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EtherCAT communication and synchronisation

Info

SDO write command (SDO download/Download
SDO)

è

11.8.1.1 SDO write command

(SDO download/download SDO)

SDO error message (Abort SDO transfer)

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11.8.1.3 SDO error message

(Abort SDO transfer request)

Emergency communication (Emergency communication)

è

11.8.2 Emergency

SDO information communication (SDO information com-
munication)

1)

Ethernet over EtherCAT communication (Ethernet over
EtherCAT communication)

è

11.8.3 Ethernet over

EtherCAT-Communication (EoE)

1) The CMMT supports SDO information communication for the transmission of "Get OD list/Get object description/Entry descrip-

tion/SDO info error".

Tab. 457 Overview of EtherCAT communication and synchronisation

11.3.2

EtherCAT bus

Topology

The CMMT can be integrated into an EtherCAT network string with ring, star or line topology

Ports

The CMMT is integrated into an EtherCAT network through the following connections.
–

Port XF1 IN: EtherCAT input

–

Port XF2 IN: EtherCAT output

Termination

The EtherCAT Slave Controller (ESC) monitors the two EtherCAT ports (XF1 IN/XF2 OUT) of the CMMT.
An open XF2 OUT port is automatically closed by the EtherCAT Slave Controller by the loopback func-
tion.

Wiring

For additional information see the description, assembly and installation of the servo drive

è

1.1 Applicable documents.

11.3.3

EtherCAT Slave Controller ESC

Der EtherCAT Slave Controller ESC forms the central communication unit for the CMMT for the
exchange of data between the control unit and the EtherCAT devices. Via the Distributed Clock DC the
EtherCAT Slave Controller controls the cyclical synchronous processing and transmission of process
data.

11.3.4

Protocol

The CMMT supports the following protocols for exchanging communication data:

EtherCAT

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Содержание CMMT-ST-SW

Страница 1: ...8097136 CMMT ST SW Servo drive 8097136 2019 02 8097138 Description Software Function Fieldbus Device profile...

Страница 2: ...anslation of the original instructions BISS CANopen CODESYS CiA EtherCAT PI PROFIBUS PROFINET are registered trademarks of the respective trademark owners in certain countries 2 Festo CMMT ST SW 2019...

Страница 3: ...ic and user units 22 2 1 6 Automatic data synchronisation 23 2 2 Working with CMMT ST the plug in 23 2 2 1 Open plug in 23 2 2 2 Connecting the plug in to the device 23 2 2 2 1 Connection control 23 2...

Страница 4: ...e 77 2 3 9 Parameter list 77 2 4 Diagnosis 78 2 4 1 Interface 78 2 4 2 Device state 78 2 4 3 I O state 80 2 4 4 Error log 81 2 4 5 Error classification 82 2 4 6 Trace configuration 83 2 4 7 Trace disp...

Страница 5: ...nternal units for the fieldbus factor group 115 3 2 5 Measuring reference system 120 3 2 5 1 Function 120 3 2 5 2 CiA 402 125 3 3 Drive configuration 125 3 3 1 Motor configuration 125 3 3 1 1 Function...

Страница 6: ...the power output stage 184 3 4 1 1 CiA 402 187 3 4 2 I t monitoring of motor 188 3 4 2 1 CiA 402 190 3 4 3 Temperature monitoring of the servo drive 190 3 4 3 1 CiA 402 192 3 4 4 System monitoring 19...

Страница 7: ...ds 265 4 4 3 1 Method 37 Current position 266 4 4 3 2 Method 33 34 current position with zero pulse in negative positive direction 266 4 4 3 3 Method 17 18 negative positive limit switch 267 4 4 3 4 M...

Страница 8: ...5 6 Software limit position reached 322 5 6 1 CiA 402 325 5 7 Standstill monitoring 325 5 7 1 CiA 402 328 5 8 Stop reached 329 5 8 1 CiA 402 331 5 9 Stroke limit reached 331 5 9 1 CiA 402 333 5 10 Spe...

Страница 9: ...ntrol Setpoint value control 372 6 3 1 Setpoint value connection 372 6 3 2 Inertia and friction compensation 377 6 3 3 CiA 402 380 6 4 Notch filter 381 6 4 1 Function 381 6 4 2 CiA 402 383 6 5 Auto tu...

Страница 10: ...5 1 CiA 402 506 9 6 Condition monitoring 508 9 6 1 Mileage counter 508 9 6 1 1 CiA 402 509 9 6 2 Load change counter 510 9 6 2 1 CiA402 511 9 6 3 Operating hour counter 511 9 6 3 1 CiA402 512 10 Web s...

Страница 11: ...p 534 11 7 1 5 Parameters and diagnostic messages 535 11 7 1 6 CiA 402 536 11 8 Mailbox communication 536 11 8 1 SDO communication 537 11 8 1 1 SDO write command SDO download download SDO 537 11 8 1 2...

Страница 12: ...gy who have experience in installation commissioning programming and diagnostics of electrical drive systems 1 1 Applicable documents All available documents for the product www festo com pk The user...

Страница 13: ...oller and drive regulator Incorrect parameterisation may cause the drive system to perform unwanted or unexpected move ments General safety instructions for the servo drive Instructions Installation S...

Страница 14: ...in are managed by the Festo Automation Suite Online help for Festo Automation Suite If a text in the plug in is not available in the selected language it switches back to the standard lan guage Engli...

Страница 15: ...ds in the plug in are separated by context Contexts represent the phases during which the user uses the plug in in conjunction with the servo drive These are the standard commissioning and optimisatio...

Страница 16: ...g in communication settings Additional information 2 2 2 1 Connection control Function Assign master control to the plug in or higher level controller The scroll bar shows the current setting Control...

Страница 17: ...er control an information symbol is displayed over the deactivated command Powerstage The tool tip for the command Powerstage contains the IP address and the port number of the device Function Send st...

Страница 18: ...deactivated Function Restart the device Restarting the device includes a reinitialisation The command is highlighted if device parameters that will only be implemented following a restart of the devi...

Страница 19: ...ing on the selected content page All parameter panels 2 3 Diagnostics panel Error log 2 4 4 Control side Manual movement 2 5 2 2 1 2 6 Display of real time values The sidebar displays real time values...

Страница 20: ...lays for example settings on several device paramet ers P or device independent information Changing values using the command area Depending on the device parameter the values can be changed via the c...

Страница 21: ...er has the same colour as the adorner 2 1 3 2 Pop up for automatic values changes If the plug in must automatically correct user inputs directly during input a pop up is displayed to the left of the i...

Страница 22: ...ment It switches from the currently selected list element to the first column header Shift tab Access previous column header If the first column header has been accessed it switches to the currently s...

Страница 23: ...by the user are immediately transferred to the device when exiting the input field or when the Enter button is actuated A synchronisation is therefore required when a connection to the device is esta...

Страница 24: ...of the device 2 2 2 2 Establishing and disconnecting a connection 5 Connection status Display connection status Connection status 6 Connection or device status Connected device Display device status d...

Страница 25: ...is an active diagnostic message information warning error the pop up for diagnostic messages can be opened by moving the mouse cursor over the status symbol mouse over A diagnostic message is defined...

Страница 26: ...he network Connecting device via the network Find device via the IP address Connecting device via the IP address If other devices are already connected to the device the plug in shows the following in...

Страница 27: ...Device communication dialogue The network is automatically scanned for available devices By clicking on the column name in the column header the devices are sorted in ascending or descending order ba...

Страница 28: ...and parameters The plug in is connected with the device with the specified IP address If the device is a CODESYS controller a connection is also automatically established with CODESYS The plug in and...

Страница 29: ...o the required device to be able to identify devices in a control cabinet for example An identification mechanism on the device such as a flashing LED on the device is activ ated The identification is...

Страница 30: ...firm mes sage with Ok The device name is changed Defining network settings The network settings for the device can be defined via the device communication dialogue Requirements The device communicatio...

Страница 31: ...st if there is a power failure or after a restart Users then have the option to save the changes on the device before it is disconnected or to continue with the disconnection process without saving th...

Страница 32: ...o the device is established Servo drive and motor data are imported Connection is terminated Initial commissioning assistant is launched Connect Connection to the device is established Stay offline No...

Страница 33: ...transmitted from the device to the project without any query If all parameters are valid in the project and the data does not match that of the device deviating parameters between the device and proje...

Страница 34: ...ster control If the connection is interrupted the plug in returns master control to the PLC Master control is set in the plug in via a slide switch in the toolbar If a plug in has the master control d...

Страница 35: ...mpleted all of the panels can be processed in any order Page Usage Configuring drive Selection of the hardware components of the drive Drive configuration Application data Setting specific application...

Страница 36: ...Axis Mounting kit One or more gear units can be optionally selected Click on a configured drive component to show additional information in the right sidebar such as Support User Manuals Application N...

Страница 37: ...ive components It is not necessary to select motor or mounting kit separately The integ rated motor and the integrated mounting kit are automatically configured and displayed when the Axis drive compo...

Страница 38: ...iption files The drive is configured in several steps in a pop up The user can scroll horizontally through the fol lowing pop up components Step 1 Selection of drive components in the search field and...

Страница 39: ...tion with the Search results button and select drive component again 2 With user specific components change parameterisation or set all parameters with newly selec ted components 3 Actuate settings wi...

Страница 40: ...der permanently homed true Px 4001 0 0 Activation of open loop operation false Encoder type no encoder P0 3237 0 0 Encoder permanently homed true Px 4001 0 0 Activation of open loop operation true oth...

Страница 41: ...dent on the selected axis type and selected mounting kit Toothed belt axis Spindle axis without parallel add on kit Spindle axis with parallel add on kit Rotative axis The installation position of the...

Страница 42: ...add on kit The following parameters can be set if a spindle axis with a parallel add on kit has been selected Installation position of the motor Reversing the direction of rotation There are two diff...

Страница 43: ...ach switch there is an option to determine whether the switch is used and which switch type it is If the switches are used they are automatically assigned to the digital inputs as follows Switches Dig...

Страница 44: ...rameters The following parameters can be specified via the interactive graphic or via the Software limits para meter group Axis zero point offset Negative software limit position Positive software lim...

Страница 45: ...nits The position of the reference point is dependent on the selected referencing method Slide with linear axis Piston rod with electric drives Drive shaft for rotative axes Axis reference point movea...

Страница 46: ...field is updated in the graphic The values of the software limit positions can also be specified in the Software limits parameter group and are then updated in the interactive graphic Defining the ref...

Страница 47: ...bination Symbol Description Switch to graphical display Switch to tabular display Tab 27 Description of the symbols for switching the page view Graphical display The graphical display shows all of the...

Страница 48: ...evice parameter including the status Tab 29 Description of the parameter list columns By clicking on in the column header filters can be assigned to the individual columns By clicking on the column na...

Страница 49: ...is valid Displaying errors in the navigator Fig 15 Displaying errors in the navigator If parameters on a parameter panel contain errors the number of errors is displayed in the navigator The total nu...

Страница 50: ...Display in tabular view The cases in the tabular display are depicted in colour as follows Case Colour display1 Unknown device object Different shades of light blue Missing device object Different sh...

Страница 51: ...ription of parameter identification marks 2 3 3 Drive configuration After adding a device from the device catalogue to a project the page displays Drive configuration a selection list that calls atten...

Страница 52: ...gative test Servo drive Motor The load voltage of the servo drive matches that of the motor The motor measuring system is supported by the servo drive encoder interfaces Servo controller Motor Motor G...

Страница 53: ...ation specific parameters for the configured drive components can be set or displayed in the plug in Additional information on drive configuration and the application specific parameterisation 3 3 Dri...

Страница 54: ...rev rpm Rad rad rad s Degree s Other parameters may also need to be entered depending on the axis type e g length feed constant Mounting kit No parameterisation required Gear Parameterisation is not r...

Страница 55: ...use device description files The drive is configured in several steps in a pop up The user can scroll horizontally through the fol lowing pop up components Step 1 Selection of drive components in the...

Страница 56: ...and select drive component again 2 With user specific components change parameterisation or set all parameters with newly selec ted components 3 Actuate settings with the Apply button The pop up is cl...

Страница 57: ...Integrating a device in a Festo controller and to the online help of the Festo Automation Suite The other plug in connector is active The Version field is populated as follows as a function of the Mod...

Страница 58: ...on the encoder configuration 3 3 3 Encoder configuration Encoder selection of position control The encoder for the position controller is selected in this parameter group Additional information on enc...

Страница 59: ...configuration parameter group is displayed If the plug in is connected to a device the Motor active configuration parameter group is dis played The user defined motor parameters are displayed and if...

Страница 60: ...eter groups to display and specify axis specific parameters e g for referencing axis configurations stop delay times and limit values Interactive graphic Depending on the referencing mode axis zero po...

Страница 61: ...ke 4 Positive software limit position 5 Negative software limit position 6 Measurement arrow for distance measure ment 7 Axis zero point 8 Reference point Fig 19 Interactive graphic for cantilever axe...

Страница 62: ...rent con figuration Homing point Reference point of the measuring system The position of the reference point is dependent on the selected referencing method Slide with linear axis Piston rod with elec...

Страница 63: ...meter group If the axis zero point value is specified via the Axis configuration parameter group the value also changes in the interactive graphic Positioning the axis reference point The axis referen...

Страница 64: ...ormation on monitoring the software limit positions 5 6 Software limit position reached Stop deceleration The stop ramp is parameterised in this parameter group Additional information on stopping 4 2...

Страница 65: ...Apply record set button The record is added to the record list Creating and editing a record link Up to three links to other records can be created for every record Up to 128 record sequences can be...

Страница 66: ...nks that refer to this record Fig 22 Elements of a record link Deleting and editing records and record links Records and record links can be edited or deleted via the corresponding and buttons next to...

Страница 67: ...target monitoring 5 4 Target area monitoring Standstill The standstill monitoring is parameterised in this parameter group The standstill monitoring indicates that the drive is not moving or is moving...

Страница 68: ...ent for open loop The current values for open loop operation are specified in this parameter group The following para meters are active only if the Current reduction activation is activated Current re...

Страница 69: ...en shaft The closed loop parameters correspond to the default values of the configured motor Calculated closed loop settings for the configured system The closed loop parameters were determined based...

Страница 70: ...is started with the Calculate with open shaft button based on the current drive configuration The calculated closed loop settings are only useful for operation of a motor that is not connected to the...

Страница 71: ...losed loop settings records is displayed at the bottom of the parameter panel Symbol Description Edit closed loop settings record Apply closed loop settings record to active parameter Tab 40 Descripti...

Страница 72: ...ssistant Additional information on auto tuning 6 5 Auto tuning Measurement of movement identification and Test movement validation The properties for the movement measurement and movement test are def...

Страница 73: ...ss and the dynamics of the closed loop controller soft medium or hard Status Display the auto tuning status Results Display the auto tuning results Tab 41 Description of the toolbar symbols for auto t...

Страница 74: ...ntroller enable is activated Cancel The reinitialisation is not executed and controller enable remains deactivated If another plug in has the master control an information symbol is displayed over the...

Страница 75: ...oller Result amplification gain of velocity controller Result integration constant of velocity controller Tab 43 Transferring device parameters Running auto tuning Before identification 1 On page Cons...

Страница 76: ...applications the auto tuning measurement result can be evaluated as follows on the Auto tuning diagnostics panel Display or export of logarithmic diagrams Export settings to a CSV file Additional info...

Страница 77: ...12 Jog mode The working area includes a parameter group to configure the motion parameter for jog mode Jog mode enables manual travel of the drive This is required in the following situations amongst...

Страница 78: ...eactivated Start trace button Read trace Read out recording from the device The command can be executed if the following prerequisites are met The plug in is connected to a device Recordings are avail...

Страница 79: ...number of the diagnostic message with the highest priority for the axis 3 Acknowledge all Acknowledge all of the current diagnostic messages 9 4 5 Acknowledging messages and errors 4 Message directory...

Страница 80: ...Diagnostic message with a medium degree of severity Active Cause is active Cancelled Cause no longer active Warning Acknowledged Diagnostic message has already been acknow ledged Information Diagnosti...

