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NANOTEC PD4-C, Техническое руководство

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5 General concepts

5 General concepts

5.1 Control modes

5.1.1 General

The control mode of systems without feedback is called open loop, the mode with feedback is called closed
loop. In the closed loop control mode, it is initially irrelevant whether the fed back signals come from the
motor itself or from the influenced process.

For controllers with feedback, the measured control variable (actual value) is constantly compared with a set
point (set value). In the event of deviations between these values, the controller readjusts according to the
specified control parameters.

Pure controllers, on the other hand, have no feedback for the value that is to be regulated. The set point (set
value) is only specified.

Open loop operating mode

Closed loop operating mode

Motor Controller

Motor

Process

Target value

Motor Controller

Motor

Process

Target value

Actual value

In addition to the physical feedback systems (e.g., via encoders or Hall sensors), model-based feedback
systems, collectively referred to as sensorless systems, are also used. Both feedback systems can also be
used in combination to further improve the control quality.

Motor Controller

Operating mode

Open loop

Operating mode

Closed loop

Physical

feedback systems

Encoder/hall

Sensorless

Model-based

feedback systems

Summarized in the following are all possible combinations of control modes and feedback systems with
respect to the motor technology. Support of the respective control mode and feedback is controller-specific
and is described in chapters and Operating modes.

Control mode

Stepper motor

BLDC motor

Open Loop

yes

no

Closed Loop

yes

yes

Feedback

Stepper motor

BLDC motor

Hall

no

yes

Encoder

yes

yes

Version: 2.0.1 / FIR-v1650

33

Содержание PD4-C

Страница 1: ...For use with the following devices PD4 C5918X4204 E 01 PD4 C5918M4204 E 01 PD4 C5918L4204 E 01 PD4 C6018L4204 E 01 PD4 CB59M024035 E 01 Valid with firmware version FIR v1650 Technical Manual Version 2...

Страница 2: ...C5918M4204 E 01 13 3 2 3 PD4 C5918L4204 E 01 14 3 2 4 PD4 C6018L4204 E 01 14 3 2 5 PD4 CB59M024035 E 01 14 3 3 Electrical properties and technical data 14 3 3 1 Technical data motor 14 3 3 2 Technica...

Страница 3: ...accuracy for relative movements 53 6 1 5 Boundary conditions for a positioning move 54 6 1 6 Jerk limited mode and non jerk limited mode 55 6 2 Velocity 56 6 2 1 Note regarding USB 56 6 2 2 Descriptio...

Страница 4: ...rd 78 6 11 4 Statusword 78 7 Special functions 79 7 1 Digital inputs and outputs 79 7 1 1 Bit assignment 79 7 1 2 Digital inputs 79 7 1 3 Digital outputs 83 7 2 I 2 t Motor overload protection 87 7 2...

Страница 5: ...en Loop Current Reduction Value factor 129 2039h Motor Currents 130 203Ah Homing On Block Configuration 132 203Bh I2t Parameters 133 203Dh Torque Window 136 203Eh Torque Window Time 136 2050h Encoder...

Страница 6: ...g 196 3700h Following Error Option Code 200 4012h HW Information 200 4013h HW Configuration 201 4014h Operating Conditions 202 4040h Drive Serial Number 204 4041h Device Id 204 603Fh Error Code 205 60...

Страница 7: ...1h Gear Ratio 235 6092h Feed Constant 236 6098h Homing Method 237 6099h Homing Speed 237 609Ah Homing Acceleration 239 60A4h Profile Jerk 239 60C1h Interpolation Data Record 241 60C2h Interpolation Ti...

Страница 8: ...ling from 6432h to 3322h FIR v1426 1 1 7 10 09 2014 Error corrections FIR v1436 1 1 15 18 11 2014 Error corrections The Mode of modulo operation object in 2070h was replaced with the Positioning optio...

Страница 9: ...ces and instructions for safe use and safe operation All warning notices provided by Nanotec must be passed on directly to the end user 1 4 Target group and qualification The product and this document...

Страница 10: ...ice indicates a possibly dangerous situation Failure to observe the notice may result in moderately severe injuries Describes how you can avoid the dangerous situation Note Indicates a possible incorr...

Страница 11: ...is indicated by a subscript h at the end of the number The objects in the object dictionary are written with index and subindex as follows Index Subindex Both the index as well as the subindex are sp...

Страница 12: ...r Install suitable circuits e g charging capacitor that reduce voltage peaks Note Damage to the electronics through improper handling of ESD sensitive components The device contains components that ar...

Страница 13: ...temperature operation 10 40 C Air humidity non condensing 0 85 Altitude of site above sea level without drop in performance 1500 m Ambient temperature storage 25 85 C 3 2 Dimensioned drawings 3 2 1 PD...

Страница 14: ...r view Y 3 2 5 PD4 CB59M024035 E 01 Front view and mounting Side view Rear view Y 3 3 Electrical properties and technical data 3 3 1 Technical data motor PD4 C PD4 CB Type High pole DC servo stepper m...

Страница 15: ...es of the fuse are dependent on the application and must be dimensioned greater than the maximum current consumption of the controller less than the maximum current of the voltage supply If the fuse v...

Страница 16: ...urrent 0 1 000 200 400 600 800 1 200 1 400 100 300 500 700 900 1 100 1 300 40 60 50 70 45 55 65 time in seconds temperature in Celsius PD4 C Controller temperature at 45 Celsius ambient temperature an...

Страница 17: ...recommend always performing an endurance test in the actual environment for applications in which current level and ambient temperature pose a problem 3 5 LED signaling 3 5 1 Power LED 3 5 1 1 Normal...

Страница 18: ...hoenix Contact MCV 0 5 4 G 2 5 Mating connector included in scope of delivery Ph nix Contact FK MCP 0 5 4 ST 2 5 or equivalent X1 X2 X3 1 1 1 Pin Function Note 1 GND 2 Analog input 10 bit 0 10 V 3 Dig...

Страница 19: ...ching from single ended 3240h 07 0 to differential 3240h 07 1 Pin Function Note 1 Digital input 1 0 24 V 2 Digital input 2 0 24 V 3 Digital input 3 0 24 V 4 Release input 4 5 V 24 V signal switchable...

