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Printed in the Federal Republic of Germany 

 TR-Electronic GmbH 2016, All Rights Reserved 

09/29/2020 

TR-EMO-BA-GB-0022 v03 

Page 27 of 153 

 

4.7 Transmission of SDO messages 

 
The entries of the object dictionary can be read or written with the SDO services. The 
SDO Transport Protocol allows the transmission of objects of any size. The EtherCAT 
SDO Protocol is equivalent to the CANopen SDO Protocol, in order to guarantee the 
re-use of existing protocol stacks. 
 
The first byte of the first segment contains the necessary control information. The next 
three  bytes  of  the  first  segment  contain  the  index  and  sub-index  of  the  object 
dictionary  entries  to  be  read  or  written.  The  last  four  bytes  of  the  first  segment  are 
available for useful data. The second and following segments contain the control byte 
and useful data. The recipient confirms each segment or a block of segments, so that 
Peer-To-Peer communication (client/server) takes place. 
 
In CAN-compatible mode the SDO protocol comprises 8 bytes, in order to correspond 
to the CAN data size. In extended mode the useful data are simply extended, without 
changing the protocol header. In this way the increased data volume of the EtherCAT 
mailbox  is  adapted  to  the  SDO  protocol,  accelerating  the  transmission  of  large  data 
volumes accordingly. 
 
In addition, the mode “Complete Access” has been added which makes it possible to 
transmit the complete data of an index from the object dictionary in a single process. 
The data of all sub-indices are subsequently transmitted. The access is controlled via 
the 

“Initiate SDO Download / Upload” – write/read services, which also are supported 

by  the  drive.  In  the  ESI  file  this  is  indicated  with  the  mailbox  attribute  entry 

CompleteAccess="1"

.  If  older  EtherCAT  master  do  not  support  this  access,  this 

entry must be set to “0”. 
 
Services  with  confirmation  (Initiate  SDO  Upload,  Initiate  SDO  Download,  Download 
SDO  Segment,  and  Upload  SDO  Segment)  and  services  without  confirmation  (Abort 
SDO  Transfer)  are  used  for  the  execution  of  Segmented/Expedited  transmission  of 
Service Data Objects. 
 
The  so-called  SDO  Client  (master)  specifies  in  its  "Request"  the  parameter,  the 
access type (read/write) and the value if applicable. The so-called SDO Server (slave 
or  drive)  executes  the  write  or  read  access  and  answers  the  request  with  a 
"Response".  In  the  case  of  error,  an  abort  code  (Abort  SDO  Transfer)  provides 
information on the cause of the error. 
 
 
 

 

Normally  the  EtherCAT  master  provides  appropriate  mechanisms  for  the  SDO 
transfer. Knowledge of the protocol structure and internal sequences is therefore not 
required. 

This also applies to read out the complete CoE object directory. The drive supports 
the  so-called 

“SDO  Information  Service”.  In  online  mode  about  this  service  it  is 

possible to read out all supported objects in one read service. 

 
 

Summary of Contents for MP-200

Page 1: ... Manual Interface TR EMO BA GB 0022 v03 09 29 2020 Decentralized positioning drives _Additional safety instructions _EtherCAT communication _Configuration Parameterization _Troubleshooting Diagnosis MP 200 ...

Page 2: ...ns shall be subject to claims for damages Subject to modifications The right to make any changes in the interest of technical progress is reserved Document information Release date Rev date 09 29 2020 Document Rev no TR EMO BA GB 0022 v03 File name TR EMO BA GB 0022 03 docx Author MÜJ Font styles Italic or bold font styles are used for the title of a document or are used for highlighting Courier f...

Page 3: ...anizational measures 15 3 Technical data 16 3 1 Current firmware versions 16 3 2 Electrical characteristics 16 3 3 EtherCAT DS 402 17 3 4 CE Conformity 18 4 EtherCAT Information 19 4 1 EtherCAT functional principle 19 4 2 Protocol 20 4 3 EtherCAT State Machine ESM 21 4 3 1 Transition into the OPERATIONAL state 22 4 4 Device profile 23 4 4 1 CANopen over EtherCAT CoE 24 4 5 Object dictionary 25 4 6...

Page 4: ... word 45 5 4 3 Perform position adjustment 46 5 4 4 Relevant parameters 46 5 5 Cyclic Synchronous Position CSP operating mode 47 5 5 1 Control word 47 5 5 2 Status word 48 5 5 3 Perform operating mode 49 5 5 4 Relevant parameters 49 5 6 Cyclic Synchronous Velocity CSV operating mode 50 5 6 1 Control word 50 5 6 2 Status word 51 5 6 3 Perform operating mode 52 5 6 4 Relevant parameters 52 5 7 Cycli...

Page 5: ...s of the DSP 402 device profile 91 9 4 1 Object 0x6007 Abort Connection Code 93 9 4 2 Object 0x603F Error Code 93 9 4 3 Object 0x6040 Control word 93 9 4 4 Object 0x6041 Status word 94 9 4 5 Object 0x605A Quick Stop Option Code 94 9 4 6 Object 0x605B Shutdown Option Code 95 9 4 7 Object 0x605C Disable Operation Option Code 95 9 4 8 Object 0x605D Stop Option Code 96 9 4 9 Object 0x605E Fault Reacti...

Page 6: ...Homing Method 113 9 4 51 Object 0x6099 Homing speeds 114 9 4 52 Object 0x609A Homing Acceleration 114 9 4 53 Object 0x60B0 Position Offset 115 9 4 54 Object 0x60B1 Velocity Offset 115 9 4 55 Object 0x60B2 Torque Offset 115 9 4 56 Object 0x60C5 Max Acceleration 116 9 4 57 Object 0x60C6 Max Deceleration 116 9 4 58 Object 0x60F4 Following Error 116 9 4 59 Object 0x60FD Digital Inputs 117 9 4 60 Objec...

Page 7: ...10 137 10 11 Backup EEPROM runtime 137 10 12 Position adjustment by Homing operating mode 6 138 10 13 Manual tuning of the position and speed regulation 141 10 14 Gear backlash cancellation Opmodes 48 0xD0 143 11 TwinCAT System Manager Example program Download 144 12 Troubleshooting and diagnosis options 145 12 1 SDO error codes 145 12 2 EMCY error information 146 12 2 1 EncoTRive RE Emergencies 1...

Page 8: ... 13 45 Table 17 Control word object 0x6040 Cyclic synchronous position CSP operating mode 47 Table 18 Status word object 0x6041 Cyclic synchronous position CSP operating mode 48 Table 19 Control word object 0x6040 Cyclic synchronous velocity CSV operating mode 50 Table 20 Status word object 0x6041 Cyclic synchronous velocity CSV operating mode 51 Table 21 Control word object 0x6040 Cyclic synchron...

Page 9: ...chine 31 Figure 10 Positioning ramp 37 Figure 11 Absolute positioning top and relative positioning bottom 38 Figure 12 Speed ramp 42 Figure 13 Cyclic synchronous position control function CSP 49 Figure 14 Cyclic synchronous velocity control function CSV 52 Figure 15 Cyclic synchronous torque control function CST 55 List of formulas Formula 1 Position encoder resolution 56 Formula 2 Default value p...

Page 10: ...itions Digital Inputs and Hardware Limit Switches 10 7 Control word and Status word 12 2 1 EncoTRive RE Emergencies Diverse corrections in the chapters 10 5 Storing and resetting backup parameters 10 8 Profile Position Mode operating mode 1 10 9 Profile Velocity Mode operating mode 3 Reference to the EtherCAT Conformance Test Tool 10 Projecting with TwinCAT System Manager V2 10 02 14 17 02 Adaptat...

Page 11: ...be requested separately 1 1 Target group This documentation is directed towards Commissioning operating and maintenance personnel who are instructed to carry out activities on the encoTRive RELC positioning drive The respective qualifications of the personnel are defined in the assembly commissioning manual in the chapter entitled Choice and qualifications of personnel basic obligations 1 2 Applic...