Страница 81: ...tic messages currently on the device is available in the working area The table is split into the following columns Index State Category ID Name Timestamp Adorner Information on dividing the error mes...

Страница 82: ...onal information on error classification 9 2 Classification of diagnostic events The Error classification diagnostic panel contains a table with all of the diagnostic messages from the device for whic...

Страница 83: ...page Error Log button via the table opens the Error log dia gnostics panel 2 4 6 Trace configuration The working area contains parameter groups to configure a trace recording All available device para...

Страница 84: ...ding channels and the data type and is automatically calculated Trigger preferences The trigger can be selected and configured in this parameter group The parameter group is only vis ible if at least...

Страница 85: ...e parameter group and can be changed or deleted again if required The lead and follow up time specifies during which period measurements are completed before and after the trigger event The lead and f...

Страница 86: ...he start and read out of a recording can be triggered for example via commands from the toolbar of the context Diagnosis 2 4 1 Interface If there are no recordings available a corresponding message is...

Страница 87: ...s that are not currently shown in the graph section are not highlighted in bold Clicking on the entry switches over the display and shows the recording in the graph section 4 Button Import Recordings...

Страница 88: ...he elements of the assigned recording are hidden Clicking on the symbol opens the elements in the recording list This shows all elements of the recording in the list Scaled on the Y primary axis The m...

Страница 89: ...chart as image Exports the selected graph as an image file Copy chart to clip boad Copies the selected graph as an image to the Windows clipboard Tab 56 Commands of the context menu for the graph sect...

Страница 90: ...se position Releasing the mouse but ton will cause the size of the zoom box to become zoomed Zooming with the mouse wheel Point to the graph section with the mouse Zoom in or out with the mouse wheel...

Страница 91: ...ar with dimensional reference to the X axis and to the Y primary axis Keep the CTRL left mouse but ton pressed and drag the mouse The measuring bar will stretch from the start point to the current mou...

Страница 92: ...the tool tip command Exporting the recording Recordings can be exported as a CSV file or as an image file or they can be copied directly as an image or as csv data to the clipboard CSV data and files...

Страница 93: ...ment result can be evaluated as follows on the Auto tuning diagnostics panel Display or export of logarithmic diagrams Export settings to a CSV file Requirements for using the functions Perform auto t...

Страница 94: ...settings Reads auto tuning settings from the device Export settings Exports the displayed settings to a CSV file Export graph Exports the displayed graphs to a common image file png The generated fil...

Страница 95: ...s The standard values are read out of the device Entered values have priority over standard values A standard value is used if no value is entered for a parameter The target position and velocity valu...

Страница 96: ...jogging Jog movement in positive direction Single step 3 Distance of single step Movement in single steps 2 Negative single step Start movement in negative direction along specified path 5 Positive s...

Страница 97: ...1 Select closed loop settings record 2 Transition period during which the closed loop settings record should be transferred to the active closed loop parameters 3 Activate closed loop settings record...

Страница 98: ...drive into a CODESYS program is described below Connecting device to a controller as a slave Connect device to a Festo controller as a slave Online help for Festo Automation Suite chapter Projecting d...

Страница 99: ...CODESYS SoftMotion and requires a controller with SoftMotion function Integration into the control program takes place as in CODESYS by transfer of the SoftMotion axis object to PLCopen modules for S...

Страница 100: ...st be ensured that a method is only called up once and not cyclically The device driver then executes the relevant function itself and the status can be evaluated by requesting the corresponding prope...

Страница 101: ...ice has 4 MAC addresses in total The first MAC address can be found on the type plate while the other three have consecutive numbers based on the first address MAC addresses 1 2 and 3 are allocated to...

Страница 102: ...performed in a device internal manner in interaction between the firmware management component and the bootloader Festo Automation Suite carry out the abovementioned steps automatically one after anot...

Страница 103: ...ve location invalid Firmware save location invalid 11 04 00186 184811706 Firmware save location empty Firmware save location empty 11 04 00187 184811707 Firmware update not allowed Firmware update not...

Страница 104: ...parameter only used within the firmware Factory parameter set Device specific parameter set contains the spe cific default values of the servo drive User parameter set Application specific parameter...

Страница 105: ...device specific plug in I O interface Ex works the device profile interface has the master control after activation master control via field bus Through parameterisation the master control can also b...

Страница 106: ...ays possible Simultaneous connections via standard Ethernet interface Through the standard Ethernet interface 2 connections at once are technically possible e g through 2 device specific plug ins If t...

Страница 107: ...er parameter set switchover 0x2001 05 Method return value Return code Tab 73 Controller parameter set switchover 3 1 5 3 Saving zero point offset CiA402 Method Object Function Description 0x2002 01 Co...

Страница 108: ...method 0x2005 02 Method status Status 0x2005 03 Method transfer value Value 1 0x2005 04 Method return value Return code Save parameter set 0x2005 05 Method return value Value 1 Tab 77 Save parameter...

Страница 109: ...hod 0x2008 02 Method status Status 0x2008 03 Method transfer value Mode Px 113000 Position Capture Touch Probe 0 0x2008 05 Method return value Return code Tab 80 Position capture touch probe 0 3 1 5 1...

Страница 110: ...ate effective immediately 5 8416 1 Axis zero point offset 2 Unit user defined 6 Tab 82 Parameter example Cell Content description 1 Parameter number 2 Name of the parameter 3 Brief description of the...

Страница 111: ...to the relevant parameters are listed Structure of the CiA object tables In the device specific section the function descriptions contain tables in which objects allocated to the parameters involved...

Страница 112: ...the user Size Basic unit Data type Temperature T Degrees Celsius C FLOAT32 Current I Ampere A FLOAT32 Voltage r Volt V FLOAT32 Energy E Joule Watt second J Ws FLOAT32 Torque M Newton metre Nm FLOAT32...

Страница 113: ...user the plug in performs the necessary conversion in the commissioning software of Festo During the use of the plug in the units shown there and or resolution for the entry of the respective paramete...

Страница 114: ...s 3 Rev rev rpm 4 Rad rad rad s 5 Degree s 6 Metric m m s 7 Imperial in in s Access read write Update reinitialization 1151 Selection of next user unit Unit Specifies whether the user unit is active A...

Страница 115: ...Px Parameters Description Determines the resolution of the position The value is inter preted as ten expont e g with meter and 6 the resolution is 1 m Access read write Update reinitialization 7841 R...

Страница 116: ...date effective immediately 7854 User unit jerk Unit Tab 92 Parameters CiA 402 Objects for the scaling of internal units for fieldbus Parameters Index Subindex Name Data type Px Manufacturer specific o...

Страница 117: ...I Unit INC 1 s2 46167 SI Unit ROUND U s 1 s2 50369 SI Unit ROUND rpm 1 min s 4183 SI Unit RAD 1 s2 16727 SI Unit DEGREE 1 s2 343 SI Unit METRE 1 s2 49239 SI Unit INCH 1 s2 Jerk 49920 SI Unit INCI 1 s3...

Страница 118: ...0 Resolution acceleration 1 7843 0 0 0 Resolution 10 0 Resolution jerk 1 7843 0 0 0 Resolution 10 0 Tab 95 Parameters for setting factor group example In CODESYS the increments must be set to 100000 s...

Страница 119: ...tion P1 7841 0 0 6 Resolution 10 6 Resolution velocity P1 7842 0 0 3 Resolution 10 3 Resolution acceleration 1 7843 0 0 3 Resolution 10 3 Resolution jerk 1 7843 0 0 3 Resolution 10 3 Tab 96 Setting fa...

Страница 120: ...tion of the signs or directions refer to the view on the front side of the motor drive shaft The signs of all directional variables are defined at the factory as follows Positive direction of movement...

Страница 121: ...osition TP AP c Optional negative software end position SLN 1 d Optional positive software end position SLP 1 1 Usable range 2 Operating range 3 Direction of rotation with factory setting looking at t...

Страница 122: ...variables are converted automatically Linear measuring reference system Example linear drive REF Homing point reference point AZ Axis zero point SLN Negative software end position software limit negat...

Страница 123: ...of software end positions The position is specified relative to the axis zero point AZ The controller checks whether the target position of the command record lies between the software end positions...

Страница 124: ...reinitialization 1170 Reversing the direc tion of rotation Unit Determines whether the encoder signal shall be inverted This means 0 inactive do not invert the encoder signal 1 active invert the enco...

Страница 125: ...ecific objects saved basic unit for the object is effective 1170 0x217D 01 Reversing the direction of rotation BOOL 1171 0x226E 01 0A Invert encoder signal BOOL 1172 0x217D 02 Phase rotation BOOL Tab...

Страница 126: ...during the configuration procedure of the plug in Tab 103 Motor configuration options For the configuration of the motor parameters with the following motor data are present in the device Active motor...

Страница 127: ...11 Motor inertia user defined Unit kgm Specifies whether the sequence of phases is swapped The usu al phase sequence for the servomotor to turn clockwise is ascending U V W If the servomotor has the p...

Страница 128: ...ata sheet of the motor Access read write Update reinitialization 7126 Nominal rotary speed user defined Unit rpm Specifies the inductance between 2 motor phases data sheet of the motor Access read wri...

Страница 129: ...ssible winding temperature of the motor data sheet of the motor Access read write Update reinitialization 7147 Winding temperature user defined Unit C Specifies the sensor type of the temperature sens...

Страница 130: ...lay hold ing brake user defined Unit s user configured switch off delay Determines how long the closed loop controller shall hold the current position so that the holding brake can be closed com plete...

Страница 131: ...nnot be measured data sheet of the motor Access read write Update reinitialization 71430 Lq inductance user defined Unit H The inductance is in parallel with the direction of the field This value is a...

Страница 132: ...efined BOOL 7117 0x216C 04 Nominal current user defined FLOAT32 7120 0x216C 05 Maximum peak current user defined FLOAT32 7123 0x216C 06 Maximum rpm user defined FLOAT32 7126 0x216C 07 Nominal rotary s...

Страница 133: ...egrated encoder the motor data can be read out The read out motor data is transferred to the parameters listed here The device has an encoder interface The parameters of the encoder interface are allo...

Страница 134: ...0 is the assignment A A and B B For the phase sequence equal to 1 the assignment A A and B B is Changing the phase sequence changes the rotating field of the motor Access read Update reinitialization...

Страница 135: ...Specifies the ratio of the motor torque to the root mean square value of the current root mean square value Access read Update reinitialization 7134 Torque constant Unit Nm Arms Specifies the duration...

Страница 136: ...ccess read Update reinitialization 7150 Major version hard ware Unit Specifies the minor version number of the hardware Access read Update reinitialization 7151 Minor version hard ware Unit Sensor typ...

Страница 137: ...y saved in the EEPROM for the deactivation of the regu lator if an electronic data sheet for the Festo motor is stored Access read Update reinitialization 7164 Switch off delay hold ing brake Unit s S...

Страница 138: ...sured data sheet of the motor Access read Update reinitialization 7429 Ld inductance Unit H Selection of motor type data sheet of the motor Access read Update reinitialization 7430 Motor type Unit Tab...

Страница 139: ...g temperature FLOAT32 7149 0x2106 21 Nominal motor voltage FLOAT32 7150 0x2106 23 Major version hardware STRING 2 7151 0x2106 25 Minor version hardware UINT16 7152 0x2106 27 Temperature sensor UINT32...

Страница 140: ...Access read Update effective immediately 719 Current pole pairs Unit Specifies the inertia of the active motor data sheet of the motor used Access read Update effective immediately 7112 Current motor...

Страница 141: ...current maximum velocity of the motor used Access read Update effective immediately 7124 Current maximum velocity Unit user defined Specifies the current nominal velocity of the active motor Access re...

Страница 142: ...ulting maximum torque Unit Nm Specifies the duration for which the parameterised maximum current may act In the case of a servomotor the current set point is automatically limited to the rated current...

Страница 143: ...read Update effective immediately 7160 Holding brake Unit Specifies the currently used switch on delay of the holding brake Determines how long the next command is delayed after a con troller enable...

Страница 144: ...Update effective immediately 71422 Current nominal motor voltage Unit V Specifies the effective current that the motor requires to apply the stall torque data sheet of the motor Access read Update eff...

Страница 145: ...2 03 Current motor inertia FLOAT32 7115 0x2162 04 Current phase sequence BOOL 7118 0x2162 05 Current nominal current FLOAT32 7121 0x2162 06 Current maximum current FLOAT32 7124 0x2162 07 Current maxim...

Страница 146: ...6 Holding brake 1 Motor holding brake Tab 113 Output for the brakes holding brake The output is intended for the actuation of a brake that drops when the system is in a non energised status and holds...

Страница 147: ...Not ready for operation status An error message is emitted error status The error must be reset When the request is rescinded the drive can be set in the ready for operation status again through the c...

Страница 148: ...parameterised switching function 3 3 2 2 Parameters and diagnostic messages Plug in 2 5 2 Device profile 3 3 2 3 CiA 402 Tab 116 Releasing the holding brake When the closed loop controller is released...

Страница 149: ...40004 The voltages for the holding brake in Px 40003 and Px 40004 may not be higher than the logic supply voltage regardless of the parameterisation 3 3 2 2 Parameters and diagnostic messages ID Px P...

Страница 150: ...ffective immediately 29 Selection of holding brake manual open ing Unit user configured switch on delay Access read write Update reinitialization 7162 Switch on delay hold ing brake user defined Unit...

Страница 151: ...read write Update effective immediately 40001 Activation current reduction holding brake Unit Specifies the time with which the current reduction for the hold ing brake is initiated Access read write...

Страница 152: ...itch off delay holding brake user defined FLOAT32 7163 0x2162 12 Current switch on delay holding brake FLOAT32 7166 0x2162 13 Current switch off delay holding brake FLOAT32 7161 0x2106 2B Switch on de...

Страница 153: ...the EEPROM The data saved in the EEPROM are assumed during reinitialisation as active data independently of parameter Px 14 0 0 Fig 35 ID Px Parameters Description Determines the commutation angle sa...

Страница 154: ...saved in the parameter set shall still be valid This means 0 invalid 1 valid Access read write Update reinitialization 3226 Referencing in user configuration is valid Unit Displays whether the curren...

Страница 155: ...the switch on phase shall be checked as to whether the detected motor encoder corresponds with the last motor encoder used The following applies 0 motor change check active 1 motor change check inacti...

Страница 156: ...ratio group of the encoder interface con taining the gear ratio and feed constant The gear ratio and feed constant can be set individually for each encoder In the pro cess the gear ratio and feed cons...

Страница 157: ...Specifies the electrical angle of the encoder calculated from the number of pole pairs the pole pitch and the offset Access read Update effective immediately 11604 Electrical angle Unit Specifies the...

Страница 158: ...on 11616 Encoder selection Unit Specifies the encoder type currently configured for the encoder interface Access read Update effective immediately 11617 Active encoder Unit Determines the filter time...

Страница 159: ...eration filter Unit s Tab 122 Encoder parameters Fig 37 Selection of the gear ratio and feed constant using the gear ratio group Name Description Gear ratio Gear ratio Feed constant Feed constant Nume...

Страница 160: ...encoder selection ID Dx Name Description 18 00 00092 301989980 Motor change detected commut ation angle invalid Motor change detected commutation angle invalid 18 00 00093 301989981 Motor change detec...

Страница 161: ...igura tion BOOL 3230 0x2130 33 Current commutation angle valid BOOL 3234 0x2130 39 Electrical angular frequency filtered FLOAT32 3236 0x2130 3D Deactivation motor change check BOOL 3237 0x2130 3F Enco...

Страница 162: ...er inter face 2 device specific Access read write Update reinitialization 10040 Encoder resolution Unit Inc r Specifies the raw position value delivered by the single turn encoder in increments Access...

Страница 163: ...xample A motor with incremental distance measuring system shall be used resolution 2000 inc rev quad ruple evaluation gear unit 3 1 feed constant 90 mm rev Parameter settings example Parameters Value...

