required number of Pulse to rotate 1 revolution of motor 6 6 11 Object 200Dh Position control gain Index Sub index Name Type Acce...

Page 105: ...commands 6 6 14 Object 2011h Digital input levels Index Sub index Name Type Access SAVE PDO Mapping Value Range Default Value 2011h 0 Digital input levels U16 RW Yes No 0000h This Object sets Level of Digital inputs of User input Bit Description 0 Set Level of User Input 1 1 Set Level of User Input 2 2 Set Level of User Input 3 3 Set Level of User Input 4 4 Set Level of User Input 5 5 Set Level of...

Page 106: ...it Description 0 Set Level of User Output 1 1 Set Level of User Output 2 2 Set Level of User Output 3 3 Set Level of User Output 4 4 Set Level of User Output 5 5 Set Level of User Output 6 6 15 reserved ...

Page 107: ...6 EtherCAT Object Dictionary ...

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