Page 12: ...s Type 12 EtherCAT 7 IEC 61784 2 Digital data communications for measurement and control Additional profiles for ISO IEC 8802 3 based communication networks in real time applications 12 EtherCAT 8 IEC 61800 7 200 Adjustable speed electrical power drives systems Profile specifications 9 IEC 61800 7 201 Adjustable speed electrical power drives systems Profile type 1 specification 10 ISO IEC 8802 3 C...

Page 13: ...t EMCY Emergency encoTRive TR specific term for the drive HW Hardware inc Increments LSB Least Significant Bit mA Milliampere mm Millimeter mNm Millinewton meter mV Millivolt MSB Most Significant Bit Nm Newtonmeter NMT Network Management OV Object directory PC Personal Computer PDO Process Data Object PI Proportional Integral PID Proportional Integral Derivative PZD Process data ro read only RPDO ...

Page 14: ...ic of Germany Page 14 of 153 TR EMO BA GB 0022 v03 09 29 2020 Continuation Abbreviations used Terminology SW Software SYNC Synchronization TPDO Transmit PDO V Volt XML Extensible Markup Language wo write only ZSW Status word ZSW x Bit x of the status word Table 2 Abbreviations used Terminology ...

Page 15: ...ions are not met indicates important information s or features and application tips for the product used 2 2 Organizational measures This encoTRive EtherCAT Manual must be kept ready to hand at all times at the place of use of the encoTRive Prior to commencing work the personnel working with the encoTRive must have read and understood the Assembly Installation Instructions particularly the chapter...

Page 16: ...on V1 1 7 May 2019 MP 200 ETC Device name MP 200 ETC Firmware file name M01707000 Motor type Schneider Electric BDM 754 300W 48V CoE Manufacturer code 1289 TR Electronic GmbH CoE Device name EncoTRive RELC CoE Product code 736055 CoE Revision number 0x10001000 V1 1 CoE Hardware version 736055a CoE Software version V1 1 7 May 2019 3 2 Electrical characteristics Logic supply 24 V version 10 36 VDC 6...

Page 17: ...nputs 24 V 44 kOhm common ground not isolated customization on request Analog I O s 2 differential inputs 10 V 10 kOhm not isolated customization on request 3 3 EtherCAT DS 402 Supported EtherCAT cycle times all down to 50 µs I O cycle frequency 10 KHz depending on the PDO configuration PDOs 2x transmit with up to 200 bytes total 2x receive with up to 200 bytes total PDO Mapping configurable with ...

Page 18: ...nst electrical fast transient burst immunity EN 61000 4 5 Immunity against surge EN 61000 4 6 Immunity against conducted RF disturbances CISPR 11 CISPR 16 1 Limits for conducted and radiated RF emissions Tests that are not required by EN61800 3 EN 61000 4 29 Immunity against voltage dips short interruptions and voltage variations of DC powered devices Omitted Reason EN 61800 3 requires only tests ...

Page 19: ...e new editions of the international field bus standards IEC 61158 Protocols and Services IEC 61784 2 Communication Profiles and IEC 61800 7 Drive Profiles and Communication 4 1 EtherCAT functional principle The EtherCAT technology overcomes the generally known limitations of other Ethernet solutions The Ethernet packet is no longer received in each slave first of all then interpreted and the proce...

Page 20: ...cast and lateral communication between slaves are possible The protocol also supports acyclical parameter communication The structure and meaning of the parameters is predetermined by the device profile CANopen Device Profile Drives and Motion Control CiA DSP 402 UDP IP datagrams are not supported This means that the master and the EtherCAT slaves must be located in the same subnet Communication a...

Page 21: ...t NMT In order to enable reliable starting behavior the Safe Operational state has been introduced in EtherCAT In this state valid entries are transmitted while the outputs remain in safe status Figure 3 EtherCAT state machine Status Description IP Start Mailbox Communication PI Stop Mailbox Communication PS Start Input Update SP Stop Input Update SO Start Output Update OS Stop Output Update OP St...

Page 22: ...rive exchange application specific initializations and parameters In PRE OPERATIONAL status only a parameterization via Service Data Objects is initially possible However it is possible to configure PDOs using SDOs SAFE OPERATIONAL The Start Input Update command puts the drive into SAFE OPERATIONAL status In this status the drive provides valid current input data without changing the output data T...

Page 23: ...avior of the device including the device class specific state machine With EtherCAT you do not develop individual device profiles for device classes Instead simple interfaces are provided for existing device profiles The encoTRive supports the CANopen over EtherCAT CoE mailbox protocol and consequently the Device Profile Drives and Motion Control CiA DS 402 known from CANopen Figure 4 CANopen over...

Page 24: ...ice Data Objects NMT Network Management EtherCAT can thus be implemented on devices that were previously equipped with CANopen with minimal expense Extensive parts of the CANopen firmware can be re used The objects can be optionally extended Comparison of CANopen EtherCAT in the ISO OSI layer model Figure 5 CANopen organized in the ISO OSI layer model Figure 6 EtherCAT organized in the ISO OSI lay...

Page 25: ... 4 6 Process and Service Data Objects Process Data Object PDO Process Data Objects manage the process data exchange e g the cyclical transmission of the control and status word position value and target position etc Service Data Object SDO Service Data Objects manage the parameter data exchange e g the acyclical parameter setting of non time critical parameters such as software limit switches dire...

Page 26: ...nted in the Federal Republic of Germany Page 26 of 153 TR EMO BA GB 0022 v03 09 29 2020 4 6 1 Compatibility with the CiA DS 301 communication profile Supported services Initiate SDO Download Download SDO Segment Initiate SDO Upload Upload SDO Segment Abort SDO Transfer ...

Page 27: ...ition the mode Complete Access has been added which makes it possible to transmit the complete data of an index from the object dictionary in a single process The data of all sub indices are subsequently transmitted The access is controlled via the Initiate SDO Download Upload write read services which also are supported by the drive In the ESI file this is indicated with the mailbox attribute ent...

Page 28: ...wnload service The master starts as many Download SDO Segment services as are required to transfer all data to the server Read services Server Client Initiate SDO Upload The Initiate SDO Upload service is used for an individual transmission of data if the number of bytes can be accepted by the mailbox or if a segmented transmission is to be started with more bytes The server responds with the resu...

Page 29: ...ding entries in the object dictionary the so called mapping tables The number of mapped objects that are listed subsequently is found at the top of the mapping table subindex 0 The tables are located in the object dictionary in index 0x1600 ff for the RxPDOs and 0x1A00ff for the TxPDOs 4 9 Further information Further information on EtherCAT can be obtained on request from the EtherCAT Technology G...

Page 30: ...owing sub areas in particular are controlled Control and status monitoring Standardized parameterization Changing operating modes encoTRive supports as EtherCAT slave the DSP 402 profile CiA 2002b The following information is typically exchanged between the control system and the drive The drive provides information on its current status e g Drive running and possibly additional information such a...

Page 31: ... represented by rectangles The state transitions are marked by arrows which specify the condition for the corresponding transition In most cases this is a command in the control word 0x6040 In an error situation you go from each of the states into the state S7 Fault reaction active Error reaction active S1 S8 Operation states States T0 T16 State transitions Transitions S1 Not ready to switch ON S2...

Page 32: ...ode object 0x605A 5 the drive then remains in this state S7 Fault reaction active xxxx xxxx x0xx 1111 There is an error The relevant troubleshooting is carried out S8 Fault xxxx xxxx x0xx 1000 Troubleshooting is complete Table 4 States of the status word x not relevant bits The operating condition is shown by means of appropriate bit pattern in the status word 0x6041 The bits in the status word ar...

Page 33: ...mmand Disable Operation T6 SWITCHED ON READY TO SWITCH ON The drive unit is deactivated T7 READY TO SWITCH ON SWITCH ON DISABLED Drive receives the command Quick Stop T8 OPERATION ENABLE READY TO SWITCH ON The drive unit is switched off If it is in motion it is stopped according to the Shutdown Option Code object 0x605B T9 OPERATION ENABLE SWITCH ON DISABLED The drive unit is switched off If it is...