Страница 164: ...6 10041 0x2138 04 Raw value position UINT16 10042 0x2138 07 Raw value number of revolutions SINT16 10043 0x2138 0A Quadrature evaluation UINT8 10044 0x2138 0D Activate of position correction when zero...

Страница 165: ...ive immediately 3610 CRC BiSS C Unit Defines the baud rate at which the encoder data is transmitted Access read write Update reinitialization 3612 Baud rate Unit Determines whether the correction tabl...

Страница 166: ...on single turn UINT32 3602 0x21A2 02 Resolution multiturn UINT32 3603 0x21A2 03 Single turn position UINT32 3604 0x21A2 04 Multi turn numerator UINT32 3610 0x21A2 0A CRC BiSS C UINT8 3612 0x21A2 0C Ba...

Страница 167: ...ngle Unit Specifies the electrical angular frequency used by the commuta tion Access read Update effective immediately 1213 Electrical angular fre quency Unit Hz Tab 135 Parameters of the actual value...

Страница 168: ...r signal 1 active invert the encoder signal One encoder is allocated to every index Index for the Invert encoder signal parameter Px 1171 Access read write Update reinitialization 1171 Invert encoder...

Страница 169: ...rotation BOOL 1171 0x226E 01 0A Invert encoder signal BOOL 1172 0x217D 02 Phase rotation BOOL Tab 139 Objects 3 3 3 12 Parameters of the commutation angle detection Commutation angle detection normal...

Страница 170: ...Access read write Update effective immediately 662 Time current increase Unit s Determines the increment for the commutation angle detection Access read write Update effective immediately 664 Incremen...

Страница 171: ...angle Unit Defines the factor for the current setpoint used for the commut ation angle determination Access read write Update effective immediately 6694 Factor current set point value Unit Tab 140 Pa...

Страница 172: ...otor with which the homing and zero point offset were performed is still connected during the switch on phase If the motor was exchanged the CMMT generates a corres ponding error message The exchange...

Страница 173: ...e 3 Gear unit 4 Output side 5 Axis Fig 38 Gear ratio example Parameters of gear ratio groups 0 1 2 The device offers 3 gear ratio groups For each gear ratio group a gear ratio and a feed constant can...

Страница 174: ...tant denom inator Unit Tab 144 Parameter for gear ratio group 0 The following parameters form gear ratio group 1 and 2 ID Px Parameters Description Determines the numerator of the gear ratio for the u...

Страница 175: ...iguration The plug in calculates the numerator from parameters Px 1232 Px 1233 Px 1236 Px 1237 Px 1240 and Px 1241 and the denominator of the overall trans mission ratio of the gear ratio group 0 Px 1...

Страница 176: ...ID gear unit 2 Unit Specifies the order code of the second configured gear unit Access read write Update effective immediately 1235 NOC code gear unit 2 Unit Specifies the numerator of the gear ratio...

Страница 177: ...e drive configuration 3 3 4 2 CiA 402 Objects of gear ratio group 0 Parameters Index Subindex Name Data type Px CiA402 factor group is effective 1242 0x60E8 01 Total conversion factor gear unit numera...

Страница 178: ...cts Parameter of the gear units from the drive configuration Parameters Index Subindex Name Data type Px Manufacturer specific objects saved basic unit for the object is effective 1230 0x2182 01 Datab...

Страница 179: ...switching logic of the digital inputs and outputs This means 0 NPN logic earth is switched 1 PNP logic a potential is switched Access read write Update restart 10191 Activate PNP input and output beha...

Страница 180: ...tion of the digital output signal at connection X1A 10 Possible signals Tab 154 Configurable output signals at X1A 9 and X1A 10 Access read write Update reinitialization 11204 Digital output X1A 10 Un...

Страница 181: ...rection The switching function can be set with parameters Px 101100 and Px 101101 N C or N O contact For more information see 5 5 Hardware limit switch reached 11 Record table input 0 12 Record table...

Страница 182: ...ogical status of the corres ponding cam switch 12 Drive referenced The output becomes active when the drive is being homed 13 Target position reached The output becomes active when the actual position...

Страница 183: ...icates the exceeding of the limit value 31 Pushback The output becomes active when the set torque and direction of movement do not correlate and the para meterised damping time has expired 32 MC The o...

Страница 184: ...e power output stage from thermal damage due to an excessive dissipation of electrical energy In the process the limit values of a certain warning threshold and upper limit are monitored When the resp...

Страница 185: ...t A s Specifies the scaling factor for the warning limit based on the limit value of the I t monitoring of the power output stage Access read write Update effective immediately 6311 Scaling factor war...

Страница 186: ...mmediately 6317 Scaling factor warning limit I t monitoring drive at standstill Unit Specifies the actual value for relative I t monitoring of the power output stage to the limit Access read Update ef...

Страница 187: ...A 07 Scaling factor start value I t monitoring power output stage FLOAT32 638 0x216A 08 Limit value I t monitoring power output stage FLOAT32 639 0x216A 09 Scaling factor maximum value after switching...

Страница 188: ...first order with a standardised status variable of 0 to 1 and a parameterisable filter time constant of Px 7144 3 3 1 Motor configuration If the deceleration member reaches the value 1 this means that...

Страница 189: ...ies the scaling factor for setting the warning limit for I t monitoring based on the limit value of I t monitoring of the motor model Access read write Update effective immediately 6305 Scaling factor...

Страница 190: ...overtemperature The upper and lower limit values of a certain warning threshold and of a certain upper and lower limit are monitored including hysteresis The hysteresis is 5 C When the respective lim...

Страница 191: ...ctive immediately 9316 Lower limit value warning threshold power output stage temperature Unit C Determines the lower limit value of the temperature monitoring of the power output stage Access read wr...

Страница 192: ...rvo drive Parameters Index Subindex Name Data type Px Manufacturer specific objects saved basic unit for the object is effective 920 0x2128 01 Temperature power output stage FLOAT32 921 0x2128 02 Temp...

Страница 193: ...or exceeded over a certain period of time a diagnostic message is triggered The servo drive tolerates a short term interruption of the mains voltage The tol erance time is device specific and cannot...

Страница 194: ...ltage root mean square value FLOAT32 492 0x2115 03 Actual rectified load voltage value FLOAT32 493 0x2115 04 Lower load voltage limit value FLOAT32 494 0x2115 05 Upper load voltage value FLOAT32 495 0...

Страница 195: ...monitoring of the DC link voltage Access read write Update effective immediately 4811 Warning thresholds DC link voltage Unit V Determines the upper limit value for the monitoring of the DC link volta...

Страница 196: ...e circuit warning threshold reached Intermediate circuit warning threshold reached Tab 170 Diagnostic messages of Monitoring of the DC link voltage CiA 402 Parameters Index Subindex Name Data type Px...

Страница 197: ...the intermediate circuit is disconnected from the load supply to protect the other devices The automatic detection of the threshold value for the switch off can be switched off with Px 10184 and speci...

Страница 198: ...h on threshold reactive current braking Unit V Active end value for reactive current braking Access read Update effective immediately 102102 Active end value reactive current brak ing Unit V Status of...

Страница 199: ...e current braking Unit V Tab 172 Parameters CiA 402 Return energy feed objects Parameters Index Subindex Name Data type Px Manufacturer specific objects saved basic unit for the object is effective 10...

Страница 200: ...Objects 4 Motion control 4 1 Operating modes 4 1 1 Finite state machine The internal finite state machine defines how the available operating statuses of the device are changed If the device completes...

Страница 201: ...connected Disabled The device is blocked The output stage is locked and switched off Ready The device is ready The output stage is switched off The brake can be set and released manually 3 3 2 Brake c...

Страница 202: ...on to the Disabled status occurs status occurs if the output stage enable is cancelled or a safety stop is requested e g STO Note 2 The transition to the Not ready status occurs e g if the connec tion...

Страница 203: ...Operating modes Description Profile operating modes Positioning mode PP Velocity mode PV Force torque mode PT The servo drive uses the integrated trajectory generator to generate the relevant setpoin...

Страница 204: ...is moving In the case of other operating modes the current motion command must be completed or cancelled before switching the operating mode See the following table for an overview To From PP PV PT CS...

Страница 205: ...until the operating mode switch is complete message Unwanted command value jumps after switching the operating mode must be avoided by input corresponding command value specification by the user or by...

Страница 206: ...perating mode 3 The CSP operating mode is active The nominal velocity Target velocity and the nominal position Target position are sent However the target velocity is not used in the current operating...

Страница 207: ...the PP PV and PT profile operating modes is possible Monitoring functions The monitoring functions marked with a dot are effective in this operating mode Motion monitoring function status word Bit Cod...

Страница 208: ...ing Motion quantities The path course of a positioning command is largely influenced by the following motion quantities Motion quantities Description Target position Target specification specification...

Страница 209: ...0 0 0 5 1 0 6 5 4 3 2 1 0 1 0 0 5 0 0 0 5 1 0 x v a j Fig 43 Positioning mode timing graph example Name Description x Item v Speed a Acceleration j Jerk Tab 182 Legend for positioning mode timing grap...

Страница 210: ...d value 0x6062 Profile velocity or End velocity Profile acceleration 0x6083 Profile deceleration 0x6084 Quick stop deceleration 0x6085 Profile acceleration or profile deceleration or quick stop decele...

Страница 211: ...1 0x6081 0 Profile velocity CiA402 UINT32 8132 0x6082 0 End velocity CiA402 UINT32 8133 0x6083 0 Profile acceleration CiA402 UINT32 8134 0x6084 0 Profile deceleration CiA402 UINT32 8135 0x6085 0 Quick...

Страница 212: ...not toggle A rising edge in the stop status results in the motion command being aborted 1 x x x The motion command is interrupted with the stated deceleration object 0x6084 Profile deceleration 1 sign...

Страница 213: ...Position following error limit reached 1 Signal status 0 low 1 high Tab 186 Monitoring positioning mode 4 1 4 Velocity mode PV 4 1 4 1 Function In the velocity mode profile position operating mode the...

Страница 214: ...tion target area monitoring 7 TMV Speed target area monitoring 8 TMT Torque target area monitoring 9 11 Reserved 12 HLP Hardware limit switch reached positive 13 HLN Hardware limit switch reached nega...

Страница 215: ...city Acceleration Nominal acceleration Deceleration Nominal deceleration with target velocity actual velocity Jerk Maximum value for the jerk during the acceleration phase and deceleration phase Activ...

Страница 216: ...6 1 0 0 5 0 0 0 5 1 0 v a j Fig 46 Timing graph of velocity mode example Name Description v Speed a Acceleration j Jerk Tab 190 Legend for timing graph of velocity mode 4 1 4 2 CiA 402 The following g...

Страница 217: ...tion Position actual value 0x6064 Velocity actual value 0x606C Controlword 0x6040 Statusword 0x6041 Fig 47 Trajectory generator in velocity mode PV Objects Parameters Index Subindex Name Data type Px...

Страница 218: ...x216D 02 Status word CiA402 UINT16 128 0x2155 09 Actual position value SINT64 1210 0x2155 0B Actual velocity value FLOAT32 4610 0x2166 0B Monitoring window target speed FLOAT32 468 0x2166 09 Damping t...

Страница 219: ...e decelera tion 1 Signal status 0 low 1 high Tab 192 Control velocity mode Object 0x6041 Statusword The following statuses of velocity mode can be monitored with the object Bit 10 target velocity reac...

Страница 220: ...stroke limitation Force torque with velocity limitation with velocity and stroke limita tion Force torque with velocity and stroke limitation Tab 194 Variants of force torque In force torque mode new...

Страница 221: ...peed monitoring 22 PB Pushback monitoring 23 RDX Remaining distance monitoring 24 MC Trajectory completed 25 REFS Reference switch activated 26 TUR Torque utilisation exceeded 27 FSPR Fixed stop reach...

Страница 222: ...table the fieldbus direct mode Requirements for force torque Controller enable Timing 1 8 0 6 0 4 0 2 0 0 0 2 0 1 0 0 0 1 0 2 0 3 0 4 0 5 1 8 0 6 0 4 0 2 0 0 0 2 0 0 0 2 0 4 0 6 0 8 1 0 M M s Fig 48 F...

Страница 223: ...rolword 0x6040 Statusword 0x6041 Fig 49 Trajectory generator in force torque PT Objects Parameters Index Subindex Name Data type Px CiA402 factor group is effective 730 0x6040 00 Control word CiA402 U...

Страница 224: ...526796 0x2168 17 Maximum torque symmetrical FLOAT32 856 0x2168 07 Limit value total current closed loop control ler FLOAT32 3014 0x2188 07 Setpoint generator output torque FLOAT32 7118 0x2162 05 Curre...

Страница 225: ...reached 0 Halt 1 drive decelerated 1 Halt 1 velocity 0 1 Signal status 0 low 1 high Tab 200 Monitoring force torque mode 4 1 6 Cyclic synchronised positioning mode CSP 4 1 6 1 Function Cyclic synchron...

Страница 226: ...ition reached positive 15 SLN Software limit position reached negative 16 STX Standstill monitoring position velocity 17 STV Standstill monitoring velocity 18 LS Stop reached 19 STLP Stroke limit reac...

Страница 227: ...straight CSP operation without external pilot control values pilot control values are generated by an internal algorithm Ipo algorithms 4nd order CSP V external velocity pilot control value Ipo algori...

Страница 228: ...the input and output values for the interpolator in straight CSP operation with velocity and torque pilot control values Fieldbus Interpolator x v M x x v v M M x Controller v a 0 j 0 M I 0 Ipo algor...

Страница 229: ...eration An invalid mode of operation was requested Tab 205 Diagnostic messages 4 1 6 2 CiA 402 The following graphs show an overview of the objects involved in the cyclic synchronised positioning mode...

Страница 230: ...Following error window 0x6065 Following error time out 0x6066 Max torque 0x6072 Motor rated torque 0x6076 Motor rated torque 0x6076 Torque offset 0x60B2 Velocity actual value 0x606C Torque actual valu...

Страница 231: ...on UINT8 7123 0x6080 00 Maximum rpm user defined UINT32 8135 0x6085 00 Quick stop deceleration CiA402 UINT32 8138 0x60B1 00 Velocity offset CiA402 SINT32 8111 0x60B2 00 Torque offset CiA402 SINT16 468...

Страница 232: ...s CSP CSP V CSP T CSP VT Objects 0x607A 0x60B1 0x60B2 Tab 207 Effective objects Precondition for the cyclic synchronised positioning mode The following conditions must be fulfilled for the cyclic sync...

Страница 233: ...of the higher order controller The synchronisation signal is generally slower by a whole number than the cycle of the closed loop controller The synchronisation time is generally set by the higher ord...

Страница 234: ...ory completed 25 REFS Reference switch activated 26 TUR Torque utilisation exceeded 27 FSPR Fixed stop reached 28 ACC Drive accelerated 29 DEC Drive decelerated 30 31 Reserved Tab 209 Motion monitorin...

Страница 235: ...lator in CSV operation The interpolator has two sets of interpolator algorithm instances and can be switched between the CSP CSV and CST operating modes When switching the required algorithm instances...

Страница 236: ...s activated by the device profile Access read write Update effective immediately 11413 Interpolation mode CSV Unit Tab 212 Parameters Diagnostic messages ID Dx Name Description 08 12 00250 135004410 I...

Страница 237: ...ntrol function Quick stop deceleration 0x6085 Max motor speed 0x6080 Polarity 0x607E Multiplier Multiplier Max torque 0x6072 Motor rated torque 0x6076 Motor rated torque 0x6076 Torque offset 0x60B2 Ve...

Страница 238: ...ific objects saved basic unit for the object is effective 730 0x216D 01 Control word CiA402 UINT16 731 0x216D 02 Status word CiA402 UINT16 128 0x2155 09 Actual position value SINT64 1210 0x2155 0B Act...

Страница 239: ...e 4 1 8 Cyclic synchronised force torque mode CST 4 1 8 1 Function The cyclic synchronised force torque mode enables command values to be pre set for the device in a fixed time grid using the drive pr...

Страница 240: ...ring position velocity 17 STV Standstill monitoring velocity 18 LS Stop reached 19 STLP Stroke limit reached positive 20 STLN Stroke limit reached negative 21 VM Speed monitoring 22 PB Pushback monito...