Страница 20: ...s section flexible min Wire end sleeve without plastic sleeve min 0 25 mm 2 0 5 mm 2 Conductor cross section min AWG 26 20 Min AWG acc to UL CUL 28 20 3 6 4 X3 voltage supply 3 6 4 1 Safety notice Vol...

Страница 21: ...n min AWG 24 16 Min AWG acc to UL CUL 24 16 3 6 4 3 Permissible operating voltage The maximum operating voltage is 50 5 V DC for the stepper motors PD4 C and 29 V for the BLDC motors PD4 CB If the inp...

Страница 22: ...not reach for moving parts during operation After switching off wait until all movements have ended CAUTION In free standing operation motor movements are uncontrolled and can cause injuries If the mo...

Страница 23: ...out the configuration in the following order 1 The configuration file is read out and processed 2 The DIP switches for selecting the special drive modes is are read out and used as configuration See...

Страница 24: ...1 3 2 Reading and writing the file How to access the file 1 Connect and switch on the voltage supply 2 Connect the controller to your PC using the USB cable 3 After the PC has detected the device as...

Страница 25: ...dictionary can be set with the following syntax Index Subindex Value Index This value corresponds to the index of the object and is interpreted as a hexadecimal number The value must always be specifi...

Страница 26: ...syntax is used for conditional execution No Assignment No The number of the DIP switch is entered here as it is printed on the switches Valid values are 1 to 4 Assignment The assignment is specified...

Страница 27: ...ogram was deleted an empty file named vmmcode usr is created the next time the controller is started Tip It is possible to automate the deletion of the old NanoJ program and the copying of the new one...

Страница 28: ...as already performed at the factory 4 2 1 Parameter determination Auto setup determines various parameters of the connected motor and of the present sensors by means of multiple test runs and measurem...

Страница 29: ...e pairs Determine encoder resolution Determine alignment Hall sensor available No Yes Encoder and or Hall sensor available Invert direction of measurement1 Yes No While the auto setup is running the f...

Страница 30: ...ism see Saving objects and 1010h Store Parameters Categories Drive 1010h 05h and Tuning 1010h 06h are used CAUTION Uncontrolled motor movements After the auto setup the internal coordinate system is n...

Страница 31: ...in the ON position A switch pushed down is in the OFF position The following switch configurations are possible here 1 2 3 Mode Off Off Off Clock direction Off Off On Clock direction Off On Off Clock...

Страница 32: ...de You must connect the enable direction and analog inputs see chapter X2 digital inputs The maximum analog voltage corresponds to the maximum speed The direction is preset here via the direction inpu...

Страница 33: ...ating mode Motor Controller Motor Process Target value Motor Controller Motor Process Target value Actual value In addition to the physical feedback systems e g via encoders or Hall sensors model base...

Страница 34: ...ion in the stator is specified by the controller The rotor directly follows the magnetic field rotation without step losses as long as no limit parameters such as the maximum possible torque are excee...

Страница 35: ...h sufficient torque reserve The permissible operating voltage range can be found in the product data sheet Optimize the control parameters of the current controller via objects 3210h 09h I_P and 3210h...

Страница 36: ...motor that can be precisely regulated The feedback of the control variables necessary for closed loop mode can be realized with various technologies In addition to the physical feedback with encoders...

Страница 37: ...am shows the possible state transitions Not ready to switch on Start Software cannot rectify error Switched on disabled Ready to switch on Switched on Operation enabled 3 Quick stop active 10 Fault Fa...

Страница 38: ...2h 01h Note If the Holding torque in the switched on state option is active changing the operating mode may cause the motor to jerk 5 2 1 3 Statusword Listed in the following table are the bit masks t...

Страница 39: ...is set from 0 to 1 rising edge Note If an unrecoverable error occurs the controller changes to the Not ready to switch on state and remains there 5 2 2 Behavior upon exiting the Operation enabled sta...

Страница 40: ...witched on 605Dh Halt 605Eh 605Ah 605Ch 605Bh Disable voltage Transition with break reaction Transition without break reaction Index of the object that specifies the reaction 5 2 2 2 Quick stop active...

Страница 41: ...1 Reserved 0 Immediate stop 1 Braking with slow down ramp braking deceleration depending on operating mode and subsequent state change to Switch on disabled 2 32767 Reserved 5 2 2 5 Halt The bit is v...

Страница 42: ...to set and read out the corresponding parameters e g directly in degrees mm etc 5 3 1 Calculation formulas for user units 5 3 1 1 Position information All position values in open loop and closed lop...

Страница 43: ...ad screw pitch for a linear axis If object 6092h 1 or object 6092h 2 is set to 0 the firmware sets the value to 1 5 3 1 4 Position The current position in user units 6064h and the target position 607A...

Страница 44: ...active state CiA 402 Power State Machine Braking deceleration The internal unit is revolutions per second 2 rps 2 The factor n for the acceleration is calculated from the scaling factor for the numer...

Страница 45: ...e limit switches The tolerance zone begins immediately after the limit switch Free movement is possible in this zone The length of the zone can be set in object 2056h If the motor moves into the forbi...

Страница 46: ...5 General concepts Task Cycle time Speed controller 31 25 s 32 kHz Position controller 31 25 s 32 kHz Version 2 0 1 FIR v1650 46...

Страница 47: ...starts a travel command This is carried out on a transition from 0 to 1 Bit 5 If this bit is set to 1 a travel command triggered by bit 4 is immediately executed If it is set to 0 the just executed t...

Страница 48: ...occur until after the first one has finished In this case the bit is reset if the command was accepted and the controller is ready to execute new travel commands If a new travel command is sent even t...

Страница 49: ...ther travel command can be buffered see time 1 in the following figure As long as a target position is being moved to a second target position can be passed to the controller in preparation All parame...

Страница 50: ...2 3 4 5 A A A B B B E B B C C C D E Destination point reached 6041h Bit 10 t t t t 607Ah Transition procedure for second target position The following graphic shows the transition procedure for the se...

Страница 51: ...82h of the target position is equal to zero If bit 9 is set to 1 the profile speed 6081h is maintained until the target position is reached only then do the new boundary conditions apply Destination p...

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

Страница 53: ...1 4 Loss of accuracy for relative movements When linking together relative movements a loss of accuracy may occur if the final speed is not set to zero The following graphic illustrates the reason Pos...