Page 34: ...bit pattern in the control word 0x6040 The bits in the control word are defined as follows MSB LSB 15 9 8 7 6 4 3 2 1 0 reserved Halt Fault Reset Mode specific Enable operation Quick stop Enable voltage Switch ON Command State transitions Change of state to Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shutdown T2 T6 T8 S3 Ready to switch ON X X 1 1 0 Switch ON T3 S4 Switched ON is not necessary urgently and can ...

Page 35: ...lerate with intermediate stop ramp 3 Value 1 Execute operating mode 4 New target position 0 Do not accept target position 1 Accept target position 5 Accept parameter immediately 0 End current positioning start next positioning 1 Abort current positioning start next positioning 6 Absolute relative positioning 0 Target position is an absolute value 1 Target position is a relative value 7 Transition ...

Page 36: ...ia CAN bus 10 Target reached 0 Stop 0 Target position not reached Stop 1 Axis decelerates 1 Stop 0 Target position reached Stop 1 Axis speed 0 11 Value 1 Exit working range Position value outside the preset range Definition via object 0x607D 12 Acknowledgement of target position 0 Positioning values not accepted 1 Positioning values accepted 13 Value 1 Following error A following error is indicate...

Page 37: ...he current settings for the speed acceleration and deceleration Figure 10 Positioning ramp Depending on the distance between actual position at the start of positioning and target position the required end speed 0x6081 is reached or not If the travel is short the phase with constant acceleration is directly followed by a phase with constant deceleration There is no phase with constant speed in thi...

Page 38: ...osition In the case of relative positioning the content of object 0x607A is interpreted as the distance to be covered Relative positionings must be within the travel range The limits are defined by means of the objects 0x607B Position range limit and 0x607D Software position limit Figure 11 Absolute positioning top and relative positioning bottom Figure 11 shows two examples In the top part of the...

Page 39: ...is started in the opposite direction Otherwise the current speed is compared with the required speed If the travel is sufficient the drive is accelerated or braked accordingly 5 2 3 3 Termination of a positioning movement If STW 8 Stop is set during the movement the current ramp is terminated and the drive stops The deceleration at which this occurs can be specified in object 0x605D Halt Option Co...

Page 40: ... mode Range overruns can occur in rotary applications for example due to the integral position measuring system Depending on the direction of rotation this is expressed by a jump of the position value in object 0x6064 Max Min Min Max The application must therefore not be dependent on the actual value of position 5 3 1 Control word Bit CONTROL WORD 0 Value1 Switch ready for operation These bits are...

Page 41: ...eady for operation 7 Value 1 Warning present 8 not used 9 Manual operation 0 No parameter access via CAN bus 1 Parameter access via CAN bus 10 Target reached 0 Stop 0 Target speed not reached Stop 1 Axis decelerates 1 Stop 0 Target speed reached Stop 1 Axis speed 0 11 Value 1 Exit working range Position value outside the preset range Definition via object 0x607D 12 Speed 0 Speed 0 1 Speed 0 13 Max...

Page 42: ...arted as follows STW 1 STW 2 0x06 STW 0 0x07 is not necessary urgently and can be skipped STW 3 0x0F Execute operating mode drive rotates The ramp results from the current settings for the target speed acceleration and deceleration Figure 12 Speed ramp The drive accelerates up to the preset target speed and retains this speed until the drive is stopped manually The axis can be stopped using differ...

Page 43: ...041 Status word Return messages from the drive 0x6069 Measured speed 0x6071 Target torque 0x6072 Maximum torque 0x607E Direction reversal 0x607F Maximum speed 0x6080 Maximum motor speed 0x6083 Acceleration limited by object 0x60C5 0x6084 Deceleration limited by object 0x60C6 0x6085 Deceleration for quick stop 0x6094 Speed factor 0x606B Nominal speed 0x606C Actual speed 0x60FF Target speed Table 13...

Page 44: ...ue 1 Switch ready for operation These bits are used to control the state machine 1 Value 1 Enable voltage 2 Value 0 Decelerate with intermediate stop ramp 3 Value 1 Execute operating mode 4 Homing operation start 0 Stop homing procedure 1 Start or continue homing procedure 5 6 not used 7 Transition 0 1 Reset error 8 Halt 0 Enable bit 4 1 Stop axis 0x605D 9 15 not used Table 14 Control word object ...

Page 45: ...cess via CAN bus 1 Parameter access via CAN bus 10 Target reached 11 Value 1 Exit working range Position value outside the preset range Definition via object 0x607D 12 Homing attained 13 Homing error 14 15 not used Table 15 Status word object 0x6041 Homing operating mode Bit 13 Bit 12 Bit 10 Definition 0 0 0 Homing procedure is in progress 0 0 1 Homing procedure is interrupted or not started 0 1 0...

Page 46: ...e may be turned off The drive must stand at a known position which is the preset value The scaling for the position measurement must be setup properly so that the preset value is within the measuring range If the drive is in the Ready for operation state the homing procedure can be started For this purpose the Homing operating mode must be set the homing method must be specified and the operating ...

Page 47: ...and 2 1 are ignored The target position is transferred cyclically via PDO by means of the object 0x607A to which the drive responds immediately Bit 4 in the control word does not have to be set The target value is absolute and thus independent of how often it was sent per cycle 5 5 1 Control word Bit CONTROL WORD 0 Value 1 Switch ready for operation These bits are used to control the state machine...

Page 48: ...y for operation 7 Value 1 Warning present 8 not used 9 Manual operation 0 No parameter access via CAN bus 1 Parameter access via CAN bus 10 not used 11 Value 1 Exit working range Position value outside the preset range Definition via object 0x607D 12 Drive follows the command value 0 Target position of object 0x607A ignored 1 Target position of object 0x607A used as input to position control loop ...

Page 49: ...t 0x6041 bit 12 Drive follows the command value is displayed that the target values are transferred directly to the controller For this purpose the Cyclic Synchronous Position CSP operating mode must be set Object 0x6060 operating mode 8 To perform a positioning object 0x607A must be specified with the target values Also see chapter Cyclic synchronous modes operating modes 8 9 10 on page 137 5 5 4...

Page 50: ...ng mode the limit switches on the digital inputs 2 0 and 2 1 are ignored The target velocity is transferred cyclically via PDO by means of the object 0x60FF to which the drive responds immediately Bit 4 in the control word does not have to be set 5 6 1 Control word Bit CONTROL WORD 0 Value 1 Switch ready for operation These bits are used to control the state machine 1 Value 1 Enable voltage 2 Valu...

Page 51: ...ick stop active 6 Value 1 Not ready for operation 7 Value 1 Warning present 8 not used 9 Manual operation 0 No parameter access via CAN bus 1 Parameter access via CAN bus 10 not used 11 Value 1 Exit working range Position value outside the preset range Definition via object 0x607D 12 Drive follows the command value 0 Target velocity of object 0x60FF ignored 1 Target velocity of object 0x60FF used ...

Page 52: ...ject 0x6041 bit 12 Drive follows the command value is displayed that the target values are transferred directly to the controller For this purpose the Cyclic Synchronous Velocity CSV operating mode must be set Object 0x6060 operating mode 9 To perform a velocity controlled travel object 0x60FF must be specified with the target values Also see chapter Cyclic synchronous modes operating modes 8 9 10...

Page 53: ...e the limit switches on the digital inputs 2 0 and 2 1 are ignored The target torque is transferred cyclically via PDO by means of the object 0x6071 to which the drive responds immediately Bit 4 in the control word does not have to be set 5 7 1 Control word Bit CONTROL WORD 0 Value 1 Switch ready for operation These bits are used to control the state machine 1 Value 1 Enable voltage 2 Value 0 Shut...