Страница 241: ...generated by an internal algorithm The input and output values of the interpolator in the CST operating mode are shown in the following graph Fieldbus Interpolator M M M x 0 Controller v 0 a 0 j 0 M I...

Страница 242: ...speed 0x6080 Polarity 0x607E Multiplier Multiplier Max torque 0x6072 Torque actual value 0x6077 Target torque 0x6071 Motor rated torque 0x6076 Motor rated torque 0x6076 Controlword 0x6040 Statusword...

Страница 243: ...5 0x216F 0D Target torque CiA402 FLOAT32 526796 0x2168 17 Maximum torque symmetrical FLOAT32 151 0x2157 02 Actual torque value gear shaft FLOAT32 1170 0x217D 01 Reversing the direction of rotation BOO...

Страница 244: ...ison The software components are initialised I O mapping monitoring limitations etc If the power supply is correct the intermediate circuit is loaded If the start up phase has been completed without e...

Страница 245: ...ce specific plug in or the device profile the associated interface must have the master control 3 1 4 Master control If commutation angle discovery is required the commutation angle discovery is perfo...

Страница 246: ...t enabled with pending enable via fieldbus For controller enable high level must first be pending at the CTRL EN input and then the positive edge of the enable signal must follow via fieldbus Name Des...

Страница 247: ...ows The device executes a category 0 stop 9 2 Classification of diagnostic events A corresponding message is generated Removal of controller enable Removal of the controller enable stops the ongoing c...

Страница 248: ...velocity selected here is only effective if the parameter Px 10232 has the value 1 Access read write Update effective immediately 10235 Target velocity for controller enable velocity operation Unit u...

Страница 249: ...of controller enable Px 10232 Value Enable via Description Operating mode after controller enable 0 I O and fieldbus The request of controller enable is issued in common via the CTRL EN input the dev...

Страница 250: ...tive after controller enable Operating mode parameters with controller enable Px 10234 Value Operating mode Description 4 Speed On issue of controller enable the velocity mode is activated The device...

Страница 251: ...he object is effective 10231 0x218E 01 Device status UINT32 10232 0x218E 02 Controller enable selection UINT32 10234 0x218E 03 Controller enable operating mode UINT32 10235 0x218E 04 Target velocity f...

Страница 252: ...the brake locks and the closed loop controller switches off after the elapse of the parameterised delay Px 21 and Px 23 3 3 2 Brake control The drive is switched off directly at standstill without bra...

Страница 253: ...the jerk for stops that are triggered by the device profile direct the device specific plug in category 1 or 2 diagnostic events Access Read write Update effective immediately 12111 Stop ramp jerk Uni...

Страница 254: ...hold command and continued when the command is withdrawn Information on the operating modes 4 1 2 Operating modes for performing motion commands The stop ramp for the hold command in a profile operat...

Страница 255: ...ity 0 bit 12 is set to 1 Bit 12 velocity speed If hold is requested and executed in other operating modes current velocity 0 bit 10 is set to 1 Bit 10 target position reached target reached For additi...

Страница 256: ...A zero pulse cannot be detected without an encoder Therefore only the following referencing methods are supported in open loop operation without encoder Referencing methods for open loop operation Me...

Страница 257: ...lowing errors is activated for the duration of axis zero point travel Homing status In the following cases the homing status changes the status is reset At the start of a new homing Every time the dev...

Страница 258: ...reference mark Access read write Update effective immediately 843 Search for reference mark setpoint velocity Unit user defined Shows the setpoint acceleration of searching for the reference mark Acc...

Страница 259: ...ws the setpoint velocity of move to the axis zero point Access read write Update effective immediately 849 Move to axis zero point setpoint velocity Unit user defined Shows the setpoint acceleration o...

Страница 260: ...ch with zero pulse 7 positive reference switch with zero pulse 11 negative reference switch with zero pulse 17 negative HW limit switch 18 positive HW limit switch 23 positive reference switch 27 nega...

Страница 261: ...nt of the motor Access read write Update effective immediately 8414 Nominal current limit value scaling factor Unit Shows the time monitoring window for the limit position detec tion Access read write...

Страница 262: ...it switch reached Negative hardware limit switch reached 07 01 00115 117506163 Positive hardware limit switch reached Positive hardware limit switch reached 07 01 00116 117506164 Limitation by negativ...

Страница 263: ...ches t1 Duration of search t2 Duration of crawl t3 Duration of travel to the axis zero point v1 Target velocity search v2 Target velocity crawl v3 Target velocity travel x1 Reference mark reference li...

Страница 264: ...g to stop The graph shows as an example homing to the stop without zero pulse in a positive search direction and then travel to the axis zero point in negative direction Fig 66 Homing to stop Name Des...

Страница 265: ...e detection and stop detection are not available in the open loop operation without encoder Example With method 2 limit switch positive with zero pulse the limit switch primary target is searched in t...

Страница 266: ...r Tab 235 Homing methods 4 4 3 1 Method 37 Current position The reference mark is found by the current axis position Sequence 1 Set reference mark current position is taken as the reference mark 2 Set...

Страница 267: ...g aborted with fault message Limit switch detected Homing aborted with fault message Stop detected Homing aborted with fault message Tab 238 Different sequence scenarios 4 4 3 3 Method 17 18 negative...

Страница 268: ...ound after identification of the limit switch by the first zero pulse of the encoder Sequence 1 Search limit switch rising edge of the limit switch is searched in search direction at search velo city...

Страница 269: ...ted Homing aborted with fault message Tab 242 Different sequence scenarios 4 4 3 5 Method 23 27 positive negative reference switch The reference mark is found by the switching edge of the limit switch...

Страница 270: ...with zero pulse The reference mark is found after identification of the reference switch by the first zero pulse of the encoder Sequence 1 Search reference switch rising edge of the reference switch i...

Страница 271: ...erent sequence scenarios 4 4 3 7 Method 23 27 positive negative stop limit switch with run to reference switch The reference mark is found by the switching edge of the reference switch after identific...

Страница 272: ...borted with fault message Tab 248 Different sequence scenarios 4 4 3 8 Method 17 18 negative positive stop The reference mark is found by detection of the stop Sequence 1 Search stop stop is searched...

Страница 273: ...e mark is found after identification of the stop by the first zero pulse of the encoder Sequence 1 Search stop stop is searched in search direction at search velocity 2 Search zero pulse first zero pu...

Страница 274: ...Travel to axis zero point Travel to axis zero point is run after a valid homing The requirements for travel to the axis zero point are Activate move to axis zero point after completion of homing param...

Страница 275: ...oint setpoint acceleration UINT32 8416 0x607C 00 Axis zero point offset SINT32 8417 0x6098 00 Referencing method SINT8 Px Manufacturer specific objects saved basic unit for the object is effective 840...

Страница 276: ...value scaling factor FLOAT32 8415 0x2172 10 Limit position detection time monitoring win dow FLOAT32 8416 0x2172 11 Axis zero point offset SINT64 8417 0x2172 12 Referencing method SINT32 8418 0x2172 1...

Страница 277: ...ethods can only be performed in the operation enabled status The following conditions must be fulfilled for homing mode Operating mode display Modes of operation display 0x6061 6 Status word Statuswor...

Страница 278: ...n 15 13 12 10 Drive not references or homing was aborted 0 0 0 1 If one of the following states has occurred the homing was not started the active homing was aborted with the fall ing edge in bit 4 of...

Страница 279: ...s for pure command processing record selection offers the following options for influencing sequence control Options for sequence control Description Record switching A start condition can be establis...

Страница 280: ...e value true simultaneously the record sequence in the data record with the smaller index is effective Timing Start condition Interrupt The current command here record A is interrupted immediately and...

Страница 281: ...d without another start signal Target position record A t t t MC Start Target position record C B A C Fig 70 Start condition Waiting example Start condition Ignore The start signal here for record B i...

Страница 282: ...ely 1130224 Activation back ground mode Unit Specifies the type of the command record Px 1810 0 0 record type of data set 0 Px 1810 0 64 record type for data set 64 depending on the product variant an...

Страница 283: ...ecord type parameter ID Px 1810 Access read write Update effective immediately 1815 Record table field 4 Unit Specifies the value of the fifth parameter depending on the record type Tab 262 Command re...

Страница 284: ...start command is ignored The current command is completed A new record can only be started after the MC is active new start signal required Access read write Update effective immediately 1838 Selecti...

Страница 285: ...ration 4 Jerk 5 Activation of stroke limita tion 0 inactive 1 active 6 Negative stroke limitation 4 Speed Velocity mode with or without stroke limitation 7 Positive stroke limitation 1 Type of target...

Страница 286: ...orque 2 Torque rise time 3 Speed limit value 4 Activation of stroke limita tion 0 inactive 1 active 5 Negative stroke limitation 6 Positive stroke limitation 25 Torque with brake set Torque mode with...

Страница 287: ...d data record 1 command record no 1 should be written with the following parameters Command record no 0 positioning mode absolute to the zero point with the parameter values noted below target positio...

Страница 288: ...d table field 7 P1 1818 0 0 0 End velocity P1 1818 0 1 9100000000 Stroke limitation in positive direction user unit metre resolution 1010 Selection start condition record P1 1838 0 0 0 Interrupt P1 18...

Страница 289: ...ecord step enabling type Unit Specifies the number of the record from which the record sequence starts maximum 3 record sequence per record Access read write Update effective immediately 1832 Record s...

Страница 290: ...er ID Px 1831 Value Record enabling types The step enabling condition is achieved when comparator type dependent parameters 0 no comparator comparator not specified none 1 Target position reached the...

Страница 291: ...t 2 upper limit 7 Torque the actual torque is within the pre set window for the duration of the specified damping time 3 Damping time 9 12 Reserved 1 Damping time 2 Parameter ID 3 Operation 0 within t...

Страница 292: ...endent parameters get window reached Target Reached TRUE 17 Movement monitoring status word And 4 Or 5 operator Bit mask 32 bit 18 Touch probe valid The activated touch probe func tion has detected a...

Страница 293: ...1833 0 1 3 Target record for the second record sequence Record sequencing field time P1 1834 0 0 0 1 Damping time of the first record sequence 0 1 s P1 1834 0 1 Record sequencing field 1 P1 1835 0 0...

Страница 294: ...of event monitoring 1 activate 0 deactivate Access read write Update effective immediately 1840 Activate Event table Unit Specifies the type of step enabling condition The same step enabling condition...

Страница 295: ...able parameter A record table parameter is invalid 06 00 00083 100663379 Record table incorrect Record table incorrect Tab 268 Diagnostic messages 4 5 4 CiA 402 Objects command record table Parameters...

Страница 296: ...Record sequencing field 1 SINT64 1836 0x223E 01 80 Record sequencing field 2 SINT64 1837 0x2159 01 Current record table index SINT32 Tab 270 Objects Objects command record event table Parameters Index...

Страница 297: ...nction manual travel as standard operating mode Feedback Standstill monitoring STV Phases Different jogging variants are possible depending on the device profile and parameterisation One phase slow on...

Страница 298: ...2 velocity 214540 Jog duration 1 movement 1510 t1 Jog duration 2 movement 214539 Tab 272 Legend for jog mode timing graph Symmetrical Command Additional parameters Yes Jogging 1 Jogging 1 No Jogging 1...

Страница 299: ...ing 1 1 langsam static slow 0 Jogging 2 2 langsam 1 Jogging 1 1 fast 1 Jogging 2 1 fast 0 Jogging 1 1 fast static fast 0 Jogging 2 2 fast 1 Jogging 1 1 langsam 1 fast 1 Jogging 2 1 langsam 1 fast 0 Jo...

Страница 300: ...celeration and deceleration during phase 1 Access read write Update effective immediately 1512 Slow jog 1 accelera tion Unit user defined Jerk during phase 1 Access read write Update effective immedia...

Страница 301: ...immediately 214536 Slow jog 2 accelera tion Unit user defined Jerk during phase 1 Access read write Update effective immediately 214537 Slow jog 2 jerk Unit user defined Duration of phase 1 from detec...

Страница 302: ...halt jog 2 11 Velocity jog 1 12 Velocity jog 2 Access read Update effective immediately 526917 Jogging state Unit Tab 276 Parameters Diagnostic messages No specific diagnostic messages are allocated t...

Страница 303: ...odes of operation display CiA402 3 Control The object 0x6040 Control word CiA402 has the following specific bits in jog operating mode Bit Name Description 4 Jog positive Jogging 1 positive direction...

Страница 304: ...ing specific bits in jog operating mode Bit Name Description 10 STV Jogging not active before or after the motion 12 Velocity 1 jog Motion with the dynamic values for slow motion 13 Velocity 2 jog Mot...

Страница 305: ...e operation 2 Setpoint Setpoint values that change with time The setpoint values are determined between the pilot control and directional lock 3 Actual value Actual values that change with time The ac...

Страница 306: ...ed TMT Torque 5 4 Target area monitoring HL Hardware limit switch reached HLP positive HLN negative 5 5 Hardware limit switch reached SL Software limit position reached SLP positive SLN negative 5 6 S...

Страница 307: ...the result for the associated motion monitoring function is true The status word can be displayed via the Px 460 parameter Status word bit assignment1 Bit Code Name 0 TRX Target window reaches positio...

Страница 308: ...situations can be disabled via the configuration word The configuration word is a bitmask If the bit for the associated motion monitoring function is set 1 the associated motion monitoring function m...

Страница 309: ...reached 19 STLP Stroke limit reached positive 20 STLN Stroke limit reached negative 21 VM Speed monitoring 22 PB Pushback monitoring 23 RDX Remaining distance monitoring 24 MC Trajectory completed 25...

Страница 310: ...te of TRX TRV TRT signals 1 The signal is set under the following conditions The difference current actual value target value is within the monitoring win dow AND this condition is fulfilled for at le...

Страница 311: ...get window reached example Parameters and diagnostic messages ID Px Parameters Description Specifies the damping time for the target position speed and torque The signal is set if the actual value for...

Страница 312: ...read write Update effective immediately 4610 Monitoring window target speed Unit user defined Specifies the monitoring window for the target torque The mon itoring window is set symmetrically to the t...

Страница 313: ...r during this process The comparator is defined by a monitoring window and damping time Following error monitoring is active as long as the target has not been reached target reached FALSE Target area...

Страница 314: ...ess read Update effective immediately 4683 Current velocity fol lowing error Unit user defined Specifies the damping time for the speed following error The signal is set if the speed difference for th...

Страница 315: ...he signal is reset under the following conditions The difference current actual value continuously determined setpoint value is within the window OR the target has been reached target reached TRUE 1 0...

Страница 316: ...ing error UINT32 463 0x2166 04 Monitoring window position following error FLOAT32 464 0x2166 05 Monitoring window speed following error FLOAT32 4682 0x2166 42 Current position following error FLOAT32...

Страница 317: ...e difference current actual value target value is within the window AND this condition is fulfilled for at least the specified time 0 1 Tab 296 Status signals Target area monitoring t Act TargetSet 2X...

Страница 318: ...target range Unit s Determines the monitoring window for the target position The monitoring window is set symmetrically to the target variable window width 2x parameter Access read write Update effect...

Страница 319: ...s is not necessary and can be changed via the configuration The monitoring function includes Status evaluation of the limit switches Configuration check Limit switch monitoring Inverting and debouncin...

Страница 320: ...sition saved when the limit switch was triggered HLN if the switch is not activated AND if the actual position is greater than the position saved when the limit switch was triggered 1 0 Tab 301 Status...

Страница 321: ...tive hardware limit switch reached 07 01 00115 117506163 Positive hardware limit switch reached Positive hardware limit switch reached 07 01 00116 117506164 Limitation by negative hardware limit switc...

Страница 322: ...e drive is outside the limit positions Application Protect the drive against damage Status SLP or SLN is set when the limit position is exceeded The status is reset as soon as the drive reaches the va...

Страница 323: ...ve limit posi tion SLP If the actual position is lower than the parameterised positive limit posi tion 1 0 Tab 305 Status signals Software limit position reached Fig 77 Timing diagram software limit p...

