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External Signal Exchange

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Operating Manual dryve D1, ST-, DC-, EC/BLDC-Motor Control System - V2.4

6.4 CANopen

In the following chapter, the CANopen interface is explained.
The implementation is according to CiA301 and CiA402 (CiA402-3 servo drives)

6.4.1 Special Features of SDO/PDO Communication

SDO

SDO communication is primarily for parameterisation of object entries.
If the dryve D1 is disconnected from the voltage supply, all the configured SDO parameters are lost.
These must be re-written by the master every time the device is switched on again.

PDO

PDO communication is used for process data transfer.
There are 4 TPDOs and 4 RPDOs available for communication.

6.4.2 Telegram Structure

To accomplish a successful communication, a read/write telegram must correspond to the following scheme.
For example, a telegram for reading the object 6041h Statusword and the response telegram of the dryve D1 in "Operation
Enabled" status (

State Machine Visualisation

, p. 85) In this case, the dryve D1 has the "Node-ID 1".

In later sections, we will only refer to Bytes 1 to 7.

Read telegram

COB-ID

DLC

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

CAN
iden
Node ID

Quantity of
send Byte

Write/Read-
Command

Object
Index Part
2

Object
Index Part
1

Object
Sub-Index

Data

– Specification of the "Least Significant

Bit (LSB)" in Byte 4 and the "Most Significant
Bit (MSB)" in Byte 7

601h

8h

40h

41h

60h

00h

00h

00h

00h

00h

Response telegram

COB-ID

DLC

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

581h

8h

4Bh

41h

60h

00h

27h

06h

00h

00h

Extract of COB-ID definition

Write/Read Commands

Request SDO Client

Response SDO Server

Description

22h

60h

Write data, seize not specified

23h

60h

Write data, seize 4 Byte

27h

60h

Write data, seize 3 Byte

2Bh

60h

Write data, seize 2 Byte

2Fh

60h

Write data, seize 1 Byte

40h

42h

Read data, seize not specified

40h

43h

Read data, seize 4 Byte valid in response

40h

47h

Read data, seize 3 Byte valid in response

40h

4Bh

Read data, seize 2 Byte valid in response

40h

4Fh

Read data, seize 1 Byte valid in response

6.4.3 PDO mapping

PDO Mapping executed in the master control unit. The PDO Mapping specifies which objects information is exchanged on a
regular basis between the D1 and the master. For further information, please refer to the operating instructions for the master
control unit.

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Содержание Motion Plastics dryve D1

Страница 1: ...ating Manual dryve D1 ST DC EC BLDC Motor Control System V2 4 igus Motion Plastics dryve D1 ST DC EC BLDC Motor Control System Manual V2 4 Website shop www igus eu D1 Videos Tutorials www igus eu dryv...

Страница 2: ...faces 26 5 Initial Operation and User Interface 27 5 1 User Interface Connection Establishment 27 5 1 1 Connection Loss 28 5 2 User Interface Information 29 5 2 1 Entering Parameters 30 5 3 Start 31 5...

Страница 3: ...tings 68 5 9 2 Controller Data 69 5 9 3 Controller Data Fine Tuning 70 5 10 Feed Rate Specification 71 5 11 Absolute Feedback 73 5 12 Impulse check 73 5 12 1 Impulse Check with Physical Limitation 74...

Страница 4: ...trol 92 6 5 Modbus TCP Gateway 102 6 5 1 Necessary User Interface Settings 102 6 5 2 Conversion of Integers into Double Word 103 6 5 3 Communication Verification 103 6 5 4 Byte Assignment Modbus TCP G...

Страница 5: ...resulting from misuse or unauthorised technical modification of the dryve D1 motor control system The igus GmbH reserves the right to make changes and improvements to the product or the technical docu...

Страница 6: ...ls and devices Disturbed signals can cause unforeseen device reactions Carry out the wiring in accordance with the EMC measures Failure to follow these instructions can result in death serious injury...

Страница 7: ...PC The dryve D1 motor control system has been designed for operation with direct voltage In this quick initial operation guide a voltage of 24 V is being used Within just a few minutes you will be ab...