Страница 54: ...the values of 60A4h 1h 4h are set as limits for the jerk 60C5h Max Acceleration The maximum acceleration that may not be exceeded when moving to the end position 60C6h Max Deceleration The maximum bra...

Страница 55: ...ration 6083h Profile deceleration 6084h End velocity 6082h 6 1 6 Jerk limited mode and non jerk limited mode 6 1 6 1 Description A distinction is made between the jerk limited and non jerk limited mod...

Страница 56: ...leration ramp to the target speed On a transition from 0 to 1 the motor brakes according to the deceleration ramp and comes to a standstill 6 2 5 Statusword The following bits in object 6041h statuswo...

Страница 57: ...object 6048h The following objects can be used to check the function 6043h Vl Velocity Demand 6044h Vl Velocity Actual Value 6 2 6 1 Speeds in Velocity Mode Delta time 6048h 2 Delta time 6049h 2 Delta...

Страница 58: ...ecial function Bit 8 Halt If this bit is set to 1 the motor stops On a transition from 1 to 0 the motor accelerates with the set start ramp to the target speed On a transition from 0 to 1 the motor br...

Страница 59: ...6086h Motion Profile Type The ramp type can be selected here 0 trapezoidal ramp 3 jerk limited ramp 60FFh Target Velocity Specifies the target speed that is to be reached 6 3 6 1 Objects in Profile Ve...

Страница 60: ...ty window 606Dh Velocity window 606Dh Begin deceleration jerk 60A4h 3 End acceleration jerk 60A4h 2 6 3 6 4 Limitations in the trapezoidal case This figure shows the adjustable limitations for the tra...

Страница 61: ...rd The following bits in object 6040h controlword have a special function Bit 8 Halt If this bit is set to 1 the motor stops If this bit is set from 1 to 0 the motor is started up according to the pre...

Страница 62: ...d if the maximum duration of the peak current 203Bh 02h is set see I2t Motor overload protection All torque objects are limited by the peak current The following objects are also needed for this opera...

Страница 63: ...inputs and outputs 6 5 2 3 Controlword The following bits in object 6040h controlword have a special function Bit 4 If the bit is set to 1 referencing is started This is performed until either the re...

Страница 64: ...the motor can continue to run If this tolerance range is exceeded the motor stops and the controller switches to the Fault state If limit switches can be actuated during homing the tolerance range sh...

Страница 65: ...igures here the limit switches must be replaced with a mechanical block 6 5 3 2 Homing on block Homing on block currently only functions in closed loop mode Homing on block functions like every homing...

Страница 66: ...edge of the home switch and index pulse With methods 3 and 4 the left switching edge of the home switch is used as reference Index pulse 3 3 4 4 Reference switch With methods 5 and 6 the right switchi...

Страница 67: ...tch into account Index pulse 8 7 9 9 9 7 8 8 7 10 10 10 Reference switch Positive limit switch Methods 11 to 14 take the negative limit switch into account Index pulse 11 12 12 12 13 13 13 14 14 14 11...

Страница 68: ...alent to methods 5 and 6 the right switching edge of the home switch is used as reference 21 21 22 22 Reference switch 6 5 3 9 Methods 23 to 30 Reference to the home switch without the index pulse wit...

Страница 69: ...into account Negative limit switch 30 29 30 29 29 30 28 27 27 28 27 28 Reference switch 6 5 3 10 Methods 33 and 34 Reference to the next index pulse With these methods referencing is only performed t...

Страница 70: ...intermediate position points Note The limit switches and thus the tolerance bands are active in this mode For further information on the limit switches see Limitation of the range of motion 6 6 2 2 Sy...

Страница 71: ...llows a linearly interpolated path between the current position and the preset target position The next target position must be written in record 60C1h 01h Synchronisation Data given Own interpolated...

Страница 72: ...is absolute and thus independent of how often it was sent per cycle Note The limit switches and thus the tolerance bands are active in this mode For further information on the limit switches see Limi...

Страница 73: ...eleration for the case that a quick stop is triggered 605Ah Quick Stop Option Code This object contains the option that is to be executed in the event of a quick stop 6086h Motion Profile Type 60C2h 0...

Страница 74: ...n control 13 0 Reserved 13 1 Reserved 6 8 3 Object entries The following objects are necessary for controlling this mode 60FFh Target Velocity This object must be written cyclically with the speed set...

Страница 75: ...p Note The limit switches and thus the tolerance bands are active in this mode For further information on the limit switches see Limitation of the range of motion 6 9 2 2 Activation To activate the mo...

Страница 76: ...lock direction mode the motor is operated via two inputs by a higher level positioning controller with clock and direction signal On each clock signal the motor moves one step in the direction corresp...

Страница 77: ...l is applied 6 10 4 Statusword The following bits in object 6041h statusword have a special function Bit 13 Following Error This bit is set in closed loop mode if the following error is greater than t...

Страница 78: ...ches and thus the tolerance bands are active in this mode For further information on the limit switches see Limitation of the range of motion 6 11 2 Activation To activate the mode the value 2 FEh mus...

Страница 79: ...pulate the value of output 2 always use bit 17 in 60FEh To activate the negative limit switch special function of input 1 set bit 0 in 3240h 01h to query the status of the input read bit 0 in 60FDh Bi...

Страница 80: ...ormally open logic a logical high level at the input yields the value 1 in object 60FDh to normally closed logic the logical high level at the input yields the value 0 This applies for the special fun...

Страница 81: ...object 60FDh Signal source Routing Object 60FDh Activation This mode is activated by setting object 3240h 08h Routing Enable to 1 Note Entries 3240h 01h to 3240 04h then have no function until Input...

Страница 82: ...41 Hall input U 66 42 Hall input V 67 43 Hall input W 68 44 Encoder input A 69 45 Encoder input B 70 46 Encoder input Index 71 47 USB Power Signal 73 49 DIP switch 1 74 4A DIP switch 2 75 4B DIP switc...

Страница 83: ...rted DIP switch 1 202 CA Inverted DIP switch 2 203 CB Inverted DIP switch 3 204 CC Inverted DIP switch 4 205 CD Inverted DIP switch 5 206 CE Inverted DIP switch 6 207 CF Inverted DIP switch 7 208 D0 I...