Страница 324: ...Unit user defined Specifies the limit value of the positive software limit position The value of the positive software limit position must be greater than the value of the negative software limit pos...

Страница 325: ...x Name Data type Px CiA402 factor group is effective 4629 0x607D 01 Negative software limit position SINT32 4630 0x607D 02 Positive software limit position SINT32 Px Manufacturer specific objects save...

Страница 326: ...lowing conditions STV 0 OR the value standstill position actual position is outside the positioning window 1 0 Speed monitoring STV Initial state STV 0 The STV signal is set under the following condit...

Страница 327: ...monitoring Parameters and diagnostic messages ID Px Parameters Description Specifies the damping time of standstill monitoring If the actual speed value falls below the threshold value and if it excee...

Страница 328: ...etermined by the positive edge of the STV signal Access read write Update effective immediately 467 Monitoring window position standstill Unit user defined Tab 312 Parameters Standstill monitoring ID...

Страница 329: ...tual current and speed values are monitored cyclically to check if they have reached specified limits Timing Status signal LS Stop detection Initial state LS 0 The LS signal is set under the following...

Страница 330: ...d Name Description v Speed motion quantity I Active current t1 Damping time LS Diagnostic message Act1 Actual speed Act2 Actual active current Lim1 Stop detection limit value Lim2 STV Tab 316 Legend f...

Страница 331: ...f just one of the limit value monit ors is invalid Access read write Update effective immediately 4627 Damping time limit detection Unit s Tab 317 Parameters Stop reached 5 8 1 CiA 402 Objects Stop re...

Страница 332: ...ramp parameters are used for the projection An error message is triggered and the drive is decelerated with the parameterised error response so that it comes to a standstill before the stroke limit if...

Страница 333: ...e immediately 4675 Activation of automat ic stop ramp stroke limit Unit Tab 320 Parameters Stroke limit reached ID Dx Name Description 07 01 00119 117506167 Negative stroke limit reached Negative stro...

Страница 334: ...messages ID Px Parameters Description Specifies the maximum speed value When the threshold value is reached the drive is stopped with stop category 0 A dia gnostic message is issued if the parameteri...

Страница 335: ...alue for longer than the damp ing time 0 1 The signal is reset under the following conditions The setting logic is inverted 1 0 Tab 327 Status signals Pushback monitoring Parameters and diagnostic mes...

Страница 336: ...nitoring window pushback FLOAT32 4664 0x2166 34 Damping time pushback FLOAT32 Tab 330 Objects 5 12 Remaining distance monitoring Remain distance monitor RDX The monitoring function indicates that the...

Страница 337: ...A 402 Objects Remaining distance monitoring Parameters Index Subindex Name Data type Px Manufacturer specific objects saved base unit for the object is effective 4685 0x2166 69 Limit value remaining d...

Страница 338: ...o 0 AND the status of the reference switch is active 0 1 The signal is reset under the following conditions The configuration of the reference switch 0 OR the status of the reference switch is inactiv...

Страница 339: ...n The actual position value has reached or exceeded the para meterised software limit posi tion A hardware limit switch has been triggered Movement in the corresponding direction is automatically bloc...

Страница 340: ...once the stop ramp has been completed and the drive is at a standstill will Px 10353 indicate that the directional lock is active Access read Update effective immediately 10353 Status directional lock...

Страница 341: ...urrent and velocity controller can be activated Aside from the active control parameter set 3 additional control parameter sets are available for the parameterisation of the cascade controller Fig 80...

Страница 342: ...ler is designed as P controller which calculates the velocity specification for the secondary velocity control circuit from the control difference setpoint position actual position A dead zone member...

Страница 343: ...Tab 345 Legend for the block diagram of the position controller Parameters and diagnostic messages ID Px Parameters Description Specifies the amplification gain for the P element in the position cont...

Страница 344: ...value velo city controller Unit user defined Specifies the control difference of input variables Feedforward control output position and Actual position on the output of the setpoint actual comparato...

Страница 345: ...ty or current is active Tab 347 Diagnostic messages 6 1 2 1 CiA 402 Position controller PNUs Parameters Index Subindex Name Data type Px Manufacturer specific objects saved basic unit for the object i...

Страница 346: ...and the gear unit factor If the setpoint value reaches the limit this can be requested via a status For use with the Ci402 protocol the torque setpoint value is asymmetrically limited by means of a fu...

Страница 347: ...ignal of the encoder If required optimise signal noises using a suitable filter time constant Parameters and diagnostic messages ID Px Parameters Description Specifies the amplification gain for the P...

Страница 348: ...immediately 2216 Setpoint value velo city controller Unit user defined Specifies the minimum torque for torque limitation Access read Update effective immediately 2218 Minimum torque Unit Nm Specifies...

Страница 349: ...acturer specific objects saved basic unit for the object is effective 224 0x215B 05 Velocity controller amplification gain FLOAT32 225 0x215B 06 Velocity controller integration constant FLOAT32 1210 0...

Страница 350: ...ned as a PI controller with anti windup functionality which cal culatesReactive current setpoint value Actual reactive current valuethe voltage specification Ud_ref for the secondary voltage transform...

Страница 351: ...current value 310 Ud_ref Voltage Ud setpoint value 84 Uq_ref Voltage Uq setpoint value 85 U_max Maximum output voltage 88 Uu Setpoint value of motor voltage phase U Uv Setpoint value of motor voltage...

Страница 352: ...fective immediately 83 Integration constant current regulator act ive current Unit Specifies the setpoint voltage Ud at the output of the reactive current regulator Access read Update effective immedi...

Страница 353: ...ies the actual active current at the output of the current transformation Access read Update effective immediately 814 Actual active current value Unit Arms Activate equalisation of the control parame...

Страница 354: ...r Access read Update effective immediately 825 Active current control error Unit Arms Length of the motor cable Access read write Update effective immediately 1206 Length motor cable Unit mCable Cable...

Страница 355: ...d basic unit for the object is effective 39 0x2151 0A Actual phase U current value FLOAT32 80 0x2153 01 Amplification gain current regulator reactive current FLOAT32 81 0x2153 02 Integration constant...

Страница 356: ...controllers and current regulators the total inertia for the torque pilot control and the filter time constant for the actual velocity value filter When a control parameter set is changed the total i...

Страница 357: ...ct ive current Unit Specifies the integration constant Active current in the para meter sets for the PI element in the current regulator Access read write Update effective immediately 2224 Integration...

Страница 358: ...ification gain FLOAT32 2211 0x2229 01 03 Velocity controller integration constant FLOAT32 2223 0x222A 01 03 Amplification gain current regulator active current FLOAT32 2224 0x222B 01 03 Integration co...

Страница 359: ...mitation of application The setpoint specifications for the trajectory generator are limited via the application limitation which are prescribed by the active set table or profile operating mode posit...

Страница 360: ...ation 1307 LIM4 Lower limit torque limitation 1308 Tab 362 Legend of the block diagram for the application limitation Parameters and diagnostic messages ID Px Parameters Description Specifies the velo...

Страница 361: ...ion limiting Unit user defined Specifies the limit value for the deceleration limitation in the application limitation Access read write Update effective immediately 1306 Limit value decelera tion lim...

Страница 362: ...on limiting FLOAT32 1306 0x2183 06 Limit value deceleration limiting FLOAT32 1307 0x2183 07 Upper limit torque limitation FLOAT32 1308 0x2183 08 Lower limit torque limitation FLOAT32 Tab 364 Objects 6...

Страница 363: ...um current motor 620 iq_in1 Lower limit value active current closed loop controller 854 iq_in2 Upper limit value active current closed loop controller 855 iq_in3 Resulting minimum current 625 iq_in4 R...

Страница 364: ...ity closed loop controller 6100 LIM2 Resulting upper limit value velocity closed loop controller 6101 Tab 365 Legend for the block diagram of the control limitation The resulting critical limit LIM2 a...

Страница 365: ...he user Access read write Update effective immediately 850 Lower limit value velocity closed loop controller Unit user defined Specifies the dynamic limit value Upper limit value of velocity specified...

Страница 366: ...m Specifies the limit value Lower limit value of velocity for velo city limiting Access read Update effective immediately 6100 Resulting lower limit value velocity closed loop controller Unit user def...

Страница 367: ...ameters ID Dx Name Description 06 02 00087 100794455 Velocity control limitation invalid Velocity control limitation invalid 06 02 00088 100794456 Torque control limitation invalid Torque control limi...

Страница 368: ...torque closed loop control ler FLOAT32 854 0x2168 05 Lower limit value active current closed loop controller FLOAT32 855 0x2168 06 Upper limit value active current closed loop controller FLOAT32 1199...

Страница 369: ...for the limitation LIM1 LIM1 Max Min iq M iq M itotal_max Torque limitation M i M i id_ref 0 id_ref iq_max i M 1 i_max1 CMMT i_max2 Motor i_max3 User Min id_ref Fig 86 Structure of current limiter Nam...

Страница 370: ...r Access read Update effective immediately 87 Reactive current set point value Unit Arms Specifies the limit value of the total current for the servo drive controller Access read write Update effectiv...

Страница 371: ...ess read Update effective immediately 6109 Resulting upper limit value active current closed loop control ler Unit Arms Specifies the limit value of the total current Access read Update effective imme...

Страница 372: ...of the contouring error or improved run in behaviour to the target position The input variables for the pilot control are directly connected to the output variable or are adjusted using a mathematical...

Страница 373: ...velocity mode T torque mode Tab 372 Pilot control Fig 87 Pilot control Name Description ID Px Set values position velocity and acceleration as input variables of the pilot con trol Setpoint managemen...

Страница 374: ...an be used for example to assess the component of the feedforward control from the friction compensation by means of measured data recording trace 974 Comp_T Setpoint value inertia compensation The pa...

Страница 375: ...as setpoint value for the closed loop controller Access read Update effective immediately 92 Acceleration setpoint value Unit user defined Jerk output from feedforward control as setpoint value for th...

Страница 376: ...control Access read write Update effective immediately 967 Amplification gain velocity feed forward control Unit Amplification gain torque feed forward control Access read write Update effective imme...

Страница 377: ...output Access read write Update effective immediately 976 Support point velocity rad s Unit Maximum of 16 support points via Index 0 15 Torque Nm of the drive train axis gear unit motor load based on...

Страница 378: ...compensation With the inertia compensation a torque can be pilot controlled in dependence of the total inertia in the drive system The torque is composed of the total inertia multiplied by the set val...

Страница 379: ...ss 5 kg Maximum velocity vmax 3 m s Feed 0 09 m Cohesive friction MStick 0 2 Nm Velocity dependent friction Mv 0 005 Nm s rad Calculation of torque M Mstick Mv w w angular velocity Support point Veloc...

Страница 380: ...oup is effective 90 0x6062 00 Position setpoint value SINT32 91 0x606B 00 Velocity setpoint value SINT32 Px Manufacturer specific objects saved basic unit for the object is effective 90 0x2154 01 Posi...

Страница 381: ...ty rad s FLOAT32 977 0x2226 01 10 Support point torque Nm FLOAT32 978 0x2154 10 Number of support points UINT32 Tab 379 Objects 6 4 Notch filter 6 4 1 Function Internal notch filters are provided to s...

Страница 382: ...0 Tab 380 Legend for the filter band width and filter frequency diagram Parameters and diagnostic messages Parameter allocation Index 0 notch filter 1 Index 1 notch filter 2 Index 2 notch filter 3 ID...

Страница 383: ...of the active current Access read Update effective immediately 52 Setpoint value active current unfiltered Unit Arms Tab 381 Parameters ID Dx Name Description 06 00 00082 100663378 Notch filter frequ...

Страница 384: ...regulator that has already been designed and suitable start parameters for position controllers and velocity controllers as well as the amplitude of the excitation signal The start parameters are det...

Страница 385: ...auto tuning The plug in is connected to the device The plug in has the master control Controller enable is activated Parameterisation of auto tuning The following parameters are defined by the plug in...

Страница 386: ...n cycle the axis moves in the positive direction up to the target of the move ment stroke At the 2nd identification cycle the axis moves back again to the starting point The move ment is repeated with...

Страница 387: ...read write Update effective immediately 8601 Result amplification gain of position con troller Unit Specifies the result of auto tuning for the integration constant of the velocity controller Access...

Страница 388: ...ocity controller for the layout of the controller parameters Access read write Update effective immediately 8614 Filter time constant velocity controller Unit s Specifies the filter time constant of t...

Страница 389: ...es the movement stroke during the identification Access read write Update effective immediately 8621 Maximum movement stroke during the identification Unit user defined Specifies the maximum velocity...

Страница 390: ...ed Transmission of auto tuning measured values failed Tab 385 Diagnostic messages 6 5 1 1 CiA 402 Auto tuning objects Parameters Index Subindex Name Data type Px Manufacturer specific objects saved ba...

Страница 391: ...cation SINT64 8622 0x2174 09 Maximum velocity during the identification FLOAT32 8623 0x2174 0A Maximum acceleration during the identifica tion FLOAT32 8624 0x2174 0B Maximum deceleration during the id...

Страница 392: ...n during validation movement Maximum jerk during validation movement The parameters resulting from auto tuning can be changed manually and an optional test run can be started with them Controlling a t...

Страница 393: ...mediately 8632 Maximum velocity during validation movement Unit user defined Specifies the maximum acceleration during the validation move ment Access read write Update effective immediately 8633 Maxi...

Страница 394: ...function generates trigger sig nals at the trigger output TRG The position switch and rotor position switch for example can be simulated using this function The cam controller can be activated using t...

Страница 395: ...e sources depend on the device or firmware Source Selection Cam controller sourceCMMT AS 112701 Tt1 Inactive time compensation of first switching point 112704 Tt2 Inactive time compensation of second...

Страница 396: ...t including the offset due to the delay compensa tion An example is shown in the diagram below All additional timing diagrams do not depict the hyster esis TRG 1 0 2 x 1 x v Tt1 v Tt2 Mod Mod Hy Hy Di...

Страница 397: ...rigger output for the duration of the parameterised switch on time is activated TRG 1 0 x1 t1 v Tt1 Mod Mod Dir Fig 97 Timing diagram mode 4 switch on time example positive direction If the status of...

Страница 398: ...itches can be parameterised within a cam controller The parameterisation of the cam switches of a cam controller is not tested for overlapping or contra dictory switching functions Overlapping or cont...

Страница 399: ...omponents can be compensated Access read write Update effective immediately 112704 Inactive time com pensation of first switching point Unit s Determines the inactive time compensation for the signal...

Страница 400: ...switching function the switching points are specified in the parameters Px 112710 and Px 112711 The time for the time controlled switching behaviour is specified via parameter Px 112712 0 Inactive 1 C...

Страница 401: ...ich the cam is active Index 0 cam switch 1 Index 1 cam switch 2 Index 2 depending on the product design Index 3 Access read write Update effective immediately 112712 Switching time auto matic Unit s S...

Страница 402: ...Update effective immediately 112717 Current inactive time first switching point Unit s Specifies the current delay compensation of the second switch ing point for the switch on process Access read Up...

Страница 403: ...tch This means 0 Inactive 1 Cam switch On Off 2 Cam switch ON time controlled 3 Cam switch OFF time controlled Index 0 cam switch 1 Index 1 cam switch 2 Index 2 depending on the product design Index 3...

Страница 404: ...duct design Index 3 Access read Update effective immediately 112725 Current switching time automatic Unit ss Specifies the current runtime compensated module position for the logic On Access read Upda...

Страница 405: ...ely 112731 Counter NO modulo cycles Unit Offset of the modulo position Access read write Update effective immediately 112732 Offset modulo posi tion Unit user defined Default value for the reference p...

Страница 406: ...2 OFF manual The trigger output is activated when the cam controller function is deactivated The trigger output can there fore be deactivated manually for test purposes 3 Force last status The status...

Страница 407: ...01 04 Second switching point SINT64 112712 0x2273 01 04 Switching time automatic FLOAT32 112713 0x2192 11 Current cam controller mode UINT16 112714 0x2192 13 Current cam controller source UINT16 11271...