Страница 8: ...ded to assist you 1 Press the orange spring into the connector by hand or with pliers and hold the spring down 2 After removing the insulation push the cores X1 and X5 10 mm X2 8 mm deeply into the op...

Страница 9: ...tomatically Start an Internet browser Google Chrome Microsoft Edge etc 1 Connect the dryve D1 to the PC with an Ethernet cable 2 Switch on the voltage supply the connected power supply 3 The status di...

Страница 10: ...ry settings for quick initial operation of the system have already been made ex works 1 Specify the motor type 2 Select the igus article number that is shown on the motor label 3 The parameters are se...

Страница 11: ...he user is operating the dryve D1 for the first time choose low values such as Max Velocity 5 mm s Jog Velocity 2 mm s Max Acceleration 100 mm s Quick Stop 1000 mm s Following Error 10 mm Positioning...

Страница 12: ...an be carried out 5 Using the buttons move the carriage or rotation arm manually to the middle of the distance available for travel 6 Create the motion sequence shown in the table 7 Select Row 1 by cl...

Страница 13: ...rnal and internal homing methods Position monitoring with automatic Following Error correction and Closed Loop control is available via different Feedback systems The supported load voltage of up to 4...

Страница 14: ...ied from the same power supply unit or from the same transformer CAUTION Danger of burning The housing of the dryve D1 motor control system as well as the driven motor may reach very high temperatures...

Страница 15: ...ort Circuit Protected Galvanically Separated by Optocoupler ULow 10 UB X2 11 UHigh 60 UB X2 11 PNP Pull Down internal NPN Pull Up internal Maximum Frequency DI 1 and DI 2 25 kHz Maximum Frequency DI 3...

Страница 16: ...p and screwing the base of the housing directly onto a mounting plate The device must be aligned vertically For horizontal alignment the maximum power must be reduced by 30 to prevent overheating The...

Страница 17: ...ltage before working on the system Danger of electric arcs with improperly mounted electrical connections Wires connected to the dryve D1 must not have exposed wire ends without insulation Check all c...

Страница 18: ...each motor consider the set Boost 3 Maximal current draw of used peripheral devices e g sensors and other devices 4 Maximal current draw of the Logic The current draw must be added voltage wise This...

Страница 19: ...Installation 19 121 Operating Manual dryve D1 ST DC EC BLDC Motor Control System V2 4 The arrow marks pin 1...

Страница 20: ...put 2 Active 3 Digital Output 3 Referenced 4 Digital Output 4 Alert 5 Digital Output 5 Error X4 Analog Inputs 1 10 V Supplied by controller 2 Signal 1 Velocity and position setpoint 3 Signal 2 Positio...

Страница 21: ...error E11 Following Error and the motor will stop an uncontrolled way This error needs a reset as well X2 Digital Inputs Connector The wiring and function of each input depends on the Operating mode...

Страница 22: ...nector The dryve D1 can control either a Stepper Motor a DC Motor or an EC Motor The following wiring diagrams demonstrate the connection for a Stepper Motor X5 1 to X5 4 DC Motor X5 1 to X5 2 and EC...

Страница 23: ...ryve D1 motor control system is operated with a load voltage of 24 V at X1 1 the voltage is directly passed on to the X5 6 brake output In the case of a load voltage of 48 V at X1 1 the brake output v...

Страница 24: ...pper Motor DC Motor EC BLDC Motor 5 V 0 V A B N optional Hall Sensor 2 pole DC Motor 5 V 0 V Hall 1 DC Hall 2 DC Hall Sensor 3 pole EC BLDC Motor For an EC BLDC Motor operation the 3 pole Hall Sensor...

Страница 25: ...Installation 25 121 Operating Manual dryve D1 ST DC EC BLDC Motor Control System V2 4 Stepper Motor EC BLDC Motor DC Motor...

Страница 26: ...X7 6 Not assigned X7 7 CAN_H CAN Signal High X7 8 Not assigned X7 9 Not assigned Transmission Speeds Possible transmission speeds are dependent on the used cable lengths The dryve D1 supports Baud Ra...

Страница 27: ...ver touch any driven rotating components Make sure that even unexpected movements of the driven components cannot cause personal injury or damage to equipment hardware Make sure that an emergency shut...