Страница 84: ...lable for manipulating the value of the outputs see the following example for further information As with the inputs only the bit at the corresponding location acts on the respective output 3250h 01h...

Страница 85: ...invert logic Bit in 3250h 2 1 Do invert logic 0 Do not invert logic Bit in 3250h 3 1 Value forced 0 Value not forced Bit in 3250h 3 1 Value forced 0 Value not forced Bit in 3250h 4 1 Value 1 0 Value...

Страница 86: ...software PWM 02h Configuration of output 1 03h Configuration of output 2 if available 04h Configuration of output 3 if available 05h Configuration of output 4 if available Note The maximum output fre...

Страница 87: ...put if using an encoder not with Hall sensors On any change of the encoder signal 6063h or the current position 6064h in user defined units by an increment a pulse is output at the digital input for f...

Страница 88: ...ent is switched to 203Bh 4h CalcValue specifies the calculated value that is compared with the threshold for setting the current 203Bh 5h LimitedCurrent shows the momentary current value that was set...

Страница 89: ...can with this controller only be used with a NanoJ program or with the Plug Drive Studio software 7 3 1 General Many objects in the object dictionary can be saved and then automatically reloaded the...

Страница 90: ...uction Idle Time 2037h Open Loop Current Reduction Value factor 203Ah Homing On Block Configuration 203Dh Torque Window 203Eh Torque Window Time 2056h Limit Switch Tolerance Band 2057h Clock Direction...

Страница 91: ...rque 6072h Max Torque 607Ah Target Position 607Bh Position Range Limit 607Ch Home Offset 607Dh Software Position Limit 607Eh Polarity 6081h Profile Velocity 6082h End Velocity 6083h Profile Accelerati...

Страница 92: ...rocess has been successfully completed with the value 1 in the corresponding subindex in object 1010h There is a subindex in object 1010h for each category To save all objects of this category the val...

Страница 93: ...e reset to 0 as soon as a savable object including 1010h 0x h except for 1010h 01h and 1020h is written The following sequence makes verification possible 1 An external tool or master configures the c...

Страница 94: ...nterrupt the voltage supply while saving The state of the saved objects is otherwise undefined Always wait until the controller has signaled that the save process has been successfully completed with...

Страница 95: ...ogram receives computing time cyclically in a 1 ms clock see following figure Because computing time is lost through interrupts and system functions of the firmware only approx 30 50 of computing time...

Страница 96: ...the time slot the new values are then automatically copied by the firmware back to the respective OD entries To optimize the performance three types of mapping are defined input output and input outpu...

Страница 97: ...Copy file vmmcode usr to the controller via USB Start the NanoJ program by writing object 2300h bit 0 1 or by restarting the controller Check entry 2302h for error code and object 2301h bit 0 1 NanoJ...

Страница 98: ...of a square wave signal in object 2500h 01h file main cpp map S32 outputReg1 as inout 0x2500 1 include wrapper h user program void user U16 counter 0 while 1 counter if counter 100 InOut outputReg1 0...

Страница 99: ...nout and the structure by means of which it must be addressed in the program INDEX SUBINDEX Index and subindex of the object to be mapped in the object dictionary Each declared variable is addressed i...

Страница 100: ...ution outside of the sandbox Developers of user programs do not need to worry about this mechanism for them the system calls can be called up like normal C functions Only the wrapper h file needs to b...

Страница 101: ...the data type of the parameter to be passed bool VmmDebugOutputString const char outstring bool VmmDebugOutputInt const U32 val bool VmmDebugOutputByte const U08 val bool VmmDebugOutputHalfWord const...

Страница 102: ...8 Programming with NanoJ Note Debug outputs may therefore only be used during the test phase when developing a user program Version 2 0 1 FIR v1650 102...

Страница 103: ...iption Here more exact information on the individual bits of an entry is provided or any compositions explained A more exact description can be found in section Description 9 3 Object description The...

Страница 104: ...s The access restriction is entered here The following restrictions are available read write The object can both be read as well as written read only The object can only be read from the object dictio...

Страница 105: ...The following designations are available here no The object may not be entered in a mapping TX PDO The object may be entered in an RX mapping RX PDO The object may be entered in a TX mapping Allowed...

Страница 106: ...gray background are not used 1000h Device Type Function Describes the controller type Object description Index 1000h Object name Device Type Object Code VARIABLE Data type UNSIGNED32 Savable no Acces...

Страница 107: ...case of an error If the error no longer exists it is deleted automatically Object description Index 1001h Object name Error Register Object Code VARIABLE Data type UNSIGNED8 Savable no Access read onl...

Страница 108: ...bject Code ARRAY Data type UNSIGNED32 Savable no Firmware version FIR v1426 Change history Value description Subindex 00h Name Number Of Errors Data type UNSIGNED8 Access read write PDO mapping no All...

Страница 109: ...ping no Allowed values Preset value 00000000h Subindex 05h Name Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name Standa...

Страница 110: ...This can be used to pinpoint the cause of the error The meaning of the number can be found in the following table Error number Description 0 Watchdog Reset 1 Input voltage too high 2 Output current t...

Страница 111: ...for the meaning of the bytes Error Code Description 1000h General error 2300h Current at the controller output too large 3100h Overvoltage undervoltage at controller input 4200h Temperature error with...

Страница 112: ...CB59M024035 E 01 PD4 C5918L4204 E 01 PD4 C5918L4204 E 01 PD4 C5918X4204 E 01 PD4 C5918X4204 E 01 Firmware version FIR v1426 Change history 1009h Manufacturer Hardware Version Function This object cont...

Страница 113: ...ect name Store Parameters Object Code ARRAY Data type UNSIGNED32 Savable no Firmware version FIR v1426 Change history Firmware version FIR v1436 Object name entry changed from Store Parameter to Store...

Страница 114: ...e Save Application Parameters To Non volatile Memory Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000001h Subindex 04h Name Save Customer Parameters To Non volat...

Страница 115: ...used to reset all or part of the object dictionary to the default values Object description Index 1011h Object name Restore Default Parameters Object Code ARRAY Data type UNSIGNED32 Savable no Firmwar...

Страница 116: ...s Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000001h Subindex 03h Name Restore Application Default Parameters Data type UNSIGNED32 Access read write PDO mappin...