Страница 408: ...trigger input CAP input For this purpose the corresponding input must be activated for the touch probe function The signal edge of the trigger event is parameterisable edge The typical internal signa...

Страница 409: ...t value modulo 113003 Mod Lower limit value modulo 113004 Enable Activation deactivation of the touch probe func tion using the record table or device profile Edge Selection trigger event 113002 CAP T...

Страница 410: ...utside of the window are not accepted Fig 99 Touch probe timing diagram example of Once with window touch probe mode Name Description ID Px LIM Upper limit value trigger event 113006 LIM Lower limit v...

Страница 411: ...are assumed as currently value parameters Px 113007 Px 113013 ID Px Parameters Description Determines the mode of the touch probe function The specified mode is effective on activation of the touch pr...

Страница 412: ...ger signals within the modulo range Trigger signals at positions below the limit are ignored Only relevant in the following modes once with window and cyclic with window Access read write Update effec...

Страница 413: ...y 113009 Current selection trig ger event Unit Specifies the currently determined upper limit value for the modulo calculation Access read Update effective immediately 113010 Current upper limit value...

Страница 414: ...ifies whether the trigger signal has been triggered within the defined range With cyclic detection the signal is very short e g 1 ms This means 0 no valid trigger signal 1 valid trigger signal was tri...

Страница 415: ...ve immediately 113021 Status touch probe input Unit Flag that indicates that modulo limits have been exceeded The signal duration amounts to 1 ms Access read Update effective immediately 113022 Status...

Страница 416: ...iA402 Unit Position recorded by the touch probe positive edge CiA402 Access read Update effective immediately 113029 Touch probe position positive CiA402 Unit user defined Position recorded by the tou...

Страница 417: ...Unit user defined Specifies the delay time during which the digital input signal is delayed Access read write Update effective immediately 113036 Delay time Unit s Specifies the currently used delay...

Страница 418: ...Cyclic position detection with limitation to one win dow the next time a valid trigger signal is received the current measured value is overwritten 7 Preset position Setting of the modulo position 8 O...

Страница 419: ...Name Description ID Px Accepted Valid trigger range LIM Lower limit value trigger event 113005 LIM Upper limit value trigger event 113006 Tab 399 Legend for the diagram of trigger ranges example Diagn...

Страница 420: ...ch probe 1 positive and negative edge 2 0x60B9h bit 0 1 Status Touch probe 1 enabled is set 3 External touch probe signal has positive edge 4 0x60B9 bit 1 1 Status Touch probe 1 positive edge stored i...

Страница 421: ...0BA 0x60BB Touch probe position 1 positive negative value are not changed Tab 400 Legend for touch probe timing graph via CiA402 Position sensing objects Parameters Index Subindex Name Data type Px Ci...

Страница 422: ...T64 113016 0x2193 21 Trigger event initiated BOOL 113017 0x2193 23 Trigger event NOT initiated BOOL 113018 0x2193 25 Trigger events counter triggered UINT32 113019 0x2193 27 Trigger events counter NOT...

Страница 423: ...mmutation angle in the current data record an error message is output The following modes of open loop operation are supported Modes Description Open loop opera tion without encoder The motor is actua...

Страница 424: ...001 0 0 pure Open Loop must be activated and the commutation angle detection set to deactivated Px 668 0 0 The holding current of the motor can be reduced in open loop operation after standstill detec...

Страница 425: ...the active mode of operation for the open loop or closed loop operation This means 0 Automatic operation 1 Open loop operation 2 closed loop operation Access read Update effective immediately 4007 Act...

Страница 426: ...scaling factor Unit Defines the factor for the current setpoint used for the commut ation angle determination Access read write Update effective immediately 6694 Factor current set point value Unit T...

Страница 427: ...tion delay time FLOAT32 4028 0x219C 17 Current reduction scaling factor FLOAT32 6694 0x219C 14 Factor current setpoint value FLOAT32 Tab 405 Objects 7 4 Field weakening Function Synchronous motors can...

Страница 428: ...Manufacturer specific objects saved basic unit for the object is effective 102201 0x219F 01 Activation of field weakening BOOL 102202 0x219F 02 Field weakening status BOOL 102203 0x219F 03 Field weake...

Страница 429: ...Px Parameters Description Shows what feedback signal was not received on time in case of fault The following allocation applies Bit 0 STA feedback signal This means 0 no fault 1 fault in time monitori...

Страница 430: ...Sequence monitoring STO A B Sequence monitoring STO A B inputs Tab 410 Diagnostic messages 8 2 CiA402 Objects Parameters Index Subindex Name Data type Px Manufacturer specific objects saved base unit...

Страница 431: ...T Plug in Access to the message directory current messages Access to the error history message history Error acknowledgment Error classification to categorise diagnostic events Recording measuring dat...

Страница 432: ...error memory as standard Tab 413 Ignore level Classification level Severity Reactions Information Diagnostic event with low degree of severity Generation of the message and entry in the message direct...

Страница 433: ...vel stop category 2 Classification level Severity Reactions Error stop category 1 Diagnostic event with high degree of severity and execution of a gen eral and a specific error response Stop category...

Страница 434: ...are pending diagnostic status parameter 0 If errors are pending diagnostic status parameter 64 level of severity e g diagnostic status 4096 corresponds to stop category 0 Diagnostic status Bit Value...

Страница 435: ...was therefore cancelled internally Acknowledged The triggering diagnostic event is no longer active The message was therefore cancelled internally The message was then acknowledged by an external com...

Страница 436: ...s been acknowledged Classification Level Ignore information Warning Error stop category 0 1 or 2 Time stamp Time of the occurrence in operating hours Tab 423 Structure of messages Complete list of all...

Страница 437: ...Intermediate circuit 3 Principal voltage 2 Voltage 4 Encoder supply 1 Device 2 Output stage 3 Temperature 3 Motor 1 Homing 5 Motion 2 Motion control 0 No allocation 2 Limit values 6 Configuration para...

Страница 438: ...Messages for which the history should be traceable at a later date are recorded in the error memory These are usually error messages The plug in can be used to determine whether warnings should also...

Страница 439: ...ately occurs again please contact Festo Service team service required Information on troubleshooting 9 4 6 Diagnostic messages with information for fault clearance Messages and errors are acknowledged...

Страница 440: ...ault Save 1 7 01 02 00012 16908300 1 I t monitoring motor warning limit 2 Error memory Can be parameterised Px 6320 8 Tab 426 Sample diagnostic message Cell Content description 1 Diagnostic number in...

Страница 441: ...save 1 01 01 00010 16842762 Short circuit motor phases braking res istor Error memory Can be parameterised No Error on over current monitoring Remedy Check STO wiring and reference switch Is there to...

Страница 442: ...hanics blocked or sluggish Default ignore 2 Classifica tion Can be parameterised Px 6323 value list Warning 16 Info 4 Ignore 2 Default do not save 0 01 02 00014 16908302 I t monitoring output stage wa...

Страница 443: ...itoring output stage in standstill error limit Remedy Reduce target current setpoint torque Reduce standstill time Allow minimal movement 5 Hz electrical rotational frequency Default ignore 2 Classifi...

Страница 444: ...toring motor model error limit Remedy Motor mechanics blocked or sluggish Motor undersized Check performance rating of drive pack age Default Stop category 1 256 Classifica tion Can be parameterised P...

Страница 445: ...ing the power supply Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 02 01 00025 33619993 Overvoltage in logic supply 5V Error memory Can be parameterised No Underv...

Страница 446: ...threshold value Default Stop category 1 256 Classifica tion Can be parameterised Px 487 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default save...

Страница 447: ...Default save 1 02 03 00039 33751079 Overvoltage in mains voltage Error memory Can be parameterised No The limit value for the energy recovery has been exceeded Remedy Checking the power supply Defaul...

Страница 448: ...No Default save 1 03 01 00046 50397230 Warning threshold Device overtemperat ure Error memory Can be parameterised No Device overtemperature Remedy Temperature display plausible Device fan faulty Dev...

Страница 449: ...ausible Device fan faulty Device overloaded Check installation conditions control cab inet fan filter dirty Check drive layout possible overloading during continuous operation Default Warning 16 Class...

Страница 450: ...invalid Error memory Can be parameterised Px 8451 Homing Timeout Remedy Check configuration of homing run timeout type At end stop check parameters for stand still window and limiting current Default...

Страница 451: ...Stop category 1 256 Classifica tion Can be parameterised No Default save 1 05 02 00060 84017212 Motion task not known Error memory Can be parameterised No Task could not be executed as controller ena...

Страница 452: ...it for MC for current motion command Default Warning 16 Classifica tion Can be parameterised No Default save 1 05 02 00065 84017217 Task ignored due to motion task error Error memory Can be parameteri...

Страница 453: ...parameterised No An error occurred in the trajectory generator when calcu lating a movement profile Remedy Check parameterisation task or set com plete unrealistic values Default Stop category 1 256 C...

Страница 454: ...jectory generator is invalid Remedy Change specified deceleration to valid range Default Stop category 1 256 Classifica tion Can be parameterised No Default save 1 05 02 00075 84017227 Invalid deceler...

Страница 455: ...ategory 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default save 1 05 02 00079 84017231 Torque increase ramp invalid Error memory Can be parameterised Px 1130226 Simultaneous negative positive...

Страница 456: ...84017431 Fixed stop not detec ted Error memory Can be parameterised Px 4648 Monitoring window of fixed stop left Remedy Check that workpiece was not lost Default Info 4 Classifica tion Can be paramet...

Страница 457: ...Error memory Can be parameterised No The parameterisation of the notch filter frequency is inval id Remedy Check parameterisation of notch filter fre quency notch filter frequency is greater than half...

Страница 458: ...meterised No The parameterised motor type servo stepper etc is not supported Remedy See manual to determine whether motor is actually supported Check motor configuration data Default Stop category 2 6...

Страница 459: ...096 Classifica tion Can be parameterised No Default save 1 06 02 00087 100794455 Velocity control limit ation invalid Error memory Can be parameterised No Torque control limitation invalid Remedy Chec...

Страница 460: ...100794459 Parameterisation of currents Error memory Can be parameterised No The change of the control structure is not permissible Remedy Wait until the current task is complete Check task Default Wa...

Страница 461: ...tegory 1 256 Classifica tion Can be parameterised No Default save 1 06 05 00097 100991073 Parameter set not found Error memory Can be parameterised No Parameter set invalid Remedy Delete parameter set...

Страница 462: ...meter set Remedy Repeat transmission Check connection Default Warning 16 Classifica tion Can be parameterised No Default save 1 06 05 00102 100991078 Transmission error in parameter set Error memory C...

Страница 463: ...ror memory Can be parameterised No The factory parameter set was not found Remedy none info only Default Warning 16 Classifica tion Can be parameterised No Default save 1 06 05 00107 100991083 Factory...

Страница 464: ...category 1 256 Classifica tion Can be parameterised Px 4632 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default save 1 07 01 00109 117506157 Nega...

Страница 465: ...of movement owing to positive soft ware limit position Remedy Check task Default Warning 16 Classifica tion Can be parameterised Px 4638 value list Warning 16 Info 4 Ignore 2 Default save 1 07 01 0011...

Страница 466: ...256 Classifica tion Can be parameterised Px 101106 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default save 1 07 01 00115 117506163 Positive hard...

Страница 467: ...56 Classifica tion Can be parameterised Px 101110 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default save 1 07 01 00118 117506166 Error both hard...

Страница 468: ...ssifica tion Can be parameterised Px 4612 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default do not save 0 07 02 00121 117571705 Target position...

Страница 469: ...4618 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default do not save 0 07 02 00124 117571708 Standstill reached Error memory Can be parameterised...

Страница 470: ...race Check following error window Default Stop category 1 256 Classifica tion Can be parameterised Px 4624 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Igno...

Страница 471: ...very time Application monitoring reasonable Pos sibly deactivate monitoring Default Info 4 Classifica tion Can be parameterised Px 4671 value list Stop category 0 4096 Stop category 1 256 Stop categor...

Страница 472: ...difference encoder 1 to encoder 2 too large Remedy Calibrate feed constant encoder 1 to encoder 2 Check error threshold Check encoder cable Default ignore 2 Classifica tion Can be parameterised No Def...

Страница 473: ...vertical axes with load reduce load mass Check configuration of commutation find ing and current regulator according to fric tion Default Stop category 0 4096 Classifica tion Can be parameterised No...

Страница 474: ...30 Analogue setpoint specification limit exceeded Error memory Can be parameterised No Fieldbus not supported Remedy Install suitable FW package for device Default Stop category 1 256 Classifica tion...

Страница 475: ...heck parameterisation of EtherCAT com munication Default Stop category 1 256 Classifica tion Can be parameterised No Default save 1 08 04 00142 134480014 EtherCAT process data invalid Error memory Can...

Страница 476: ...efault save 1 08 09 00144 134807696 Required application class not supported Error memory Can be parameterised No The required telegram is not supported Remedy Only request telegrams supported by the...

Страница 477: ...4096 Stop category 1a 1024 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 internal 1 Invalid 0 Default save 1 08 09 00294 134807846 PLC Control is not set Error memory Can be param...

Страница 478: ...x 46 Safety function requested Remedy none info only Default Info 4 Classifica tion Can be parameterised Px 821 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4...

Страница 479: ...B inputs Remedy Check timing and sequence of STO input signals Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 09 01 00150 151060630 Sequence monitoring STO A B Er...

Страница 480: ...fica tion Can be parameterised No Default save 1 10 01 00154 167837850 RTE module initialisa tion failed Error memory Can be parameterised No Error power output stage Remedy Restart Return device Defa...

Страница 481: ...y indexed twice Error memory Can be parameterised No Overflow in diagnostic register messages not currently acknowledged Remedy Acknowledge messages Eliminate causes of currently active mes sages Defa...

Страница 482: ...Process runtime exceeded Remedy internal error service required Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 11 02 00164 184680612 Process runtime exceeded Erro...

Страница 483: ...evel 4 Remedy Service required Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 11 02 00169 184680617 Timeout process level 4 Error memory Can be parameterised No Ti...

Страница 484: ...lid Remedy Restart device Default Info 4 Classifica tion Can be parameterised No Default save 1 11 03 00174 184746158 File user file backup invalid Error memory Can be parameterised No The creation of...

Страница 485: ...s not possible to write to the user file Remedy Restart device Service required Default Info 4 Classifica tion Can be parameterised No Default save 1 11 03 00179 184746163 Writing to user file not pos...

Страница 486: ...memory Can be parameterised No Firmware incompatible Remedy Check hardware and firmware versions Default Warning 16 Classifica tion Can be parameterised No Default save 1 11 04 00184 184811704 Firmwar...

Страница 487: ...em error occurred during firmware update Remedy Restart firmware update Service required Default Stop category 1 256 Classifica tion Can be parameterised No Default save 1 11 04 00189 184811709 System...

Страница 488: ...data incorrect Communication unit Remedy Service required Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 11 05 00194 184877250 Device data incorrect Communication...

Страница 489: ...d Remedy Service required Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 11 05 00200 184877256 Current sensor calib ration invalid Error memory Can be parameterise...

Страница 490: ...sed No Default save 1 11 06 00285 184942877 Error in the commu nication module mail box Error memory Can be parameterised No The initialisation of the device has failed Remedy Check whether additional...

Страница 491: ...parameterised No Hardware does not correspond to expected compatibility state Remedy Service required Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 11 08 00207 18...

Страница 492: ...1 12 01 00210 201392338 Mileage error threshold reached Error memory Can be parameterised Px 14114 The maximum value for the load change is reached Remedy Information copies Default Info 4 Classifica...

Страница 493: ...completed Remedy none info only Default internal 1 Classifica tion Can be parameterised No Default save 1 13 01 00214 218169558 Message acknowledg ment Error memory Can be parameterised No Diagnostic...

Страница 494: ...uning so that the acceleration and braking phases become shorter Default Stop category 1 256 Classifica tion Can be parameterised No Default save 1 13 02 00218 218235098 Auto tuning travel insufficien...