Страница 28: ...aded manually If the IP address is assigned automatically please check if the IP Address has changed The user interface will always return to the Start page NOTE Under certain circumstances a password...

Страница 29: ...he current action status as well as warnings and error messages are shown in the upper part In the lower part the controller temperature the Motor Current the actual and the set position are shown Hel...

Страница 30: ...t elapse before altered parameters are permanently saved Confirmation after Parameters entry Motor Article Number Motor Current Boost Current Holding Current Step Mode Deactivation of Enable Motor Typ...

Страница 31: ...t systems Meters and millimetres are available with the metric and feet and inches with the imperial system If changed all previously entered values are automatically converted into the new measuremen...

Страница 32: ...a disabling the Digital Input 7 Enable external signal or use of the switch on Inputs Outputs page 2 Click on Load 3 The file manager of the browser opens automatically 4 Navigate to the storage locat...

Страница 33: ...is recommended to reduce the Ethernet communication to a minimum while the update is executed It is advised not to use the browser for additional activities don t execute programmes which need to com...

Страница 34: ...to 200 steps per revolution Direct Current Motor DC Parameters Description Motor Current Indicates the maximum permissible continuous current of the motor Boost Current The Boost Current indicates th...

Страница 35: ...ed by selected step mode NOTE If the motor is used in the Step Direction p 74 operating mode please select a Step Mode corresponding to your application If one shaft revolution corresponds to 200 step...

Страница 36: ...parameters are automatically set and activated 7 Motor specific control parameters are entered automatically on the Oscilloscope page 8 Select the Step Mode needed 9 Click on Apply 5 4 2 User Defined...

Страница 37: ...ar encoder signals is used As a result the signals are considerably more resistant to interference Data transfer takes place on channels A A B and B As an option an index signal can be transmitted via...

Страница 38: ...an be executed after further settings have been done The instructions are to be found at Impulse Check p 67 5 4 5 Closed Loop The Closed Loop control is able to reduce the motor s power consumption an...

Страница 39: ...the holding torque of the motor and brake NOTE If a holding brake is mounted but not activated malfunctions or component damage can occur NOTE The igus motors with built in brakes are designed as hol...

Страница 40: ...a multi axis system containing several dryve D1 controller with EC BLDC motors and connecting all these controllers motor connector X5 wise to one single Braking Resistor may lead to a destruction of...

Страница 41: ...4 Determination Resistance Value max RBrake Optimal Brake Resistor value in Ohm UBrake Voltage Braking Voltage threshold to activate the Braking Resistor in volt V see Braking Voltage Setting S 41 PMo...

Страница 42: ...operation dwell time TCycle Total duration single movement cycle in seconds s TPause Pause time after single movement cycle in seconds s Determination generator operation dwell time Generator operatio...

Страница 43: ...operation dwell time downward movement Generator operation state at deceleration and at the uniform movement with reduced intensity Acceleration Uniform movement Deceleration Example 314 1 0 3 0 7 4 3...

Страница 44: ...1 via disabling the Digital Input 7 Enable external signal or use of the switch on Inputs Outputs page 12 Enter the desired Braking Voltage 13 Activate the dryve D1 via enabling the Digital Input 7 En...

Страница 45: ...is or the motor in Tipp Teach mode and the position adaption function The entered velocity must be lower than the Max Velocity Max Acceleration Maximum motor carriage or rotation arm acceleration Used...

Страница 46: ...ion around the target point Example Target 100 mm Positioning Window 10 mm Positioning interval 90 mm to 110 mm If the interval is reached by the Actual Position the Positioning Time is lapsed and the...

Страница 47: ...Limit switch placed at the positive end of the axis Negative and Positive Limit switches placed at the positive and negative ends of the axis Position specification and selection of limit switches 1 V...

Страница 48: ...tal Inputs DI 4 or DI 5 1 Limit Switch triggered 2 Movement sequence is stopped 3 Error message E12 Limit Switch is displayed 4 Without feedback Loss of the Referenced status signal 5 Error reset Sett...