Page 54: ...on 5 Value 0 Quick stop active 6 Value 1 Not ready for operation 7 Value 1 Warning present 8 not used 9 Manual operation 0 No parameter access via CAN bus 1 Parameter access via CAN bus 10 not used 11 Value 1 Exit working range Position value outside the preset range Definition via object 0x607D 12 Drive follows the command value 0 Target torque of object 0x6071 ignored 1 Target torque of object 0...

Page 55: ...41 bit 12 Drive follows the command value is displayed that the target values are transferred directly to the controller For this purpose the Cyclic Synchronous Torque CST operating mode must be set Object 0x6060 operating mode 10 To perform a torque controlled travel object 0x6071 must be specified with the target values Also see chapter Cyclic synchronous modes operating modes 8 9 10 on page 137...

Page 56: ...Position encoder resolution The fraction counter is defined in subindex 1 the denominator in subindex 2 The default value is s revolution Motor increments Position 4096 1 4096 resolution encoder Position Default Formula 2 Default value position encoder resolution 5 8 2 Object 0x6090 Speed encoder resolution This parameter defines the ratio between speed increments per second and motor revolutions ...

Page 57: ...ct 0x608F The gear ratio denotes the gear reduction given by s revolution shaft Drive s revolution Motor ratio Gear Formula 6 Gear ratio The travel per gear revolution is given in position units The counter of the position factor is specified as subindex 1 of object 0x6093 the denominator as subindex 2 The following applies Position position units Position factor Position position increments The u...

Page 58: ...r gear revolution Example 2 Position unit inc Travel per gear revolution 1024 inc Gear ratio 1 Position encoder resolution 1024 inc The following values must be entered in the position factor object 0x6093 Subindex 1 1024 position encoder resolution x gear factor Subindex 2 1024 travel per gear revolution Example 3 Position unit degrees 10 Travel per gear revolution 360 degrees 3600 10 degrees Gea...

Page 59: ...ndex 1 of object 0x6094 the denominator as subindex 2 The default value is 300000 2 factor Speed 31 Default Formula 9 Default value speed factor This value together with the speed encoder resolution from Formula 4 and a gear reduction of 1 1 corresponds to the speed unit rpm Object 0x606C Actual Velocity contains the current output speed in the desired unit Default unit rpm This means for example ...

Page 60: ...tion 1 r sec 3600 degrees 10 1 sec Gear ratio 1 Default value for speed encoder resolution 2 31 5000 see Formula 4 Calculation 2 31 5000 x 1 3600 2 31 5000 3600 1 The following values must be entered in the speed factor object 0x6094 Subindex 1 31 2 Subindex 2 18000000 1 3600 5000 Example 3 Speed unit mm 100 sec at the output Travel per gear revolution 2 mm object 0x6093 Output revolution 1 r sec ...

Page 61: ... data is converted into user defined acceleration units The counter of the acceleration factor is specified as subindex 1 of object 0x6097 the denominator as subindex 2 2 sec revolution Output units_per on Accelerati reduction Gear resolution encoder Speed factor on Accelerati Formula 10 Acceleration factor The default value is 300000 2 factor on Accelerati 31 Default Formula 11 Default for accele...

Page 62: ...revolution 1 r sec 3600 degrees 10 1 sec 2 Gear ratio 1 Default value for speed encoder resolution 2 31 5000 see Formula 4 Calculation 2 31 5000 x 1 3600 2 31 5000 3600 1 The following values must be entered in the speed factor object 0x6097 Subindex 1 31 2 Subindex 2 18000000 1 3600 5000 Example 3 Acceleration unit mm 100 sec 2 at the output Travel per gear revolution 2 mm object 0x6093 Output re...

Page 63: ...rements again resolution encoder Speed factor Position resolution encoder Position factor on Accelerati resolution encoder Speed factor Position resolution encoder Position factor Speed or onUnitFact onToPositi Accelerati itFactor PositionUn VelocityTo By multiplying with the VelocityToPositionUnitFactor a user defined speed in speed units is converted into a measuring system related speed in posi...

Page 64: ...ts from Formula 9 The acceleration phase and the braking phase each last tacc tdec 2640 150 17 60 sec VelocityToPositionUnitFactor 2 31 300000 2 16 2 16 360 2 31 5000 5000 360 300000 6 AccelerationToPositionUnitFactor 6 The speed of 2640 rpm is as follows in position units vend 2640 6 15840 degrees sec The acceleration and deceleration of 150 rpm sec results in a b 150 6 900 degrees sec During the...

Page 65: ...for the speed factor speed factor 40 2 31 300000 This results in VelocityToPositionUnitFactor 40 2 31 300000 2 16 40 2 16 2 31 5000 5000 300000 1 60 AccelerationToPositionUnitFactor 1 60 The acceleration phase lasts tacc 12 sec the braking phase tdec 4 sec The following results for the acceleration a 20 1 60 1 3 mm sec and for the deceleration b 60 1 60 1 mm sec The end speed of 240 rpm correspond...

Page 66: ...ply but instead a 10A open drain output for a ballast resistor that must be attached to the positive power supply The resistance must be chosen according to the power supply voltage Ballast resistance Power supply voltage 10A The pins for power and are reversed compared to a power cable for a traditional encoTRive This prevents the destruction of the ballast output if by accident a traditional cab...

Page 67: ...r is attached to the open drain ballast output the limit of the ballast output voltage 0x2F04 06 must be set according to its rating Otherwise the resistor may be overloaded or become ineffective The effective ballast output voltage is regulated by PWM If the DC link voltage 0x6079 exceeds the ballast input voltage threshold 0x2F04 07 it increases linearly and reaches the rated value 0x2F04 05 as ...

Page 68: ... parameter also has attributes which define the access to this parameter Attribute Meaning rw read write Parameter can be read and written ro read only Parameter can only be read wo write only Parameter can only be written const Value is constant and read only Table 24 Attributes encoTRive uses the following data types Coding Data type Length Description 1 BOOLEAN 8 bit Two possible values 0 false...

Page 69: ...Hardware Version String const 72 100A VAR Manufacturer Software Version String const 72 1010 ARRAY Save Backup Parameters Unsigned32 rw 73 1011 ARRAY Reset Backup Parameters Unsigned32 rw 74 1018 RECORD Identity Unsigned32 ro 75 1600 1 RECORD RxPDO 1 Mapping PDO Mapping rw 77 1601 1 RECORD RxPDO 2 Mapping PDO Mapping rw 77 1A00 1 RECORD TxPDO 1 Mapping PDO Mapping rw 78 1A01 1 RECORD TxPDO 2 Mappi...

Page 70: ...ue word denotes a servo drive 9 2 2 Object 0x1001 Error Register Object name Error Register Object code VAR Data type UNSIGNED8 Attribute ro Default 0 Min Max PDO mapping yes Description The error register displays the error status of the device in bit code A set bit indicates that a corresponding error is present The exact cause of the error is indicated by object 0x1003 At the time of occurrence...

Page 71: ...ning of bits 0 15 can be taken from Table 37 on page 150 Subindex 0 Number of error entries Data type UNSIGNED8 Attribute rw Default 0 Min 0 Max 8 PDO mapping Description Contains the number of stored errors Writing the value 0 in this element means that the complete error list is deleted Other values are not permitted and result in an abort message with the error code 0x0609 0030 Subindex 1 Error...

Page 72: ...tocol 9 2 5 Object 0x1009 Manufacturer s Hardware Version Object name Manufacturer Hardware Version Object code VAR Data type Visible String Attribute const Default device specific Min Max PDO mapping Description The object contains the hardware version of the device This consists of an ASCII character string Transmission via Upload SDO Segment Request Protocol 9 2 6 Object 0x100A Manufacturer s S...

Page 73: ...type UNSIGNED8 Attribute ro Default 4 Min Max PDO mapping Description Contains the largest array subindex Subindex 1 Store all parameters Data type UNSIGNED32 Attribute rw Default 0 Min Max PDO mapping Description Stores all storable parameters The parameters are only stored if the value 0x65766173 is written This is the numeric value resulting from the save character string s 0x73 a 0x61 v 0x76 e...