Страница 117: ...ch range is reset For a detailed description see chapter Discarding the saved data 1018h Identity Object Function This object returns general information on the device such as manufacturer product cod...

Страница 118: ...ndex 03h Name Revision Number Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 06720000h Subindex 04h Name Serial Number Data type UNSIGNED32 Access read only PDO mappi...

Страница 119: ...UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Configuration Date Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 0000000...

Страница 120: ...ing no Allowed values Preset value Firmware version FIR v1540 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed...

Страница 121: ...rtain memory area Object description Index 1F51h Object name Program Control Object Code ARRAY Data type UNSIGNED8 Savable no Access read only PDO mapping no Allowed values Preset value Firmware versi...

Страница 122: ...Preset value 00h Description 1F57h Program Status Function This object indicates the programming status during the programming of memory areas of the controller Each entry stands for a certain memory...

Страница 123: ...s NanoJ Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Program Status DataFlash Data type UNSIGNED32 Access read only PDO mapping no Allow...

Страница 124: ...gory communication Access read write PDO mapping no Allowed values Preset value 00004B00h Firmware version FIR v1436 Change history 202Ch MODBUS RTU Stop Bits Function This object contains the number...

Страница 125: ...ts Object description Index 202Dh Object name MODBUS RTU Parity Object Code VARIABLE Data type UNSIGNED8 Savable yes category communication Access read write PDO mapping no Allowed values Preset value...

Страница 126: ...is used or if I 2 t monitoring is activated the maximum current value is specified here in mA Within the controller the entered value is always interpreted as the root mean square Object description I...

Страница 127: ...version FIR v1426 Change history Firmware version FIR v1614 Savable entry changed from yes category application to yes category tuning Description Note The object is not taken into account in the Cycl...

Страница 128: ...ervoltage error in millivolts Object description Index 2034h Object name Upper Voltage Warning Level Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO ma...

Страница 129: ...lus 1 5 volts 2036h Open Loop Current Reduction Idle Time Function This object describes the time in milliseconds that the motor must be at a standstill before current reduction is activated Object de...

Страница 130: ...es the reduction of the rated current in 2037h The value in 2031h is used for the calculation Example Object 2031h has the value 4200 mA The value 60 in 2037h reduces the current by 60 of 2031h The re...

Страница 131: ...le entry for subindex 04 changed from no to TX PDO Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 04h S...

Страница 132: ...ion FIR v1426 Change history Firmware version FIR v1540 The number of entries was changed from 4 to 3 Firmware version FIR v1540 Name entry changed from Period Of Blocking to Block Detection time Firm...

Страница 133: ...es specify the current limit in mA negative numbers specify a percentage of object 2031h 01h Example The value 1000 corresponds to 1000 mA 1 A the value 70 corresponds to 70 of 2031h 02h Specifies the...

Страница 134: ...y PDO mapping no Allowed values Preset value 07h Subindex 01h Name Nominal Current Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value PD4 C5918M4204 E 01 00000000h PD4 C...

Страница 135: ...ccess read write PDO mapping no Allowed values Preset value 00000000h Subindex 06h Name Status Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 07h...

Страница 136: ...ow Function Specifies a symmetrical range relative to the target torque within which the target is considered having been met If the value is set to FFFFFFFF h monitoring is switched off the Target re...

Страница 137: ...ed values Preset value 00000000h Firmware version FIR v1426 Change history Firmware version FIR v1540 Savable entry changed from no to yes category tuning Description The exact determination is only p...

Страница 138: ...values Preset value 00000000h Subindex 02h Name Parameter 2 Data type INTEGER32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Parameter 3 Data type INTEGER32...

Страница 139: ...responds to four times the resolution in counts per revolution cpr quadrature This means that for an encoder with a resolution of e g 1000 increments per revolution the value in 2052h is 4000 2056h Li...

Страница 140: ...ware version FIR v1426 Change history 2058h Clock Direction Divider Function The clock count value in clock direction mode is divided by this value before it is processed further Object description In...

Страница 141: ...YPE TYPE Defines the type of encoder For a differential encoder the bit must have the value 0 For a single ended encoder the bit must be set to 1 205Ah Encoder Boot Value Function Tip This object only...

Страница 142: ...es category application Access read write PDO mapping no Allowed values Preset value 00000000h Firmware version FIR v1504 Change history 2060h Compensate Polepair Count Function Allows motion blocks t...

Страница 143: ...Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping no Allowed values Preset value 00000001h Firmware version FIR v1426 Change history 2062h Veloc...

Страница 144: ...ange history 2064h Acceleration Denominator Function Contains the denominator that is used for converting from user defined acceleration values to the internal revolutions second 2 See chapter User de...

Страница 145: ...ns second 3 See chapter User defined units Object description Index 2066h Object name Jerk Denominator Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO...

Страница 146: ...00190001h Firmware version FIR v1426 Change history Firmware version FIR v1626 Object Name entry changed from Fieldbus Module to Fieldbus Module Availability Description Bits 0 to 15 represent the ph...

Страница 147: ...Code VARIABLE Data type UNSIGNED32 Savable yes category communication Access read write PDO mapping no Allowed values Preset value 00080001h Firmware version FIR v1540 Change history Firmware version...

Страница 148: ...RTU protocol MTCP Modbus TCP protocol E IP EtherNet IP protocol 2103h Fieldbus Module Status Function Shows the active fieldbuses Object description Index 2103h Object name Fieldbus Module Status Obje...

Страница 149: ...odule Disable Mask This subindex contains all physical interfaces and protocols that can be activated or deactivated A value 1 means that this fieldbus can be deactivated Subindex 2 Fieldbus Module En...

Страница 150: ...Data type UNSIGNED32 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Firmware version FIR v1426 Change history Firmware version FIR v1436 O...

Страница 151: ...ue 00000000h Firmware version FIR v1426 Change history Firmware version FIR v1436 Object Name entry changed from VMM Status to NanoJ Status Description ERR RES RUN 31 30 29 28 27 26 25 24 23 22 21 20...

Страница 152: ...tem resource 0004h Hard fault internal error 0005h Code executed too long without yield or sleep 0006h Impermissible access to system resource 0007h Too many variables on the stack 0100h Invalid NanoJ...

Страница 153: ...econds Function This object contains the operating hours in seconds since the last time the controller was started Note This object is not stored counting begins with 0 again after switching on Object...