Страница 495: ...eterised No Logout of the device at a specific authorisation level has been completed Remedy none info Default Info 4 Classifica tion Can be parameterised No Default save 1 17 01 00225 285278433 Logou...

Страница 496: ...invalid Error memory Can be parameterised No Encoder type plate invalid Remedy Service required Default Stop category 0 4096 Classifica tion Can be parameterised No Default save 1 18 00 00095 30198998...

Страница 497: ...e Check encoder Default Warning 16 Classifica tion Can be parameterised Px 10061 value list Stop category 0 4096 Stop category 1 256 Stop category 2 64 Warning 16 Info 4 Ignore 2 Default save 1 18 03...

Страница 498: ...gger Trigger type that can use all of the data in the parameter directory of the device as a trigger signal For example a data trigger on the Setpoint value speed controller parameter can start creati...

Страница 499: ...Unit Contains the instance number of the signal to be recorded The array ID is used for the channel assignment 5503 0 0 channel 0 5503 0 n channel n Access read write Update effective immediately 550...

Страница 500: ...ce channels 5500 0 0 1 Activate trace channel 0 5500 0 1 1 Activate trace channel 1 Tab 431 Parameter settings example Trace and trigger configuration parameters ID Px Parameters Description Specifies...

Страница 501: ...Access read write Update effective immediately 558 Recording length Unit Factor for influencing the sampling interval With a factor of 2 for example only every 2nd sample is recorded Sampling inter va...

Страница 502: ...in the samples P0 557 0 0 5000 Number of samples before the trigger 5000 0 0001 s 0 5 s Selection of down sampling factor P0 559 0 0 2 Sampling interval should be 100 s 2 base time per sample Tab 433...

Страница 503: ...als exceeding the threshold in a positive direc tion will initiate the trigger 2 Any edge any signal change for numerical trigger sig nals exceeding the threshold in any direction will initiate the tr...

Страница 504: ...peed controller parameter as trigger sig nal Selection of the data instance ID data trigger P0 6002 0 0 0 Instance 0 Selection of the array ID data trigger P0 6003 0 0 0 Array ID 0 Selection of the tr...

Страница 505: ...nt recording Access read Update effective immediately 103104 Current diagnostics ID diagnostic trace Unit Specifies the current data instance ID of the current recording Access read Update effective i...

Страница 506: ...of the data instance ID diagnostic trace P0 103102 0 0 0 Instance 0 Selection of diagnostics trigger P0 103106 0 0 0 0 Trigger the message Tab 437 Parameter settings example Diagnostic messages No sp...

Страница 507: ...INT16 6001 0x211B 02 Data ID data trigger UINT32 6002 0x211B 03 Data instance ID data trigger UINT16 6003 0x211B 04 Array ID data trigger UINT16 6004 0x211B 05 Trigger event UINT32 60012 0x211B 0C Tri...

Страница 508: ...hysteresis function random noise Two threshold values can be specified per parameterisation A diagnostic message is issued if they are exceeded The reaction of the servo drive when the threshold valu...

Страница 509: ...values should be parameterised Warning threshold for mileage recording of axis 1 90000000 user units Error threshold for mileage recording of axis 1 100000000 user units Parameter settings example Pa...

Страница 510: ...changes for the corres ponding axis Access read write Update effective immediately 1421 Load change counter Unit Specifies the first threshold value when the device should gen erate the first configur...

Страница 511: ...hold for the load change counter P1 1427 0 0 4500000 Load change warning threshold of axis 1 Error threshold for the load change counter P1 14211 0 0 90000000 Load change error threshold of axis 1 Tab...

Страница 512: ...nufacturer specific objects saved basic unit for the object is effective 1423 0x2133 02 Operating hour counter FLOAT32 Tab 452 Objects 10 Web server 10 1 Function A web server is integrated into the d...

Страница 513: ...IP configuration of the device has been changed the current IP address can be determined with the CMMT plug in Call the web server 1 Open the Internet browser 2 Enter the IP address of the device in t...

Страница 514: ...download of firmware Upload and download of parameter sets Reset of all parameters to factory settings Diagnosis Enables the diagnostics of the servo drive Access to the error history Display of curre...

Страница 515: ...20 EtherCAT Protocol Enhancements ETG 1300 EtherCAT Indicator and Labeling Specification ETG 2000 EtherCAT Slave Information Specification ETG 2200 EtherCAT Slave Implementation Guide ETG 6010 EtherCA...

Страница 516: ...r request Emergency request Get OD list response Get object description request Entry descriplion request SDO info error request Get OD list request Get object description request Entry descriplion re...

Страница 517: ...ync Manager 3 synchronisation 11 5 2 Synchronisation Sync Manager 2 synchronisation Sync manager 2 synchronization 11 5 2 Synchronisation Sync Manager 3 synchronisation Sync manager 3 synchronization...

Страница 518: ...work string with ring star or line topology Ports The CMMT is integrated into an EtherCAT network through the following connections Port XF1 IN EtherCAT input Port XF2 IN EtherCAT output Termination T...

Страница 519: ...s double word are presented as follows Byte format Data type Byte order1 LSB MSB Word 0xCDEF 0xEF 0xCD LSB MSB Little endian Double word 0x89ABCDEF 0xEF 0xCD 0xAB 0x89 1 LSB least significant byte MSB...

Страница 520: ...ailbox Frame Emergency Frame SDO Request Frame SDO Response Frame SDO Information Frame Index 2 Byte Data 1 4 5 n Byte SDO control 1 Byte Subindex 4 Byte SDO Info Header 2 Byte SDO Info Service Data B...

Страница 521: ...SI SP Bootstrap Boot IB IB Fig 106 EtherCAT final state machine The table describes all statuses of the EtherCAT final state machine Status Status Init Status after Power ON or Reset acyclical mailbox...

Страница 522: ...final state machine Status transition Status Power ON RESET The CMMT was switched on or a Reset was triggered The CMMT initialises itself and switches directly into the Init status IP Init PreOp Mail...

Страница 523: ...hronisation network synchronisation 11 5 2 Synchronisation 11 5 1 Sync Manager communication Der Sync Manager steuert die Mailbox und Prozessdaten Kommunikation des CMMT zu den anderen Netzwerkteilneh...

Страница 524: ...isation man ager for the EtherCAT communication Access read write Update effective immediately 750 Sync manager com munication type Eth erCAT Unit Shows the number of assigned PDOs in the synchronisat...

Страница 525: ...EtherCAT UINT16 771 1 0 2 0x1C13 01 03 PDO mapping object index of assigned PDO EtherCAT UINT16 Px Manufacturer specific objects saved basic unit for the object is effective 750 0x2213 01 05 Sync mana...

Страница 526: ...write Update effective immediately 1050 Synchronisation mode Unit Shows the cycle time ns for the synchronisation processes Sync with process data cycle time of the master DC Sync0 time between two Sy...

Страница 527: ...rame and SYNC0 event in Sync synchronisation mode Access read Update effective immediately 1055 Sync Calc And Copy Time Unit Shows the status of the local cycle time DC Sync0 measure ment and the rese...

Страница 528: ...ter Px 1059 via the plug in Access read Update effective immediately 1059 Sync SM Event Missed Unit Shows the number of cycle time violations in the Operational status cycle was not finished on time o...

Страница 529: ...ted UINT16 1053 0 0 0x1C33 04 Sync mode supported UINT16 1054 0 0 0x1C32 05 Sync Minimum Cycle Time UINT32 1054 0 0 0x1C33 05 Sync Minimum Cycle Time UINT32 1055 0 0 0x1C32 06 Sync Calc And Copy Time...

Страница 530: ...clical intervals master transmits a synchronisation datagram in which the Clock Master writes the current reference time Ref Time to the reference clock All downstream slaves read out this value The E...

Страница 531: ...controller for process data communication is assigned permanently to Sync Managers 2 and 3 for transmission of mapped process data objects PDO Process data objects Max 16 output input objects Sub 0x01...

Страница 532: ...20 0x1600 0x60B2 0x08 0x10 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Index Sub Length Controlword Modes of operation Target position Profile velocity Target velocity Target torque Velocity offset Torque...

Страница 533: ...0 0x06 0x08 0x00 Header Mapping 0x1A00 01 0x1A00 02 0x1A00 03 0x1A00 04 0x1A00 05 0x1A00 06 Fig 112 Overview default TxPDO1 mapping Configuring object 0x1A00 The following steps are required to config...

Страница 534: ...verview default TxPDO2 mapping 11 7 1 4 Function TxPDO3 mapping EtherCAT DC time stamp The graph shows the fixed setting for the 3rd send PDO mapping TxPDO3 in object 0x1AF1 CoE object dictionary TxPD...

Страница 535: ...pping EtherCAT diagnostic history 1AF1 TxPDO3 mapping EtherCAT DC time stamp Access read write Update effective immediately 880 Transmit PDO number of objects EtherCAT Unit Shows the mapping of object...

Страница 536: ...11 8 Mailbox communication Mailbox communication Mailbox communication is used to exchange service data e g parameter values or error messages acyclically between the controller and CMMT In the CMMT t...

Страница 537: ...er CMMT SDO download Download SDO request SDO write command Request Acknowledgment SDO ownload Download SDO response CoE OD Object Value Fig 115 Write access to object data The SDO service supports th...

Страница 538: ...ds SDO service Description SDO upload expedited request Read command request for 1 4 bytes user data SDO upload expedited response Read command response with 1 4 bytes user data SDO upload normal requ...

Страница 539: ...ubindex 0 must be 0 for write access 0x06 01 00 04 SDO complete access is not supported for objects with variable length e g with ENUM object types 0x06 01 00 05 Length of object exceeds size of mailb...

Страница 540: ...or no object directory is avail able Tab 473 SDO abort codes 11 8 2 Emergency communication The CMMT monitors the function of internal modules e g output stage Whenever an error occurs the configured...

Страница 541: ...pleted There is no error 1 Error occurs No error is present and a new error occurs An emergency message is transmitted with the error code of the new error 2 Error acknowledgment not successful Not al...

Страница 542: ...1 02 00017 0x2312 I2t Motor 0x02 01 02 00012 01 02 00013 01 02 00258 01 02 00259 0x2340 Short circuit motor side 0x02 01 01 00010 0x3110 Mains over voltage 0x04 02 03 00039 0x3120 Mains under voltage...

Страница 543: ...2 00072 05 02 00073 05 02 00074 05 02 00075 05 02 00076 05 02 00077 05 02 00078 05 02 00079 05 02 00080 05 02 00278 05 02 00279 05 02 00280 09 00 00146 0x5441 Limit switch positive 0x01 07 01 00115 0x...

Страница 544: ...00197 11 05 00198 11 05 00200 11 05 00202 0x6310 Loss of parameters 0x01 06 05 00097 06 05 00098 06 05 00099 06 05 00100 06 05 00101 06 05 00102 06 05 00103 06 05 00104 06 05 00105 06 05 00106 06 05 0...

Страница 545: ...04 00142 08 12 00250 08 12 00272 0x7100 Power additional modules 0x01 10 01 00156 11 01 00244 0x7120 Motor 0x01 18 00 00092 18 00 00093 18 00 00094 0x7122 Motor error or commutation malfunc 0x01 07 0...

Страница 546: ...Communication 0x10 08 00 00139 0x8612 Reference limit 0x01 07 01 00109 07 01 00110 07 01 00111 07 01 00112 07 01 00116 07 01 00117 07 01 00118 07 01 00119 07 01 00120 0x8613 Homing Error 0x01 05 01 00...

Страница 547: ...d via the Ethernet over EtherCAT protocol EoE The real time properties of the EtherCAT network are not affected by this If the controller master has a separate Ethernet port this port can be used to c...

Страница 548: ...6 rw P0 7605 0 0 5 0x1100 00 Ethercat address CiA402 UINT16 rw P0 7606 0 0 0x1018 01 Vendor ID UINT32 rw P0 7607 0 0 0x1018 02 Product code UINT32 rw P0 7608 0 0 0x1018 03 Revision number UINT32 rw P0...

Страница 549: ...0x1C33 20 Sync Error BOOL ro P0 1061 0 0 0x1600 00 Receive PDO number of objects EtherCAT UINT8 rw P0 760 0 0 0x1600 01 10 Receive PDO Mapped Objects EtherCAT UINT32 rw P0 761 0 0 15 0x1A00 00 Transmi...

Страница 550: ...rw Tx P0 43550 0 0 CiA402 the factor group is effective 0x6007 00 Abort connection option code SINT16 rw Rx P0 757 0 0 0x6040 00 Control word CiA402 UINT16 rw Rx P1 730 0 0 0x6041 00 Status word CiA4...

Страница 551: ...Rx P1 526799 0 0 0x6098 00 Referencing method SINT8 rw Rx P1 8417 0 0 0x6099 01 Search for reference mark setpoint velocity UINT32 rw P1 843 0 0 0x6099 02 Setpoint reference mark creeping velocity UIN...

Страница 552: ...16 ro P1 1128057 0 0 0x6403 00 Current NOC code motor STRING 32 ro P1 7188 0 0 31 0x6502 00 Supported drive modes CiA402 UINT32 ro Tx P1 734 0 0 0x6503 00 Device name STRING 128 rw P0 902 0 0 127 0x65...

Страница 553: ...7123 0 0 0x60C5 00 Limit value acceleration limiting UINT32 rw Rx P1 1305 0 0 0x60C6 00 Limit value deceleration limiting UINT32 rw Rx P1 1306 0 0 0x60E4 01 Actual position value SINT32 ro Tx P1 128 0...

Страница 554: ...T32 ro Tx P1 113028 1 0 0x60D7 00 Counter initiated trigger events positive edge CiA402 UINT16 ro Tx P1 113031 1 0 0x60D8 00 Counter initiated trigger events negative edge CiA402 UINT16 ro Tx P1 11303...

Страница 555: ...ted major version control unit STRING 2 ro Tx P0 5760 0 0 1 0x2103 0D Expected minor version control unit UINT16 ro Tx P0 5761 0 0 0x2103 0E Expected compatibility index control unit UINT16 ro Tx P0 5...

Страница 556: ...19 0x2103 1E URL address STRING 20 ro Tx P0 11280052 0 0 19 0x2103 1F Revision STRING 10 ro Tx P0 72 0 0 9 0x2106 01 Product Key STRING 15 ro Tx P0 710 0 0 14 0x2106 03 NOC code STRING 32 ro Tx P0 711...

Страница 557: ...set STRING 2 ro Tx P0 7186 0 0 1 0x2106 35 Minor version motor data set UINT16 ro Tx P0 7187 0 0 0x2106 37 Lq inductance FLOAT32 ro Tx P0 7428 0 0 0x2106 39 Ld inductance FLOAT32 ro Tx P0 7429 0 0 0x2...

Страница 558: ...y index control unit UINT16 ro Tx P0 254 0 0 0x210B 0A Serial number control unit STRING 9 ro Tx P0 266 0 0 8 0x210B 0C Major version control unit data set STRING 2 ro Tx P0 2208 0 0 1 0x210B 0D Minor...

Страница 559: ...5 Storage option in error log UINT8 rw Rx P0 4890 0 0 0x2114 18 Current warning threshold DC link voltage FLOAT32 ro Tx P0 56799 0 0 0x2114 19 Current upper limit value DC link voltage FLOAT32 ro Tx P...

Страница 560: ...1B 01 Axis ID data trigger UINT16 rw Rx P0 6000 0 0 0x211B 02 Data ID data trigger UINT32 rw Rx P0 6001 0 0 0x211B 03 Data instance ID data trig ger UINT16 rw Rx P0 6002 0 0 0x211B 04 Array ID data tr...

Страница 561: ...801 0 0 0x2125 03 Storage option in error log UINT8 rw Rx P0 802 0 0 0x2126 01 Transmit PDO number of objects EtherCAT UINT8 rw Rx P0 880 0 0 0x2126 02 Transmit PDO number of objects EtherCAT UINT8 rw...

Страница 562: ...mit value power output stage tem perature FLOAT32 ro Tx P0 9323 0 0 0x2128 23 Current lower limit value warning threshold power output stage temperature FLOAT32 ro Tx P0 9324 0 0 0x2128 24 Current low...