Page 74: ...ndex 1 Factory settings for all parameters Data type UNSIGNED32 Attribute rw Default 0 Min Max PDO mapping Description Configures all parameters for which factory settings are available with their factory settings This only occurs if the value 0x64616F6C is written This is the numeric value resulting from the load character string l 0x6C o 0x6F a 0x61 d 0x64 Subindex 3 Factory settings for applica...

Page 75: ...a type UNSIGNED32 Attribute ro Default 0x0509 TR Electronic Min Max PDO mapping Description Contains the device vendor ID assigned by the ETG Subindex 2 Product Code Data type UNSIGNED32 Attribute ro Default device specific Min Max PDO mapping Description Identifies the device version Subindex 3 Revision number Data type UNSIGNED32 Attribute ro Default device specific Min Max PDO mapping Descripti...

Page 76: ...ndex 0 contains the number of valid object entries The following entries contain the information of the mapped application objects The object describes the content of the PDO by their index sub index and length in bit 31 16 15 8 7 0 Index Sub index Length in bit MSB LSB Possible Receive process data objects 0x1600 0x1601 see ESI file Possible Transmit process data objects 0x1A00 0x1A01 see ESI fil...

Page 77: ...signment Object name Receive PDO Mapping Object code ARRAY Description Each of these parameter configures the mapping for one Receive PDO Subindex 0 Number of entries Data type UNSIGNED8 Attribute rw Default 0 Min 0 Max 80 PDO mapping Description Number of mapped objects Subindex 1 First mapped object Data type UNSIGNED32 Attribute rw Default 0 Min Max PDO mapping Description Indicates the index s...

Page 78: ...3 PDO assignment Object name Transmit PDO Mapping Object code ARRAY Description Each of these parameter configures the mapping for one Transmit PDO Subindex 0 Number of entries Data type UNSIGNED8 Attribute rw Default 0 Min 0 Max 80 PDO mapping Description Number of mapped objects Subindex 1 First mapped object Data type UNSIGNED32 Attribute rw Default 0 Min Max PDO mapping Description Indicates t...

Page 79: ...ect name Sync Manager Communication Type Object code ARRAY Description Number of used communication channels and type of communication Subindex 0 Number of entries Data type UNSIGNED8 Attribute ro Default 4 Min 0 Max 4 PDO mapping Description Number of used sync manager channels Subindex 1 Communication Type Sync Manager 0 Data type UNSIGNED32 Attribute ro Default 1 Receive mailbox Master Slave Mi...

Page 80: ... in the Federal Republic of Germany Page 80 of 153 TR EMO BA GB 0022 v03 09 29 2020 Subindex 4 Communication Type Sync Manager 3 Data type UNSIGNED32 Attribute ro Default 4 Process data input Slave Master Min Max PDO mapping Description Communication Type Sync Manager 3 ...

Page 81: ... SM2 PDO Assignment Object code ARRAY Description PDO mapping object index of the assigned RxPDO Subindex 0 Number of entries Data type UNSIGNED8 Attribute rw Default 0 Min 0 Max 2 PDO mapping Description Number of assigned RxPDOs Subindex 1 Assigned RxPDO Data type UNSIGNED32 Attribute rw Default 0 Min Max PDO mapping Description PDO mapping object index of the assigned RxPDO 0x1600 RxPDO 1 0x160...

Page 82: ...ject name SM3 PDO Assignment Object code ARRAY Description PDO mapping object index of the assigned TxPDO Subindex 0 Number of entries Data type UNSIGNED8 Attribute rw Default 0 Min 0 Max 2 PDO mapping Description Number of assigned TxPDOs Subindex 1 Assigned TxPDO Data type UNSIGNED32 Attribute rw Default 0 Min Max PDO mapping Description PDO mapping object index of the assigned TxPDO 0x1A00 TxPD...

Page 83: ... MVI16 Object code ARRAY Description For service purposes only Subindex 0 Number of entries Data type UNSIGNED8 Attribute ro Default 8 Min Max PDO mapping Description Number of following entries Subindex 1 Current temperature 1 C Data type INTEGER16 Attribute ro Default Min 2 15 Max 2 15 1 PDO mapping yes Description Subindex 2 Current temperature 2 C Data type INTEGER16 Attribute ro Default Min 2...

Page 84: ...on Subindex 5 Analog input 1 mV Data type INTEGER16 Attribute ro Default Min 2 15 Max 2 15 1 PDO mapping yes Description Subindex 6 Analog input 2 mV Data type INTEGER16 Attribute ro Default Min 2 15 Max 2 15 1 PDO mapping yes Description Subindex 7 Analog input 3 mV Data type INTEGER16 Attribute ro Default Min 2 15 Max 2 15 1 PDO mapping yes Description Subindex 8 Analog input 4 mV Data type INTE...

Page 85: ...ribute rw Default Min 2 31 Max 2 31 1 PDO mapping yes Description disables individual bits of the input signal 0x60FD Subindex 2 Digital lnput Negation Mask Data type UNSIGNED32 Attribute rw Default Min 2 31 Max 2 31 1 PDO mapping yes Description negates individual bits of the input signal 0x60FD Subindex 3 Output And Mask Data type UNSIGNED32 Attribute rw Default Min 2 31 Max 2 31 1 PDO mapping y...

Page 86: ... for the output voltage of the brake Subindex 6 VBallastOut max mV Data type UNSIGNED32 Attribute rw Default Min 2 31 Max 2 31 1 PDO mapping no Description in case of a ballast resistor at the open drain ballast output Nominal value for the limit of the ballast output voltage Subindex 7 VBallastIn zero mV Data type UNSIGNED32 Attribute rw Default Min 2 31 Max 2 31 1 PDO mapping no Description Subi...

Page 87: ... on the motor type this inductivity can fall to 1 3 if the stator current is increased from 0 to the nominal value In order to prevent gains that are too high and cause vibrations the stator inductivity should be measured at maximum current Subindex 10 RegPosrKS Data type UNSIGNED32 Attribute rw Default Min 2 31 Max 2 31 1 PDO mapping no Description for internal purposes only Subindex 11 Max durat...

Page 88: ...of 153 TR EMO BA GB 0022 v03 09 29 2020 Subindex 13 LsiscC31 Data type UNSIGNED32 Attribute rw Default Min 2 31 Max 2 31 1 PDO mapping no Description for internal purposes only Subindex 14 LsiscC32 Data type UNSIGNED32 Attribute rw Default Min 2 31 Max 2 31 1 PDO mapping no Description for internal purposes only ...

Page 89: ...her which means staying in quick stop this state can be left without turning off the motor by toggling the control word bit 0x80 Clear Fault once or twice 0 or any other value A following error only sets the status word bit and sends its emergency Also see chapter Stop conditions Priorities Behavior on page 124 Subindex 2 Q24 Profile Restart Window rev Data type UNSIGNED32 Attribute rw Default Min...

Page 90: ...art Timeout ms Data type UNSIGNED16 Attribute rw Default Min 0 Max 2 16 1 PDO mapping no Description In order to activate the ramp restart the following error must at least exceed for this time the adjusted window in subindex two in this object Subindex 4 Gear Backlash Pos units Data type INTEGER32 Attribute rw Default Min 2 31 Max 2 31 1 PDO mapping no Description Reserved ...

Page 91: ...Integer32 ro 97 6064 VAR Actual Position Integer32 ro 98 6065 VAR Following Error Window Unsigned32 rw 98 6066 VAR Following Error Timeout Unsigned16 rw 98 6067 VAR In Position Window Unsigned32 rw 99 6068 VAR In Position Timeout Unsigned16 rw 99 6069 VAR Sensor Velocity Integer32 ro 99 606B VAR Required Velocity Integer32 ro 100 606C VAR Actual Velocity Integer32 ro 100 606D VAR Velocity Window U...