Страница 154: ...0 B472161 Access table entry for subindex 01 changed from read write to read only Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Al...

Страница 155: ...s Preset value Firmware version FIR v1650 B472161 Change history Firmware version FIR v1436 Object Name entry changed from VMM Output Data Selection to NanoJ Output Data Selection Firmware version FIR...

Страница 156: ...noJ In output Data Selection Function Describes the object dictionary entries that are first copied to the input PDO mapping of the NanoJ program and after it is executed are copied back to the output...

Страница 157: ...a different mapped object A mapping entry consists of four bytes which are structured according to the following graphic 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Index 16 15 14 13 12 11 10 9 8...

Страница 158: ...description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 20h Subindex 01h 20h Name NanoJ Input 1 32 Data type INTEGER32...

Страница 159: ...value 20h Subindex 01h 20h Name NanoJ Init Parameter 1 32 Data type INTEGER32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h 2500h NanoJ Outputs Function Located here is a...

Страница 160: ...O Allowed values Preset value 00000000h Description Here the NanoJ program can store results which can then be read out via the fieldbus 2600h NanoJ Debug Output Function This object contains debug ou...

Страница 161: ...es These are also available after restarting the controller If subindex 1 is set to the value 1 the data are stored and are always reloaded during a restart Object description Index 2700h Object name...

Страница 162: ...ge 1 Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset value 0000h Subindex 03h Name Storage 2 Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset val...

Страница 163: ...Storage 7 Data type UNSIGNED16 Access read write PDO mapping no Allowed values Preset value 0000h Subindex 09h Name Storage 8 Data type UNSIGNED16 Access read write PDO mapping no Allowed values Prese...

Страница 164: ...SIGNED8 Access read only PDO mapping no Allowed values Preset value 03h Subindex 01h Name Reboot Command Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Sub...

Страница 165: ...d loop Object description Index 3202h Object name Motor Drive Submode Select Object Code VARIABLE Data type UNSIGNED32 Savable yes category drive Access read write PDO mapping RX PDO Allowed values Pr...

Страница 166: ...odes for speed limiting thus object 2032h is ignored 3210h 3 and 3210h 4 have no effect on the control BLDC Value 1 Motor type BLDC brushless DC motor 320Ah Motor Drive Sensor Display Open Loop Functi...

Страница 167: ...ition Data type INTEGER32 Access read write PDO mapping no Allowed values Preset value 00000001h Description The following subindices have a function 01h Not used 02h Not used 03h Changes the source o...

Страница 168: ...ry application Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value...

Страница 169: ...in object 6064h Value 0 The value is kept at 0 Value 1 The encoder value is entered in object 6064h 3210h Motor Drive Parameter Set Function Contains the P and I components of the current speed and po...

Страница 170: ...epper Motor open loop Firmware version FIR v1650 B472161 Name entry changed from Torque Current Loop Proportional Gain dspDrive Stepper Motor open loop to Torque Current Loop Proportional Gain open lo...

Страница 171: ...0h PD4 C5918L4204 E 01 00004E20h PD4 C5918X4204 E 01 00004E20h Subindex 04h Name Velocity Loop Integral Gain closed Loop Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset val...

Страница 172: ...cess read write PDO mapping no Allowed values Preset value PD4 C5918M4204 E 01 0007A120h PD4 C6018L4204 E 01 000668A0h PD4 CB59M024035 E 01 000061A8h PD4 C5918L4204 E 01 0007A120h PD4 C5918X4204 E 01...

Страница 173: ...Subindex 05h Closed loop Proportional component of the current controller of the field forming component Subindex 06h Closed loop Integral component of the current controller of the field forming com...

Страница 174: ...as changed from 2 to 3 Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 03h Subindex 01h Name Enable Lega...

Страница 175: ...on of the rotating field mathematically negative Valid values for subindex 03h Value 0 Auto setup detects the motor type stepper motor or BLDC motor and uses the corresponding pre configured parameter...

Страница 176: ...digits to the respective unit Voltage input x digits 10 V 1024 digits Current input x digits 20 mA 1024 digits 3221h Analogue Inputs Control Function With this object an analog input can be switched...

Страница 177: ...contains the position of the DIP switches The switch position is only read during a restart one time Object description Index 3225h Object name Analogue Inputs Switches Object Code ARRAY Data type UN...

Страница 178: ...wing applies for all subindices Bits 0 to 15 control the special functions Bits 16 to 31 control the level of the outputs Object description Index 3240h Object name Digital Inputs Control Object Code...

Страница 179: ...e Force Enable Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 04h Name Force Value Data type UNSIGNED32 Access read write PDO mapping RX PDO A...

Страница 180: ...input yields the value 1 in object 60FDh to normally closed logic the logical high level at the input yields the value 0 This applies for the special functions except for the clock and direction input...

Страница 181: ...able entry for subindex 00 changed from no to TX PDO Firmware version FIR v1650 B527540 PDO mapping table entry for subindex 01 changed from RX PDO to TX PDO Firmware version FIR v1650 B527540 PDO map...

Страница 182: ...0000000h Description Subindex 01h This is used to select the type of level change Deactivate function Value 0 With rising edge Value 1 With falling edge Value 2 Both edges Value 3 Subindex 02h Specifi...

Страница 183: ...ource 1 36 Data type UNSIGNED8 Access read write PDO mapping TX PDO Allowed values Preset value 00h Description Subindex 01h contains the source for bit 0 of object 60FD Subindex 02h contains the sour...

Страница 184: ...IP switch 5 78 4E DIP switch 6 79 4F DIP switch 7 80 50 DIP switch 8 128 80 Signal is always 1 129 81 Inverted physical input 1 130 82 Inverted physical input 2 131 83 Inverted physical input 3 132 84...

Страница 185: ...described in chapter Digital inputs and outputs The following applies for all subindices Bits 0 to 15 control the special functions Bits 16 to 31 control the level of the outputs Object description I...

Страница 186: ...s read write PDO mapping RX PDO Allowed values Preset value 00000000h Subindex 03h Name Force Enable Data type UNSIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Sub...

Страница 187: ...logic to normally open logic 03h This subindex is used to force the output value if the bit has the value 1 The level of the output is defined in subindex 4h 04h This subindex is used to define the le...