Страница 49: ...Referencing to the encoder index pulse in positive searching direction AAF Analogue Absolute Value Feedback Homing takes place by means of an analogue absolute value encoder NOTE The offset indicates...

Страница 50: ...ze unwanted motor movements during standstill caused by a higher set point signal ripple or other interferences ARO 10 V 10 V 0 10 V 0 V ADR 10 V 0 V 0 10 V 5V APS 10 V 10 V 0 10 V 0 V The value is in...

Страница 51: ...ryve D1 control system Used as an alternative to the IP Address a router with DNS server required Ethernet Settings Adoption A reboot causes the made Ethernet Communication changes to be activated For...

Страница 52: ...rotocol Secure performs the same task as http but encrypted This enables the establishment of an encrypted connection between the dryve D1 motor control system and the browser The HTTPS method is used...

Страница 53: ...P Address is called up This warning must be shown as the browser cannot confirm whether this certificate is trustworthy There are two ways of avoiding this 1 Use of a certificate that has been issued...

Страница 54: ...yve D1 in other Modbus bus segments The range is between 1 to 255 Must only be assigned once per Modbus bus segment Activation of Modbus TCP Gateway communication 1 If another port than 502 is needed...

Страница 55: ...lect the Drive Profiles page in the Navigation menu 14 Select your desired operating mode in the drop down menu 15 Return to Inputs Outputs An input set to H will be set in the case of a High signal N...

Страница 56: ...ding DI 3 Bit 2 Bit for binary coding DI 4 Bit 3 Bit for binary coding DI 5 Bit 4 Bit for binary coding DI 6 Start Start signal for the selected movement DI 7 Enable Supply of electric current to the...

Страница 57: ...f electric current to the motor DI 8 Limit Switch Positive Limit switch at positive end of axis DI 9 Limit Switch Negative Limit switch at negative end of axis DI 10 Stop Reset Stop of movement Acknow...

Страница 58: ...to H sends a High signal to indicate that it has been activated An output set to L sends a Low signal to indicate that it has been activated NOTE The digital inputs have been permanently set to PNP M...

Страница 59: ...a c h e d P a u s e l o o p 1 S t a r t l o o p s e t 2 G o a l s e t 2 r e a c h e d S t a r t l o o p s e t 1 G o a l s e t 1 r e a c h e d A l e r t P a u s e l o o p 1 S t a r t l o o p s e t 2 A...

Страница 60: ...the case of PNP the flow of current is from the output of the higher level control system to the input of the dryve D1 NPN In the set state the input is pulled to ground In the non connected state the...

Страница 61: ...h require further settings For Step Direction p 74 CANopen p 82 and Modbus TCP Gateway p 102 please continue in the respective chapter To visualize movements and tune them please continue at the Oscil...

Страница 62: ...p the movement with a pre set rate of deceleration 7 Click on Quick Stop to stop the movement with the rate of deceleration previously set at Motion Limits on the Axis page 5 8 3 Position Adoption The...

Страница 63: ...et is 100 Desired position 2 equals to 50 mm entered target is 50 Desired position 3 equals to 150 mm entered target is 150 A homing run is a precondition for absolute positioning REL Relative Positio...

Страница 64: ...l The signal can be supplied manually or by a higher level control system Voltage interval of 0 V to 10 V Minimum position at 0 V Maximum position at 10 V Voltage interval of 10 V to 10 V Minimum posi...

Страница 65: ...lecting the number field of the row ii Move to the desired target position with the Position Adoption buttons For this purpose the motor must have been enabled via DI 7 iii Click on the Teach button 3...

Страница 66: ...scribed at Signal Exchange Binary p 69 ADR 1 Select ADR in the Mode drop down menu 2 Enter the desired values for Acceleration and Deceleration If no value or a 0 zero is entered at Deceleration the v...

Страница 67: ...f the row ii Move to the desired target position with the Position Adoption buttons For this purpose the motor must have been enabled via DI 7 iii Click on the Teach button c Teaching via external con...

Страница 68: ...t 1 Analogue input 2 1 Select the desired value with a drop down menu 2 Click on Start to start the oscilloscope 3 Click on Stop to stop the recording 4 Click on Save to download the data in the form...