Page 92: ... rw 109 6090 ARRAY Velocity Encoder Resolution Unsigned32 ro 110 6093 ARRAY Position Factor Unsigned32 rw 111 6094 ARRAY Velocity Encoder Factor Unsigned32 rw 112 6097 ARRAY Acceleration Factor Unsigned32 rw 113 6098 VAR Homing Method Integer8 rw 113 6099 ARRAY Homingspeeds Unsigned32 rw 114 609A VAR Homing Acceleration Unsigned32 rw 114 60B0 VAR Position Offset Integer32 rw 115 60B1 VAR Velocity ...

Page 93: ...e defined 0 No action 1 Go into Fault status 2 Execute Disable Voltage command see Table 6 page 34 3 Execute Quick Stop command see Table 6 page 34 9 4 2 Object 0x603F Error Code Object code VAR Data type UNSIGNED16 Attribute ro Default 0 Min 0 Max 65535 PDO mapping yes Description This parameter stores the last occurring error and corresponds to the low value 16 bits of object 0x1003 9 4 3 Object...

Page 94: ...The reaction after execution of a quick stop can be defined with this parameter The following values are supported by the encoTRive Table 28 Values for Quick Stop Option Code Value Meaning 0 Switches drive off After coming to a stop the drive goes into Switch on inhibit status 1 Decelerates drive to a stop with current deceleration The drive then goes into Switch on inhibit status 2 Decelerates dr...

Page 95: ...oTRive Table 29 Values for Shutdown Option Code Value Meaning 0 Switches drive off 1 Decelerates drive to a stop with current deceleration Then switches drive off 9 4 7 Object 0x605C Disable Operation Option Code Object code VAR Data type INTEGER16 Attribute rw Default 1 Min 32768 Max 32767 PDO mapping yes Description This parameter is used to define the reaction of the drive during the state tran...

Page 96: ...ates drive to a stop with current deceleration 2 Decelerates drive with deceleration for Quick stop 0x6085 3 Decelerates drive at current limit 4 Decelerates drive at voltage limit 9 4 9 Object 0x605E Fault Reaction Option Code Object code VAR Data type INTEGER16 Attribute rw Default 2 Min 32768 Max 32767 PDO mapping yes Description This parameter is used to define the reaction of the drive in the...

Page 97: ...mode Value Meaning 1 Profile Position 3 Profile Velocity 6 Homing position adjustment 8 Cyclic sync Position 9 Cyclic sync Velocity 10 Cyclic sync torque 9 4 11 Object 0x6061 Operation Mode Display Object code VAR Data type INTEGER8 Attribute ro Default Min 128 Max 127 PDO mapping yes Description This parameter is used to display the current operating mode see Table 33 page 97 9 4 12 Object 0x6062...

Page 98: ...s object defines the interval for permissible actual position values around the nominal position value 0x6062 If the actual position value is outside this interval a tracking error exists A parameter value of 2 32 1 deactivates the tracking error monitoring A tracking error can occur if the drive is blocked if the target speed cannot be reached if the control parameters are set unfavorably if the ...

Page 99: ... is in this interval the target position is considered to have been reached 9 4 17 Object 0x6068 In Position Timeout Object code VAR Data type UNSIGNED16 Attribute rw Default 100 Min 0 Max 2 16 1 PDO mapping yes Description The parameter value specifies the minimum time in 1 ms steps for which the actual position value must be present in the position window before Target reached is indicated in th...

Page 100: ...eed units which results from the control algorithm 9 4 20 Object 0x606C Actual Velocity Object code VAR Data type INTEGER32 Attribute ro Default Min Max PDO mapping yes Description This object contains the current speed in speed units 9 4 21 Object 0x606D Velocity Window Object code VAR Data type UNSIGNED16 Attribute rw Default Min Max PDO mapping yes Description This object monitors whether the r...

Page 101: ...dow timeout The value is given in multiples of milliseconds 9 4 23 Object 0x606F Velocity Threshold Object code VAR Data type UNSIGNED16 Attribute rw Default Min Max PDO mapping yes Description As soon as the Velocity actual value exceeds the Velocity threshold longer than the Velocity threshold timeout bit 12 velocity 0 is reset in the status word Below this threshold the bit is set and indicates...

Page 102: ... 0x6076 9 4 26 Object 0x6072 Torque Limit Object code VAR Data type UNSIGNED16 Attribute rw Default 1250 Min 0 Max 10000 PDO mapping yes Description This object represents the maximum permissible torque in the motor and is given per thousand of rated torque The default value 1250 corresponds to 125 of the rated torque 0x6076 9 4 27 Object 0x6073 Limit for Torque generating Current Object code VAR ...

Page 103: ...ut value of the torque limit function The value is given per thousand of rated torque 0x6076 9 4 29 Object 0x6075 Motor rated Current mA Object code VAR Data type UNSIGNED32 Attribute rw Default 7600 Min Max PDO mapping yes Description This object specifies the rated motor current in mA 9 4 30 Object 0x6076 Motor rated Torque mNm Object code VAR Data type UNSIGNED32 Attribute rw Default 630 Min 0 ...

Page 104: ...e of the motor Unit Thousandths of rated torque 0x6076 9 4 32 Object 0x6078 Actual Current Object code VAR Data type INTEGER16 Attribute ro Default 0 Min Max PDO mapping yes Description This object contains the actual current value of the motor Unit Thousandths of rated current 0x6075 9 4 33 Object 0x6079 Actual DC Link Circuit Voltage mV Object code VAR Data type UNSIGNED32 Attribute ro Default 0...

Page 105: ...cription This parameter specifies the value range for the position value When a position limit is reached or exceeded the position value automatically jumps to the opposite end of the range This behavior can be prevented with parameter 0x607D Subindex 0 Number of entries Data type UNSIGNED8 Attribute ro Default 2 Min Max PDO mapping Description Specifies the number of following entries Subindex 1 ...

Page 106: ...s the absolute limits for position values The values are specified in position units relative to the machine zero point In the case of a new target position a check is made to see whether this is located in the software position range Subindex 0 Number of entries Data type UNSIGNED8 Attribute ro Default 2 Min Max PDO mapping Description Specifies the number of following entries Subindex 1 Lower po...

Page 107: ...d by 1 The parameter value is interpreted as follows Table 34 Direction reversal Bit 7 Bit 6 Bit 5 0 1 Direction reversal at position 0 No direction reversal at position 1 Direction reversal at speed 0 No direction reversal at speed reserved 9 4 39 Object 0x607F Max Profile Velocity Object code VAR Data type UNSIGNED32 Attribute rw Default 8100 Min 0 Max 2 32 1 PDO mapping yes Description This par...

Page 108: ...P operating mode page 35 9 4 42 Object 0x6083 Profile Acceleration Object code VAR Data type UNSIGNED32 Attribute rw Default 500 Min 1 Max 2 32 1 PDO mapping yes Description This parameter specifies in acceleration units the acceleration for the acceleration ramp see chapter 5 2 Profile Position PP operating mode page 35 9 4 43 Object 0x6084 Profile Deceleration Object code VAR Data type UNSIGNED3...

Page 109: ...ion Code has a value of 2 9 4 45 Object 0x608F Position Encoder Resolution Object code ARRAY Description This parameter defines the ratio of position increments to motor revolutions see chapter 5 8 Units page 56 Subindex 0 Number of entries Data type UNSIGNED8 Attribute ro Default 2 Min Max PDO mapping Description Specifies the number of following entries Subindex 1 Position increments Data type U...

Page 110: ...to motor revolutions per second see chapter 5 8 Units page 56 Subindex 0 Number of entries Data type UNSIGNED8 Attribute ro Default 2 Min Max PDO mapping Description Specifies the number of following entries Subindex 1 Speed increments Data type UNSIGNED32 Attribute ro Default 2 31 Min 1 Max 2 32 1 PDO mapping Description Speed increments per second Subindex 2 Motor revolutions Data type UNSIGNED3...

Page 111: ...ar and feed are also taken into account see chapter 5 8 Units page 56 The position factor is the ratio between position increments and position units defined by Formula 5 Subindex 0 Number of entries Data type UNSIGNED8 Attribute ro Default 2 Min Max PDO mapping Description Specifies the number of following entries Subindex 1 Position increments counter Data type UNSIGNED32 Attribute rw Default 10...