Страница 188: ...d only PDO mapping no Allowed values Preset value 05h Subindex 01h Name Output Control 1 Data type UNSIGNED16 Access read write PDO mapping TX PDO Allowed values Preset value 1080h Subindex 02h Name O...

Страница 189: ...gue Input Function Displays the instantaneous values of the analog inputs in user defined units Object description Index 3320h Object name Read Analogue Input Object Code ARRAY Data type INTEGER32 Sav...

Страница 190: ...e unit Voltage input x digits 10 V 1024 digits Current input x digits 20 mA 1024 digits The following applies for the sub entries Subindex 00h Number of analog inputs Subindex 01h Analog value 1 Subin...

Страница 191: ...h Number of offsets Subindex 01h Offset for analog input 1 Subindex 02h Offset for analog input 2 3322h Analogue Input Pre scaling Function Value by which the read analog value 3320h 3321h is divided...

Страница 192: ...e subindices contain Subindex 00h Number of divisors Subindex 01h Divisor for analog input 1 Subindex 02h Divisor for analog input 2 3502h MODBUS Rx PDO Mapping Function The objects for RX mapping can...

Страница 193: ...d values Preset value 08h Subindex 01h Name Value 1 Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 60400010h Subindex 02h Name Value 2 Data type UNSIGNED32 Access re...

Страница 194: ...6 Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 60810020h Subindex 07h Name Value 7 Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset valu...

Страница 195: ...O mapping no Allowed values Preset value 00000000h Subindex 0Ch Name Value 12 Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 0Dh Name Value 13 Dat...

Страница 196: ...te To be able to change the mapping you must first deactivate it by setting subindex 0h to 0 After writing the objects to the respective subindices enter the number of mapped objects in subindex 0h Ob...

Страница 197: ...ata type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00050008h Subindex 03h Name Value 3 Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 6...

Страница 198: ...O mapping no Allowed values Preset value 00000000h Subindex 08h Name Value 8 Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 09h Name Value 9 Data...

Страница 199: ...00000h Subindex 0Dh Name Value 13 Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 00000000h Subindex 0Eh Name Value 14 Data type UNSIGNED32 Access read write PDO mapp...

Страница 200: ...ad write PDO mapping no Allowed values Preset value FFFFh Firmware version FIR v1426 Change history Description Value Description 32768 2 Reserved 1 No reaction 0 Immediate stop 1 Braking with slow do...

Страница 201: ...Size In Bytes Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value 00000000h Description Subindex 01 Contains the size of the connected EEPROM in bytes The value 0 means t...

Страница 202: ...Allowed values Preset value 00000000h Description Bit 0 reserved 4014h Operating Conditions Function This object is used to read out the current environment values for the controller Object descriptio...

Страница 203: ...00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 03h Subindex 01h Name Voltage UB Power mV Data type INTEGER32 Access read only PDO...

Страница 204: ...ive Serial Number Object Code VARIABLE Data type VISIBLE_STRING Savable no Access read only PDO mapping no Allowed values Preset value 0 Firmware version FIR v1450 Change history 4041h Device Id Funct...

Страница 205: ...v1426 Change history Description For the meaning of the error see object 1003h Pre defined Error Field 6040h Controlword Function This object controls the CiA 402 Power State Machine Object descripti...

Страница 206: ...s dependent on the selected operating mode FR Fault Reset Resets an error if possible HALT Value 1 Triggers a halt valid in the following modes Profile Position Velocity Profile Velocity Profile Torqu...

Страница 207: ...abled Voltage applied QS Quick Stop Value 0 Controller is in the Quick Stop state dependent on other bits see following bit mask SOD Switched On Disabled Value 1 Controller is in the Switched On Disab...

Страница 208: ...2h Object name Vl Target Velocity Object Code VARIABLE Data type INTEGER16 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 00C8h Firmware version FIR...

Страница 209: ...EGER16 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 0000h Firmware version FIR v1426 Change history 6046h Vl Velocity Min Max Amount Function This object can be used to s...

Страница 210: ...et speed object 6042h specified here is less than the minimum speed the minimum speed applies and bit 11 Internal Limit Reached in 6041h Statuswordh is set A target speed greater than the maximum spee...

Страница 211: ...e PDO mapping RX PDO Allowed values Preset value 0001h Description The acceleration is specified as a fraction in user defined units Speed change per change in time Subindex 01h Contains the change in...

Страница 212: ...Time Data type UNSIGNED16 Access read write PDO mapping RX PDO Allowed values Preset value 0001h Description The deceleration is specified as a fraction in user defined units Speed change per change i...

Страница 213: ...SIGNED32 Access read write PDO mapping RX PDO Allowed values Preset value 00001388h Subindex 02h Name DeltaTime Data type UNSIGNED16 Access read write PDO mapping RX PDO Allowed values Preset value 00...

Страница 214: ...es Preset value 00000001h Subindex 02h Name Vl Dimension Factor Denominator Data type INTEGER32 Access read write PDO mapping RX PDO Allowed values Preset value 0000003Ch Description If subindex 1 is...

Страница 215: ...768 1 Reserved 0 Immediate stop 1 Braking with slow down ramp deceleration deceleration ramp depending on control mode and subsequent state change to Switch on disabled 2 Braking with quick stop ramp...

Страница 216: ...ted on a transition of the CiA 402 Power State Machine from the Operation enabled state to the Switched on state Object description Index 605Ch Object name Disable Option Code Object Code VARIABLE Dat...

Страница 217: ...lue Description 32768 0 Reserved 1 Braking with slow down ramp deceleration deceleration ramp depending on control mode 2 Braking with quick stop ramp deceleration deceleration ramp depending on contr...

Страница 218: ...n this object Object description Index 6060h Object name Modes Of Operation Object Code VARIABLE Data type INTEGER8 Savable yes category application Access read write PDO mapping RX PDO Allowed values...

Страница 219: ...Modes Of Operation Display Object Code VARIABLE Data type INTEGER8 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 00h Firmware version FIR v1426 Change history 6062h Positi...

Страница 220: ...ss read only PDO mapping TX PDO Allowed values Preset value 00000000h Firmware version FIR v1426 Change history 6064h Position Actual Value Function Contains the current actual position in user define...

Страница 221: ...ctual position deviates so much from the demand position that the value of this object is exceeded bit 13 in object 6041h is set The deviation must last longer than the time in object 6066h If the val...