Страница 69: ...isation it might be necessary to fine tune the Control Data settings Current control parameters Stepper Motors Silent operation can be achieved by lowering the P and I parameters However this is at th...

Страница 70: ...Oscilloscope page 7 Enter the Controller Data previously noted 8 Go to the Drive Profile page and enter parameters leading to a oscillating movement p 96f with the maximum acceleration velocity and de...

Страница 71: ...accidents Go to the Axis page 1 Enter 70 as the Feed Rate value 2 Set the following movement limits 3 Set Enable on the Inputs Outputs page or by an external signal to DI 7 4 Go to the Drive Profile p...

Страница 72: ...ickly reduce the Jog Velocity 25 Use the Position Adoption buttons to move the carriage as far as possible Measure the distance of the carriage to one end of the axis again This value is called XM2 In...

Страница 73: ...ack on the Axis page 7 Click on the orange arrow next to AI 2 Absolute Value min V to automatically transfer the actual voltage value to the field on the right 8 Go back to the Drive Profile page 9 Us...

Страница 74: ...tputs page 2 Go to the Motor page and click on the Pulse Check button under Feedback 3 The dryve D1 will control the motor to execute 2 rotations determine the impulse count and automatically enter th...

Страница 75: ...the dryve D1 In the case of an NPN connection the respective signal must accordingly be switched from High Level to Low Level To execute a movement it must be complied to the following requirements H...

Страница 76: ...witching the Digital Inputs in accordance with the Summary Binary Movement Selection table 3 Apply a voltage to AI 2 Ensure that the set voltage does not trigger any movement as soon as DI 6 Start is...

Страница 77: ...5 DI 4 DI 3 DI 2 DI 1 1 0 0 0 0 0 2 0 0 0 0 1 3 0 0 0 1 0 4 0 0 0 1 1 5 0 0 1 0 0 6 0 0 1 0 1 7 0 0 1 1 0 8 0 0 1 1 1 9 0 1 0 0 0 10 0 1 0 0 1 11 0 1 0 1 0 12 0 1 0 1 1 13 0 1 1 0 0 14 0 1 1 0 1 15 0...

Страница 78: ...an NPN connection the respective signal must accordingly be switched from High Level to Low Level To execute a movement the following requirements must be complied Manual Positioning Set Di 7 Enable R...

Страница 79: ...Velocity p 42 HOM ABS 1 Set the DI 7 Enable signal external signal or switch on the Inputs Outputs page 2 Select the desired positioning movement by setting the Digital Inputs in accordance with the...

Страница 80: ...sitioning movement If you use the Inverting function switch for the respective input changed from H High to L Low on the Inputs Outputs page this input will be interpreted as active if it is pulled to...

Страница 81: ...o 100 000 and Max Acceleration to 1 000 000 2 Set the DI 7 Enable signal external signal or switch on the Inputs Outputs page 3 Set the movement direction by setting DI 2 Direction 4 Apply the square...

Страница 82: ...tes 1 to 7 Read telegram COB ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 CAN identifier Node ID Quantity of send Byte Write Read Command Object Index Part 2 Object Index Part 1 Object Sub I...

Страница 83: ...t up message is sent 3 Transition to the operational state set by bus control or local control PDO communication active 4 7 Transition to pre operational state PDO communication stopped SDO communicat...

Страница 84: ...state Operation enabled 6 4 5 Necessary User Interface Settings The following objects parameters must be set in the user interface of the dryve D1 Motor page All parameters relevant to the motor must...

Страница 85: ...eady to switch on Read Statusword 6041h bin 0000 0110 0100 0000 ec 06 64 hex 06 40 Bit 9 High Set Digital Input 7 to status high Set Digital Input 7 Start D1boot up D1ready for further usage e g Homin...

Страница 86: ...DI 7 logical 1 10 Target Reached Refer to Homing p 81 0 Target not reached 0 Velocity not reached Refer to Homing p 81 1 Target reached 1 Velocity reached 11 Internal Limit Active 12 Operation mode sp...

Страница 87: ...8 Halt 0 Enable Bit 4 0 Movement Enabled 1 Not enabled Stop 1 Not enabled Stop 9 Mode Specific 0 Point to point movement 1 Position override 10 Reserved 11 Manufacturer Specific 12 Manufacturer Speci...