Страница 563: ...8 Sync Delay Time FLOAT32 ro Tx P0 1057 0 0 0x212E 09 Sync0 Cycle Time FLOAT32 rw Rx P0 1058 0 0 0x212E 0A Sync SM Event Missed UINT16 ro Tx P0 1059 0 0 0x212E 0B Sync cycle time too small UINT16 ro T...

Страница 564: ...0 0x2130 39 Electrical angular fre quency filtered FLOAT32 ro Tx P0 3234 0 0 0x2130 3D Deactivation motor change check BOOL rw Rx P0 3236 0 0 0x2130 3F Encoder permanently homed BOOL rw Rx P0 3237 0...

Страница 565: ...97 Filter time constant accel eration filter FLOAT32 rw Rx P0 71502 0 0 0x2133 02 Operating hour counter FLOAT32 ro Tx P0 1423 0 0 0x2136 01 EtherCAT explicit device ID UINT16 rw Rx P0 7600 0 0 0x2136...

Страница 566: ...INT32 ro Tx P0 10152 0 0 0x213D 03 Internal interface status UINT32 ro Tx P0 10153 0 0 0x213F 01 DC link recovery deactiva tion FLOAT32 ro Tx P0 10181 0 0 0x213F 02 DC link recovery status BOOL ro Tx...

Страница 567: ...andler Control and State Register UINT32 ro Tx P0 10314 0 0 0x2141 10 Reset status list UINT32 ro Tx P0 10315 0 0 0x2141 11 Operating system specific UINT32 ro Tx P0 10316 0 0 0x2142 01 Axis ID diagno...

Страница 568: ...er 10 UINT8 rw Rx P0 9303 0 0 0x214C 04 Test user 20 UINT8 rw Rx P0 9304 0 0 0x214C 05 Test user 30 UINT8 rw Rx P0 9305 0 0 0x214D 01 Activate DHCP BOOL rw Rx P0 12000 0 0 0x214D 02 Activate DHCP BOOL...

Страница 569: ...Tx P1 39 0 0 0x2151 0B Actual phase V current value FLOAT32 ro Tx P1 310 0 0 0x2151 0C Voltage limiting filter time constant FLOAT32 rw Rx P1 52679 0 0 0x2151 0D Voltage limiting Ud active BOOL ro Tx...

Страница 570: ...7 0 0 0x2153 09 Maximum output voltage FLOAT32 ro Tx P1 88 0 0 0x2153 0A Actual Clarke Transforma tion la current value FLOAT32 ro Tx P1 89 0 0 0x2153 0B Actual Clarke Transforma tion lb current value...

Страница 571: ...154 0D Total inertia FLOAT32 rw Rx P1 973 0 0 0x2154 0E Setpoint value friction compensation FLOAT32 ro Tx P1 974 0 0 0x2154 0F Setpoint value inertia com pensation FLOAT32 ro Tx P1 975 0 0 0x2154 10...

Страница 572: ...x P1 526797 0 0 0x2159 0A Activation background mode BOOL rw Rx P1 1130224 0 0 0x215B 01 Position controller amplific ation gain FLOAT32 rw Rx P1 220 0 0 0x215B 02 Dead zone position con troller SINT6...

Страница 573: ...Tx P1 2852 0 0 0x215E 28 Lower limit value servo drive temperature FLOAT32 ro Tx P1 2853 0 0 0x215E 46 Upper limit value minimum load voltage FLOAT32 ro Tx P1 28120 0 0 0x215E 47 Lower limit value mi...

Страница 574: ...Rx P1 14 0 0 0x2162 02 Current pole pairs UINT32 ro Tx P1 719 0 0 0x2162 03 Current motor inertia FLOAT32 ro Tx P1 7112 0 0 0x2162 04 Current phase sequence BOOL ro Tx P1 7115 0 0 0x2162 05 Current no...

Страница 575: ...0 0 0x2162 1A Motor type UINT8 ro Tx P1 71428 0 0 0x2162 1B Diagnostic category UINT16 rw Rx P1 71429 0 0 0x2162 1C Storage option in error log UINT8 rw Rx P1 71433 0 0 0x2164 01 STO hysteresis time F...

Страница 576: ...Rx P1 4615 0 0 0x2166 11 Diagnostic category UINT16 rw Rx P1 4616 0 0 0x2166 12 Storage option in error log UINT8 rw Rx P1 4617 0 0 0x2166 13 Diagnostic category UINT16 rw Rx P1 4618 0 0 0x2166 14 St...

Страница 577: ...2 rw Rx P1 4660 0 0 0x2166 31 Diagnostic category UINT16 ro Tx P1 4661 0 0 0x2166 33 Monitoring window push back FLOAT32 rw Rx P1 4663 0 0 0x2166 34 Damping time pushback FLOAT32 rw Rx P1 4664 0 0 0x2...

Страница 578: ...ing time velocity fol lowing error FLOAT32 rw Rx P1 4690 0 0 0x2166 4B Diagnostic category UINT16 rw Rx P1 4691 0 0 0x2166 4C Storage option in error log UINT8 rw Rx P1 4692 0 0 0x2166 4D Diagnostic c...

Страница 579: ...n troller FLOAT32 rw Rx P1 855 0 0 0x2168 07 Limit value total current closed loop controller FLOAT32 rw Rx P1 856 0 0 0x2168 08 Resulting lower limit value velocity closed loop con troller FLOAT32 ro...

Страница 580: ...o drive FLOAT32 ro Tx P1 622 0 0 0x2169 06 Nominal current servo drive FLOAT32 ro Tx P1 623 0 0 0x2169 07 Resulting maximum current FLOAT32 ro Tx P1 624 0 0 0x2169 08 Resulting minimum current FLOAT32...

Страница 581: ...ve at stand still FLOAT32 ro Tx P1 6315 0 0 0x216A 0F Actual value I t monitoring power output stage at standstill FLOAT32 ro Tx P1 6316 0 0 0x216A 10 Scaling factor warning limit I t monitoring drive...

Страница 582: ...ine commutation finding UINT32 ro Tx P1 660 0 0 0x216B 02 Commutation finding status UINT32 ro Tx P1 661 0 0 0x216B 04 Increments FLOAT32 rw Rx P1 664 0 0 0x216B 06 Mode UINT32 rw Rx P1 668 0 0 0x216B...

Страница 583: ...216C 0C Winding temperature user defined FLOAT32 rw Rx P1 7147 0 0 0x216C 0D Temperature sensor user defined UINT32 rw Rx P1 7153 0 0 0x216C 0E Holding brake user defined BOOL rw Rx P1 7159 0 0 0x216C...

Страница 584: ...achine profile homing CiA402 UINT32 ro Tx P1 738 0 0 0x216D 0A Internal status state machine profile torque mode CiA402 UINT32 ro Tx P1 526782 0 0 0x216D 0B Status record table CiA402 UINT32 ro Tx P1...

Страница 585: ...OAT32 rw Rx P1 8136 0 0 0x216F 0A Target velocity CiA402 FLOAT32 rw Rx P1 8137 0 0 0x216F 0B Velocity offset CiA402 FLOAT32 rw Rx P1 8138 0 0 0x216F 0C Positioning option code CiA402 UINT16 rw Rx P1 8...

Страница 586: ...2 0 0 0x2172 04 Search for reference mark setpoint velocity FLOAT32 rw Rx P1 843 0 0 0x2172 05 Search for reference mark setpoint acceleration FLOAT32 rw Rx P1 844 0 0 0x2172 06 Search for reference m...

Страница 587: ...453 0 0 0x2172 1D Diagnostic category UINT16 rw Rx P1 8454 0 0 0x2172 1E Storage option in error log UINT8 rw Rx P1 8455 0 0 0x2173 01 Status auto tuning UINT8 ro Tx P1 860 0 0 0x2173 02 Result amplif...

Страница 588: ...umber of validation movements UINT8 rw Rx P1 8630 0 0 0x2174 0E Movement stroke during validation movement SINT64 rw Rx P1 8631 0 0 0x2174 0F Maximum velocity during validation movement FLOAT32 rw Rx...

Страница 589: ...ator output current FLOAT32 ro Tx P1 105 0 0 0x217A 08 Fine interpolator status UINT32 ro Tx P1 107 0 0 0x217B 01 IPO mode position SINT64 ro Tx P1 1140 0 0 0x217B 02 IPO mode velocity FLOAT32 ro Tx P...

Страница 590: ...Phase rotation BOOL rw Rx P1 1172 0 0 0x217D 03 Reversing the direction of rotation validation status BOOL rw Rx P1 1173 0 0 0x217D 04 Validation status of phase rotation BOOL rw Rx P1 1175 0 0 0x217...

Страница 591: ...time FLOAT32 ro Tx P1 12202 0 0 0x2181 05 Status Stop ramp UINT32 ro Tx P1 12205 0 0 0x2181 06 Factor extrapolation stop ramp FLOAT32 rw Rx P1 12206 0 0 0x2182 01 Database ID gear unit 1 UINT32 rw Rx...

Страница 592: ...a tion FLOAT32 rw Rx P1 1307 0 0 0x2183 08 Lower limit torque limita tion FLOAT32 rw Rx P1 1308 0 0 0x2184 01 Mileage SINT64 rw Rx P1 1411 0 0 0x2184 05 Mileage warning threshold SINT64 rw Rx P1 1417...

Страница 593: ...FLOAT32 rw Rx P1 214535 0 0 0x2186 13 Slow jog 2 acceleration FLOAT32 rw Rx P1 214536 0 0 0x2186 14 Slow jog 2 jerk FLOAT32 rw Rx P1 214537 0 0 0x2186 15 Relative position jog 2 SINT64 rw Rx P1 214538...

Страница 594: ...ly used fast jog 2 jerk FLOAT32 ro Tx P1 214556 0 0 0x2188 01 Current ramp FLOAT32 rw Rx P1 1555 0 0 0x2188 02 Conversion factor torque FLOAT32 rw Rx P1 1556 0 0 0x2188 03 Setpoint generator output po...

Страница 595: ...Storage option in error log UINT8 rw Rx P1 101105 0 0 0x2189 07 Diagnostic category UINT16 rw Rx P1 101106 0 0 0x2189 08 Storage option in error log UINT8 rw Rx P1 101107 0 0 0x2189 09 Diagnostic cate...

Страница 596: ...threshold react ive current braking FLOAT32 rw Rx P1 102108 0 0 0x218D 09 End value reactive current braking FLOAT32 rw Rx P1 102109 0 0 0x218E 01 Device status UINT32 ro Tx P1 10231 0 0 0x218E 02 Con...

Страница 597: ...ault value target velo city FLOAT32 rw Rx P1 10366 0 0 0x2190 07 Default value activation stroke limitation BOOL rw Rx P1 10367 0 0 0x2190 08 Default value negative stroke limit SINT64 rw Rx P1 10368...

Страница 598: ...Cam controller source UINT16 rw Rx P1 112701 0 0 0x2192 04 Cam controller source UINT16 rw Rx P1 112701 1 0 0x2192 05 Upper limit value modulo SINT64 rw Rx P1 112702 0 0 0x2192 06 Upper limit value mo...

Страница 599: ...er limit value modulo SINT64 ro Tx P1 112716 0 0 0x2192 18 Current lower limit value modulo SINT64 ro Tx P1 112716 1 0 0x2192 19 Current inactive time first switching point FLOAT32 ro Tx P1 112717 0 0...

Страница 600: ...modulo cycles UINT32 ro Tx P1 112731 1 0 0x2192 2D Offset modulo position SINT64 rw Rx P1 112732 0 0 0x2192 2E Offset modulo position SINT64 rw Rx P1 112732 1 0 0x2192 2F Initialisation of modulo SINT...

Страница 601: ...Rx P1 113005 1 0 0x2193 0D Upper limit value trigger event SINT64 rw Rx P1 113006 0 0 0x2193 0E Upper limit value trigger event SINT64 rw Rx P1 113006 1 0 0x2193 0F Current touch probe mode UINT16 ro...

Страница 602: ...initiated BOOL ro Tx P1 113016 0 0 0x2193 22 Trigger event initiated BOOL ro Tx P1 113016 1 0 0x2193 23 Trigger event NOT initiated BOOL ro Tx P1 113017 0 0 0x2193 24 Trigger event NOT initiated BOOL...

Страница 603: ...ch probe position positive CiA402 UINT64 ro Tx P1 113027 0 0 0x2193 38 Time stamp touch probe position positive CiA402 UINT64 ro Tx P1 113027 1 0 0x2193 39 Time stamp touch probe position negative CiA...

Страница 604: ...T32 ro Tx P1 113037 0 0 0x2193 4C Current delay time FLOAT32 ro Tx P1 113037 1 0 0x2194 01 Resolution position SINT8 rw Rx P1 7841 0 0 0x2194 02 Resolution velocity SINT8 rw Rx P1 7842 0 0 0x2194 03 R...

Страница 605: ...x P0 12012 0 0 0x219A 02 Maximum connection access UINT16 ro Tx P0 12013 0 0 0x219B 01 Connection active BOOL ro Tx P0 12014 0 0 0x219B 02 Connection active BOOL ro Tx P0 12014 1 0 0x219B 03 Connectio...

Страница 606: ...factor FLOAT32 rw Rx P1 4028 0 0 0x219F 01 Activation of field weaken ing BOOL rw Rx P1 102201 0 0 0x219F 02 Field weakening status BOOL ro Tx P1 102202 0 0 0x219F 03 Field weakening reactive current...

Страница 607: ...0 0 0x21A2 01 Resolution single turn UINT32 rw Rx P0 3601 0 0 0x21A2 02 Resolution multiturn UINT32 rw Rx P0 3602 0 0 0x21A2 03 Single turn position UINT32 ro Tx P0 3603 0 0 0x21A2 04 Multi turn numer...

Страница 608: ...factor FLOAT32 rw Rx P1 204803 0 0 0x21A7 01 Activation current reduc tion holding brake BOOL rw Rx P1 40001 0 0 0x21A7 02 Delay time FLOAT32 rw Rx P1 40002 0 0 0x21A7 03 Supply voltage holding brake...

Страница 609: ...0 7 0x2210 01 08 Current array ID trace data UINT16 ro P0 5509 0 0 7 0x2213 01 05 Sync manager communica tion type EtherCAT UINT8 rw P0 750 0 0 4 0x2214 01 10 Receive PDO Mapped Objects EtherCAT UINT3...

Страница 610: ...FLOAT32 rw P1 977 0 0 15 0x2227 01 03 Amplification gain position controller FLOAT32 rw P1 226 0 0 2 0x2228 01 03 Velocity controller amplific ation gain FLOAT32 rw P1 2210 0 0 2 0x2229 01 03 Velocit...

Страница 611: ...0 Record table field 5 SINT64 rw P1 1816 0 0 127 0x2237 01 80 Record table field 6 SINT64 rw P1 1817 0 0 127 0x2238 01 80 Record table field 7 SINT64 rw P1 1818 0 0 127 0x2239 01 80 Record step enabli...

Страница 612: ...0 Next event field 4 SINT64 rw P1 526786 0 0 15 0x2248 01 10 Next event field 5 SINT64 rw P1 526787 0 0 15 0x2249 01 10 Next event field 6 SINT64 rw P1 526788 0 0 15 0x224A 01 10 Next event field 7 SI...

Страница 613: ...P1 1171 0 0 9 0x226F 01 04 Selection of switching func tion UINT16 rw P1 112708 0 0 3 0x226F 05 08 Selection of switching func tion UINT16 rw P1 112708 1 0 3 0x2270 01 04 Selection of switching char...

Страница 614: ...rst switching point SINT64 ro P1 112723 1 0 3 0x2277 01 04 Current second switching point SINT64 ro P1 112724 0 0 3 0x2277 05 08 Current second switching point SINT64 ro P1 112724 1 0 3 0x2278 01 04 C...

Страница 615: ......

Страница 616: ...ization is prohibited Offenders will be liable for damages All rights reserved in the event that a patent utility model or design patent is registered Copyright Festo AG Co KG 73734 Esslingen Ruiter S...

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