Страница 222: ...ndex 6067h Object name Position Window Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 0000000Ah Firmware ve...

Страница 223: ...for longer than the time defined in object 6066h 606Bh Velocity Demand Value Function Speed specification in user defined units for the controller in Profile Velocity Mode Object description Index 606...

Страница 224: ...ry application Access read write PDO mapping RX PDO Allowed values Preset value 001Eh Firmware version FIR v1426 Change history Firmware version FIR v1614 Savable entry changed from no to yes category...

Страница 225: ...tion This object contains the target torque for the Profile Torque and Cyclic Synchronous Torque modes in tenths of a percent of the rated torque Object description Index 6071h Object name Target Torq...

Страница 226: ...lculated as thousandths of the torque e g the value 500 means 50 of the rated torque 1100 is equivalent to 110 The rated torque corresponds to the rated current in object 203Bh 01 The target torque ma...

Страница 227: ...Access read only PDO mapping TX PDO Allowed values Preset value 0000h Firmware version FIR v1540 Change history Description This object is calculated as thousandths of the torque e g the value 500 me...

Страница 228: ...Data type INTEGER32 Savable yes category application Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO...

Страница 229: ...BLE Data type INTEGER32 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Firmware version FIR v1426 Change history 607Dh Software Position Li...

Страница 230: ...set here The Home Offset 607Ch is not taken into account 607Eh Polarity Function With this object the direction of rotation can be reversed Object description Index 607Eh Object name Polarity Object C...

Страница 231: ...imum travel speed in user defined units Object description Index 6081h Object name Profile Velocity Object Code VARIABLE Data type UNSIGNED32 Savable yes category application Access read write PDO map...

Страница 232: ...ble yes category application Access read write PDO mapping RX PDO Allowed values Preset value 000001F4h Firmware version FIR v1426 Change history 6084h Profile Deceleration Function Specifies the maxi...

Страница 233: ...sion FIR v1426 Change history 6086h Motion Profile Type Function Specifies the ramp type for the Profile Position and Profile Velocity modes Object description Index 6086h Object name Motion Profile T...

Страница 234: ...orque corresponds to the rated current in object 203Bh 01 The target torque may not exceed the peak torque proportional to the peak current in 2031h 608Fh Position Encoder Resolution Function Virtual...

Страница 235: ...n Encoder Increments 608Fh 01h Motor Revolutions 608Fh 02h 6091h Gear Ratio Function Number of motor revolutions per output shaft revolution Object description Index 6091h Object name Gear Ratio Objec...

Страница 236: ...utions 6091h 02h 6092h Feed Constant Function Feed in the case of a linear drive in user defined units per revolution on the drive Object description Index 6092h Object name Feed Constant Object Code...

Страница 237: ...098h Homing Method Function This object defines the Homing method in Homing mode Object description Index 6098h Object name Homing Method Object Code VARIABLE Data type INTEGER8 Savable yes category a...

Страница 238: ...mapping RX PDO Allowed values Preset value 0000000Ah Description This value is calculated with the numerator in object 2061h and the dominator in object 2062h The speed for the search for the switch i...

Страница 239: ...the lower speed when the end position is reached it immediately stops 60A4h Profile Jerk Function In the case of a ramp with limited jerk the size of the jerk can be entered in this object An entry wi...

Страница 240: ...ue 000003E8h Subindex 03h Name End Acceleration Jerk Data type UNSIGNED32 Access read write PDO mapping no Allowed values Preset value 000003E8h Subindex 04h Name End Deceleration Jerk Data type UNSIG...

Страница 241: ...Access read only PDO mapping no Allowed values Preset value Firmware version FIR v1512 Change history Firmware version FIR v1626 Savable entry changed from no to yes category application Value descri...

Страница 242: ...no Allowed values Preset value Firmware version FIR v1426 Change history Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed val...

Страница 243: ...iption Index 60C4h Object name Interpolation Data Configuration Object Code RECORD Data type INTERPOLATION_DATA_CONFIGURATION Savable yes category application Access read only PDO mapping no Allowed v...

Страница 244: ...es Preset value 00000001h Subindex 03h Name BufferOrganization Data type UNSIGNED8 Access read write PDO mapping no Allowed values Preset value 00h Subindex 04h Name BufferPosition Data type UNSIGNED1...

Страница 245: ...he buffer deactivates access and deletes all interpolated records If the value 01h is written in subindex 06h it activates access to the input buffer 60C5h Max Acceleration Function This object contai...

Страница 246: ...re version FIR v1614 Savable entry changed from no to yes category application Description Only the following bits are supported at the present time RADO 2 MS RESERVED 3 15 14 13 12 11 10 9 8 7 6 5 4...

Страница 247: ...ction of rotation in profile position mode Bit 7 Bit 6 Definition 0 0 Normal positioning similar to a linear axis If one of the Position Range Limits 607Bh 01h and 02h is reached or exceeded the prese...

Страница 248: ...the motor can be read Object description Index 60FDh Object name Digital Inputs Object Code VARIABLE Data type UNSIGNED32 Savable no Access read only PDO mapping TX PDO Allowed values Preset value 000...

Страница 249: ...ion FIR v1626 Savable entry changed from no to yes category application Value description Subindex 00h Name Highest Sub index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed valu...

Страница 250: ...locity Object Code VARIABLE Data type INTEGER32 Savable yes category application Access read write PDO mapping RX PDO Allowed values Preset value 00000000h Firmware version FIR v1426 Change history Fi...

Страница 251: ...TQ Torque Mode HM Homing Mode IP Interpolated Position Mode CSP Cyclic Synchronous Position Mode CSV Cyclic Synchronous Velocity Mode CST Cyclic Synchronous Torque Mode 6505h Http Drive Catalogue Add...

Страница 252: ...9 Description of the object dictionary Change history Version 2 0 1 FIR v1650 252...

Страница 253: ...NT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SER...

Страница 254: ...Y OF SUCH DAMAGE 10 5 DHCP Copyright c 2005 Swedish Institute of Computer Science All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provi...

Страница 255: ...used to endorse or promote products derived from this software without specific prior written permission This software is provided by the Institute and contributors as is and any express or implied wa...

Страница 256: ...ERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY...

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