Страница 88: ...ming run 6098h Homing Method Referencing method 607Ch Home Offset Home Point Offset optional in user interface 6040h Controlword Start Command via Bit 4 Before the Bit 4 start command can be set in Co...

Страница 89: ...elegram received should be planned to ensure a reliable adoption of the data After Bit 4 Start has been set in Controlword 6040h Bit 10 Target Reached is reset in Statusword 6041h by the D1 and Bit 12...

Страница 90: ...aft_revolutions Shaft revolutions l 607Ah Target Position Indication of the New Target Speed 60C2h Interpolation Time Period Minimum cycle time for adopting new position set points If the value in obj...

Страница 91: ...1003h Pre Defined Error Field 1600h 1st RPDO Mapping Parameter 6068h Position Window Time 1005h COB ID SYNC Message 1601h 2nd RPDO Mapping Parameter 606Ch Velocity Actual Value 1006h Communication Cy...

Страница 92: ...n COB ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 601h 8h 2Bh 40h 60h 00h 6h 00h 00h 00h Modbus TCP as Gateway 6041h Statusword Short description Feedback of status information of the dryve...

Страница 93: ...odes of Operation Display Short description Object for feedback of current operating mode Parameter Name Modes_of_operation_display Object Type VAR 0x7 Data Type INTEGER8 0x0002 Access RO PDO Mapping...

Страница 94: ...w_time Object Type VAR 0x7 Date Type UNSIGNED16 0x0006 Access RO PDO Mapping Yes 606Ch Velocity Actual Value Short description Current speed of the Velocity Mode Parameter Name Velocity_actual_value O...

Страница 95: ...axis travels per one drive shaft revolution For spindle drives this value is also called spindle pitch The Feed Constant is defined by specifying the feed rate 6092h 01 and the number of motor or gea...

Страница 96: ...to the number of decimal places Other objects with acceleration velocity and position specifications are not affected by this extension 6092 01 70 100 10 70000 6092 02 5 5 10 55 6092 6092 01 6092 02 7...

Страница 97: ...peeds during the homing run 6098h Parameter Name Homing_speeds Object Type ARRAY 0x8 Subindex Number 3 6099h sub0 Number of Entries Parameter Name Homing_speeds_number_of_entries Object Type VAR 0x7 D...

Страница 98: ..._period_value Objekt Typ VAR 0x7 Daten Typ UNSIGNED8 0x0005 Zugriff RWW Standardwert 0x1 PDO Mapping ja 60C2h sub2 Interpolation time index Parameter Name Interpolation_time_index Objekt Typ VAR 0x7 D...

Страница 99: ...ation it s recommended to set one send receive cycle as a delay 3 Set the desired Bit at Subindex 1 Digital Outputs Physical Outputs to high Example If DO1 Ready and DO2 Active shall be set manually t...

Страница 100: ...on 19 0 DO 4 off 1 DO 4 on 20 0 DO 5 off 1 DO 5 on 21 Not Assigned 22 Not Assigned 23 Not Assigned 24 Live Value DO1 25 Live Value DO2 26 Live Value DO3 27 Live Value DO4 28 Live Value DO5 29 Not Ass...

Страница 101: ...NSIGNED32 0x0007 Access RO PDO Mapping Yes Bit Assignment 0 Profile Position Mode 1 Velocity Mode 2 Profile Velocity Mode 3 Profile Torque Mode 4 Reserved 5 Homing Mode 6 Interpolated Position Mode 7...

Страница 102: ...explained The customer must implement the read and write telegram communication in the master control on their own behalf 6 5 1 Necessary User Interface Settings The following objects parameters must...

Страница 103: ...000 1111 1111 1111 1101 1011 0110 0001 0000 255 253 182 16 101 253 137 1111 1001 1111 0110 1111 1111 1110 1111 249 246 255 239 6 5 3 Communication Verification 1 Configuration of the dryve D1 accordin...

Страница 104: ...Modbus TCP Gateway CANopen 13 0Dh Error information output p 85 Byte 9 Protocol option fields Protocol control 0 read 1 write The value is a 0 for a read and a 1 for a write telegram Byte 10 Protocol...