Page 112: ...y gear and feed are also taken into account see chapter 5 8 Units page 56 The speed factor is the ratio between speed increments per second and speed units defined by Formula 8 Subindex 0 Number of entries Data type UNSIGNED8 Attribute ro Default 2 Min Max PDO mapping Description Specifies the number of following entries Subindex 1 Speed increments counter Data type UNSIGNED32 Attribute rw Default...

Page 113: ...y Formula 10 Subindex 0 Number of entries Data type UNSIGNED8 Attribute ro Default 2 Min Max PDO mapping Description Specifies the number of following entries Subindex 1 Acceleration increments counter Data type UNSIGNED32 Attribute rw Default 2 31 Min 1 Max 2 32 1 PDO mapping yes Description Speed increments per second Subindex 2 Acceleration units denominator Data type UNSIGNED32 Attribute rw De...

Page 114: ...ping Description Number of entries Subindex 1 Homing velocity Data type UNSIGNED32 Attribute rw Default Min Max PDO mapping yes Description Speed during search for switch Subindex 2 Homing velocity Data type UNSIGNED32 Attribute rw Default Min Max PDO mapping yes Description Speed during search for zero 9 4 52 Object 0x609A Homing Acceleration Object code VAR Data type UNSIGNED32 Attribute rw Defa...

Page 115: ...nd is given in user defined velocity units In cyclic synchronous position mode this object contains the input value for velocity feed forward In cyclic synchronous velocity mode it contains the commanded offset of the drive The value is absolute 9 4 55 Object 0x60B2 Torque Offset Object code VAR Data type INTEGER16 Attribute rw Default 0 Min Max PDO mapping yes Description This object provides the...

Page 116: ...sible acceleration in user defined acceleration units 9 4 57 Object 0x60C6 Max Deceleration Object code VAR Data type UNSIGNED32 Attribute rw Default 100000 Min 1 Max 2 32 1 PDO mapping yes Description This parameter specifies the maximum permissible deceleration in user defined acceleration units 9 4 58 Object 0x60F4 Following Error Object code VAR Data type INTEGER32 Attribute ro Default Min 2 3...

Page 117: ...eached 1 yes 0 no 9 4 60 Object 0x60FE Digital Outputs Object code ARRAY Description This parameter enables control of the digital outputs provided by the encoTRive Subindex 0 Number of entries Data type UNSIGNED8 Attribute ro Default 2 Min Max PDO mapping Description Specifies the number of following entries Subindex 1 Output bits Data type UNSIGNED32 Attribute rw Default 0x0000 0000 Min Max PDO ...

Page 118: ... Attribute ro Default 3 Min Max PDO mapping yes Description This parameter specifies the type of motor used In the case of encoTRive this is a synchronous motor with permanent magnet value 3 9 4 63 Object 0x6502 Supported Drive Modes Object code VAR Data type UNSIGNED32 Attribute ro Default 0x0000 03A5 Min Max PDO mapping Yes Description This parameter specifies the operating modes supported by th...

Page 119: ...Data type UNSIGNED32 Attribute ro Default Min Max PDO mapping yes Description This parameter indicates the operation hours of the position encoder in 0 1 hours 9 4 65 Object 0x6510 Measuring Range in revolutions Object code VAR Data type UNSIGNED40 Attribute ro Default Min Max PDO mapping yes Description This object provides the distinguishable revolutions for high resolution position encoders ...

Page 120: ... master for testing devices on notebook desktop or industrial PCs with WINDOWS the EtherCAT Conformance Test Tool 1 20 80 is recommended See also hints in chapter 14 on page 152 As EtherCAT master for PLC projects on notebook desktop or industrial PCs with WINDOWS TwinCAT 2 10 or 2 11 is recommended The following descriptions refer to TwinCAT_2100_1323_32Bit 10 1 Installation of the ESI file Downl...

Page 121: ... the master settings select a compatible LAN adapter install it and select it Scan for boxes EncoTRive RELC should appear Go to the tab CoE Now it should upload and display the whole CoE directory The progress is indicated by a progress bar Check the boxes for PDO assign and download in its tab Process data Change its PDOs as you need them by inserting or deleting objects or accept the default Exp...

Page 122: ...device must be at least pre operational To change any SDO object you must double click on it in the tab CoE and download it The device must be at least pre operational The hexadecimal index values and data of objects are written like this 0x1234 Object Index 0x1234 0x1234 87 Object Index 0x1234 subindex 0x87 0x1234 87 54 The object at index 0x1234 and subindex 0x87 is set to 54 0x1234 87 0x54 The ...

Page 123: ... 0x5FFF 0x1011 04 64616F6C load If these objects are read back by SDO the result is 1 which indicates that the function is available and must be triggered by the user who must write the codes shown in the list above After sending a store or load command the drive is busy for some time While it updates the non volatile memory additional flags are set during reading back During this time the logic p...

Page 124: ...21 ready to switch on Control word 0x6040 0x000F Status word 0x6041 0x0637 operation enabled 10 6 2 Stop conditions Priorities Behavior If the drive has been turned on and thus has reached the DS402 state Operation enabled stop conditions can be triggered by the following events This list is sorted by the priorities and the highest comes first By a hardware failure which causes a fatal fault The d...

Page 125: ...ode Otherwise if the drive is blocked temporarily and then released it would shoot away ignoring all velocity and acceleration limits If the Following Error Window of DS402 is turned on by a value below 0xFFFFFFFF size and timeout are set according to the objects 0x6065 and 0x6066 and a following error triggers the related emergency 0x8611 In the Profile Position Mode or Profile Velocity Mode it a...

Page 126: ... Deceleration 0x6084 and stay in quick stop 6 Slow down at the quick stop Deceleration 0x6085 and stay in quick stop 0xC005 Slow down at the Homing Acceleration 0x609A and stay in quick stop 0 Immediately turn off the drive 1 Slow down at the Profile Deceleration 0x6084 before turning off the drive 0xC001 Slow down at the Homing Acceleration 0x609A before turning off the drive 2 or any other value...

Page 127: ... is stops or stays stopped Refer to the description below By the target value 0 in the velocity modes or by a position ramp in the profile position mode All acceleration values are clipped by the Maximum Acceleration 0x60C5 All deceleration values are clipped by the Maximum Deceleration 0x60C6 To detect a stop condition by bit 8 of the control word read back the control word 0x6040 To detect a sto...

Page 128: ...ositions it stops If the input bit for the upper limit switch is set and the drive moves to ascending positions it stops If both input bits are set the drive can t move at all Thus it is still possible to return into the allowed range Commands by the control word with target values that would move the drive into the wrong direction are ignored Important hints Bit 2 7 of the object 0x607E reverses ...

Page 129: ...rements per Motor Revolution 0x608F 1 0x608F 2 4096 1 2 12 Measuring range in revolutions 0x6510 65536 2 16 Required resolution 4096 Position Units Revolution Position Increments per Position Units 0x6093 1 0x6093 2 0x608F 1 4096 4096 4096 Maximum position measuring range Position Units 0x6510 0x608F 1 0x608F 2 0x6093 1 0x6093 2 2 12 16 2 28 268435456 0x10000000 Required position measuring range 2...

Page 130: ...3 1 0x6093 2 0x608F 1 360 4096 360 Maximum position measuring range Position Units 0x6510 0x608F 1 0x608F 2 0x6093 1 0x6093 2 360 2 12 1474560 0x168000 Required position measuring range 2 12 16 Position Units with a symmetrical zero Min Position Range Limit 0x607B 1 360 2 12 2 737280 0xFFF4C000 Max Position Range Limit 0x607B 2 360 2 12 2 1 737279 0x000B3FFF Linear moving range at most 50 of the n...

Page 131: ...emergencies are pending Refer to chapter 12 2 below for details about the emergencies and how to clear them 10 7 3 Status bit 29 Remote This bit is set as soon as the drive has passed the self test on startup While this bit is cleared the drive can t be controlled by the fieldbus This may be caused by a missing calibration or by a fatal hardware failure In both cases the drive must be sent back to...