Страница 105: ...0h 60h 40h 0h 0h 0h 0h 1h 6h not send not send not send dec 0 0 0 0 14 0 43 13 1 0 0 96 64 0 0 0 0 1 6 not send not send not send bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1101 0000...

Страница 106: ...00 0000 0000 0000 0000 0000 0001 0000 0110 not send not send not send hex 0h 0h 0h 0h 0h 0Eh 0h 2Bh 0Dh 1h 0h 0h 60h 60h 0h 0h 0h 0h 1h 6h not send not send not send dec 0 0 0 0 14 0 43 13 1 0 0 96 96...

Страница 107: ...0000 0000 0000 0000 0000 not send not send not send not send hex 0h 0h 0h 0h 0h 0Dh 0h 2Bh 0Dh 1h 0h 0h 60h 9Ah 0h 0h 0h 0h 0h not send not send not send not send dec 0 0 0 0 0 13 0 43 13 1 0 0 96 15...

Страница 108: ...0000 0000 0000 0000 0000 0000 0010 0101 0000 1100 0011 not send not send hex 0h 0h 0h 0h 0h 0Fh 0h 2Bh 0Dh 1h 0h 0h 60h 83h 0h 0h 0h 0h 2h 50h C3h not send not send dec 0 0 0 0 15 0 43 13 1 0 0 96 13...

Страница 109: ...h 0h 1h 1Fh not send not send not send dec 0 0 0 0 14 0 43 13 1 0 0 96 96 0 0 0 0 1 31 not send not send not send bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 00...

Страница 110: ...n code 02h Illegal Data Address The used device does not permit the send data address The used register address is faulty 03h Illegal Data Value The used data values are not allowable This may indicat...

Страница 111: ...lied to the motor or adopt the positioning window Errors No Description Error 1 E01 Configuration Please check the configuration Incorrect parameter combination Error 2 E02 Motor Over current Possible...

Страница 112: ...ters Error 12 E12 Limit Switch A limit switch has been tripped Please check the available stroke the home position and the positions of the limit switches Error 13 E13 Hall Sensor Incorrect Hal sensor...

Страница 113: ...ent Increase of pause times between the movements Use of a motor with a higher torque at the same Motor Current Load Reduction During acceleration or deceleration phases or passages with an increasing...

Страница 114: ...it switches The brown wire is connected to 24V and the blue wire to 0V Depending on the position the black wire is connected to terminal X2 8 or X2 9 of the dryve D1 The supply voltage brown and blue...

Страница 115: ...or during operation an error message is displayed What is wrong Please refer to the countermeasures in the chapter Troubleshooting p 113 If the problems persists please write a Email to the dryve D1 S...

Страница 116: ...on speeds Brake ECO Mode After completion of a positioning process the time until the next start is monitored If a new start command is not given within a set time the brake output is deactivated as a...

Страница 117: ...signal that can be evaluated Incremental Encoder An encoder consisting of a rotating disc on which a certain number of increments impulses lines are placed With adding and subtracting those increments...

Страница 118: ...Motor Current up to 21 A Holding Current Stepper Motor 0 A to 6 90 A Gear Ratio 999 999 999 to 999 999 999 Feedback Impulses All Feedbacks 1 to 4096 Brake ECO Delay 0 ms to 10000 ms Switching Delay 0...

Страница 119: ...Communication Ethernet TCP IP IP Address from 0 0 0 1 to 254 254 254 254 Subnetwork Mask from 0 0 0 1 to 254 254 254 254 Standard Gateway from 0 0 0 1 to 254 254 254 254 Host Name 40 characters Bus Sy...

Страница 120: ...mplification P from 0 to 10 000 Time constant I from 0 to 1 000 000 Speed Amplification P from 0 to 10 000 Time constant I from 0 to 1 000 000 Position Amplification P from 0 to 10 000 Value Entries I...

Страница 121: ...information on the dryve D1 Website shop www igus eu D1 Ordering of further motor control systems Download the dryve D1 firmware manual and specifications Website drylin E www igus eu drylinE Downloa...

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