Page 132: ...rated Torque in Nmm 0x6076 10 7 6 Status bit 212 Set point acknowledge Zero Speed In the Profile Position Mode this bit is the set point acknowledge for the handshake that starts new position ramps If the drive accepts the handshake it is set equal to the control word bit 2 4 New set point It is frozen if the DS402 state is not Operation enabled but anything else like Quick stop Active or Fault Re...

Page 133: ...er position range limits 0x607B If it is no true divider of the encoder stroke an emergency ECY_PARM_EUSTROKDIVRMND 0x6356 is set Normally it is expected that all user strokes have the same size while the drive travels along the encoder stroke or encoder measuring range But if there is a remainder the last user stroke will have exactly the same size so that it will be shorter than expected If a po...

Page 134: ...d by the Target position 0x607A unless it is already travelling to another destination If the target position is reached Status word 0x6041 0x1637 Control word 0x6040 0x000F Status word 0x6041 0x637 Control word 0x6040 0x003F Status word 0x6041 0x1237 The drive immediately travels to the location that has been indicated by the Target position 0x607A If it is already travelling to another destinati...

Page 135: ... Following Error Window 0x6065 is active and the following error exceeds it for the following error time in 0x6066 the drive changes to the fault state sets the status bit Following error and also sets the emergency ECY_POSCTRL_FOLLOW 0x8611 The fault reaction can be selected by its option code in 0x605E If the control bits Quick stop or Stop are set the drive stops according to the related option...

Page 136: ...ed A changed Target Velocity 0x60FF is evaluated immediately No control bits must be toggled The Target Position 0x607A is ignored Instead of the In Position Window and Time the Velocity Window and Time 0x606D and 0x606E are used The Velocity Window can be disabled by setting it to 65535 The digital input bits 2 0 and 2 1 work as lower or negative and upper or positive limit switches Refer to chap...

Page 137: ...que reaches its limits The digital input bits 2 0 and 2 1 or limit switches are ignored It is up to the responsibility of the bus master to consider them when it calculates the target values Following errors are handled in the operating modes CSP CSV and PP Profile Position Mode Also the status bit 13 Following error is set accordingly Decelerate with intermediate stop ramp is handled in the opera...

Page 138: ...ent must be setup properly so that the preset value is within the measuring range The polarity flags for the position and the velocity must be set to their final values before starting the homing If they are changed the homing must be repeated In previous firmware versions a non standard position adjustment was available too It was sufficient to write the required value into the actual encoder pos...

Page 139: ...ome offset toggles 0x6041 Bit 12 from 0 to 1 and stops while the new position adjustment is stored permanently Status word 0x6041 Bit 13 Homing Error must be 0 Example 3 Shifting of the software position limits by the home offset The home position is the position of the switch which is used to finish the homing procedure by triggering the final position adjustment The home offset is the distance f...

Page 140: ... Range Limit 0x607B 1 home offset negative reserve 260 Max Position Range Limit 0x607B 2 min pos range limit measuring range 1 3835 Corrected Min Software Position Limit min sw pos limit home offset 70 Corrected Max Software Position Limit max sw pos limit home offset 3040 Positive position reserve max pos range limit corrected max sw pos limit 795 Actual Position 0x6064 at the zero position 0 Act...

Page 141: ...ers for the position and speed regulation should work good enough Heavy loads with a low gear ratio or stick slip friction may require some tuning If there is no brake resistor attached to the chopper output of the drive an external brake chopper must be connected to the supply for the motor power Otherwise the drive may not be able to brake according to the ramp parameters and overshooting is ine...

Page 142: ...e proportional part by about 25 percent steps of the current value until overshooting humming or oscillating occurs Then return to the previous value Test the tuning by driving Increase the differential part by about 25 percent steps of the current value until overshooting humming or oscillating occurs Then return to the previous value Test the tuning by driving Repeat changing the proportional an...

Page 143: ...from the proper side it nevertheless stops for a short moment in a distance according to the Gear Backlash value Thus the final move is always performed with the same speed and acceleration The 2 points of the final move are indicated by the read only parameters Backlash target pos 1 and 2 2 is always equal to the actual target position 1 is the target position plus the Gear Backlash The Backlash ...

Page 144: ...AT System Manager Example program Download TwinCAT 2 10 and 2 11 compatible controls up to 30 drives simultaneously via EtherCAT Following functions are supported Firmware update Automatic test Manuel travelling to target speed Manuel travelling to target speed absolute and relative Example program for creation of own TwinCAT applications Download www tr electronic de f zip TR EMO SW GB 0037 ...

Page 145: ...the PDO length 0x06 04 00 43 General parameter incompatibility 0x06 04 00 47 General incompatibility in the device 0x06 06 00 00 Access error due to a hardware error 0x06 07 00 10 Wrong data type length of service parameters incorrect 0x06 07 00 12 Wrong data type length of service parameters too large 0x06 07 00 13 Wrong data type length of service parameters too small 0x06 09 00 11 Sub index doe...

Page 146: ... the DS402 Status word 0x6041 the bit 2 7 is set The current value of the error register is appended to an emergency message as the last byte If the condition for an emergency occurs more than once and it is already stored in the emergency list 0x1003 it is not sent again Furthermore it is not moved to the 1st place If it is required to react soon on such a condition this list should be cleared fa...

Page 147: ... power drive protection input B disabled PWM outputs 4 6 0x3000 Voltage generic error 0x3100 Voltage mains 0x3200 Voltage inside of the device 0x3210 DC link overvoltage wrong drive power supply or chopper can t eliminate whole braking current 0x3220 DC link overvoltage too weak or missing drive power supply or lines too long 0x3230 Output load error no load connected or all drivers destroyed 0x32...

Page 148: ...rrent measuring range 0x6348 An acceleration or deceleration limit was too low It was increased to 27 9 rpm internally in order to avoid overflows when calculating the duration of velocity ramps 0x6349 DS 402 stroke 0x607B max 0x607B min 1 must have at least 2 position units 0x6350 Position factor is too small at most 2 28 position units per revolution are allowed so that center and borders of pos...

Page 149: ...d exceeding the tolerances is more probably due to the poor accuracy of the quick calibration 0x7330 If not calibrating the gear disks Bad or missing calibration of the gear disks fault if not calibrating anything During the gear disk calibration AS5040 45 linearity error due to a magnetic field that is out of range missing magnet magnet too is close or too far away fault Actually the emergencies ...

Page 150: ... error PDO length exceeded 0x8611 Position control following error motor blocked motor load or required acceleration too high 0x9000 External error generic error 0xF000 Additional functions generic error 0xFF00 Device specific generic error 0xFF80 Command can only be executed if the drive operation is enabled 0xFF81 Command can only be executed if the drive is switched off 0xFF82 Homing mode is no...

Page 151: ...gs to M23 Speedcon 7 pin socket P 0227 326 2m 7x2 5mm 2 shielded crimped lugs to M23 Speedcon 7 pin socket Tinkered sloppy unshielded power supply cable with 3 1 pin solenoid valve female connector These cables are meant for connecting SELV power supplies with 4 mm banana jacks to the drives They must be tinkered by the user himself and are only applicable for quick tests on the the workbench with...

Page 152: ...red up Start the ECTT Add the proper EtherCAT master device and select the proper LAN adapter Scan the boxes The DUT should appear below the master in the tree view to the left Select it so that its tabs for communication and testing appear to the right Select the tab of the device and below the tab Startup Enter the SDO commands for setting up the sync masters and PDOs Otherwise the TF 2300_AL Co...

Page 153: ...l the progress bar at the bottom of the window disappears then press Upload all Now the values also appear in the object list Without these values TF 2300_AL CoE SDO information test will fail to assign the PDOs to the sync masters and the PDO mappings Select the TF 2300_AL CoE SDO information test in the tree view to the left Select the tab Test to the right and press the button Start If you expa...

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