page
14
January 2020 - Rev. 1.2
Order Cod. 1902503003
5.3 “Manufacturer defined”
objects relating to the entire
drive
Among the objects defined by System Spa for the drive
in its entirety, ETC840/QUAD actually implements only
those contained in the following table; others, although
defined, are used mostly for production testing and are
not of interest to the user.
Almost all of these parameters are read-only.
Table 5.3.1
NOTES
(1) 0 = EtherCAT; 1 = CANopen/Ethernet
(2) 0 = 1 Mbps; 1 = 800 Kbps; 2 = 500 Kbps; …;
7 = 10 Kbps;
(3) See Table 5.3.2
(4) See Table 5.3.3
(5) Parameters relating to the microprocessor that
controls the entire drive.
(6) The Ti temperatures are not rigidly associated
to the i-th axis; T1 and T2 are two temperatures
read inside the only dissipator associated to axes 1
and 2; T3 and T4 are two temperatures read inside
the only dissipator associated to axes 3 and 4.
(7) Parameters relating to the pulse generating
chip.
Table 5.3.2 Special Digital Inputs
Table 5.3.3 Special Digital Outputs
6. Units of measure
for the kinematic
parameters
The unit of measure of the positions is the microstep;
those relating to speed, accelerations and jerk refer
to a quantum of time of 256 microseconds, equal to
3906.25 cycles/s.
The parameters with one speed dimensions must be
intended as signed 32-bit integers; these integers
(actually fixed point numbers in format 16:16) are
obtained by multiplying the number of microsteps/cycle
by 65536 (2
16
).
For example, if one wants to obtain a speed of 10000
microstep/s, one must calculate the following:
The parameters with one acceleration dimensions must
be intended as un
signed 32-bit integers; these integers
(actually fixed point numbers in format 16:16) are
obtained by multiplying by 65536 (2
16
) the number of
microsteps/cycle
2
.
Index
Name
Bit
size
Type
Default
R/W
0x4003 MAC Address
32
UDINT
ro
0x4004 Ethernet Settings
5
ro
Sub 1: IP Address
32 UDINT
ro
0xC0A80101
(192.168.1.1)
Sub 2: Sebnetmask
32 UDINT
ro
0xFFFFFF00
(255.255.255.0)
Sub 3: Gateway
32 UDINT
ro
0x00000000
(0.0.0.0)
Sub 4: Primary DNS
32 UDINT
ro
0x00000000
(0.0.0.0)
Sub 5: Secondary DNS
32 UDINT
ro
0x00000000
(0.0.0.0)
0x4005 EtherCAT Address (ID)
16
UINT
0
ro
0x4006 Comunication Mode
(1)
8
USINT
0
rw
0x4007 CANopen Parameters
4
ro
Sub 1: Bit rate
(2)
8
USINT
ro
2
Sub 2: Node Address
8
USINT
ro
0x01
Sub 3: Termination Resistor
0
8
USINT
ro
Sub 4: Slope Resistor
0
8
USINT
ro
0X4009 Quad Box Info
4
ro
Sub 1: Product Code
ro
Sub 2: Revision
32 UDINT
32 UDINT
0x08400001
0
ro
Sub 3: Serial number
32 UDINT
0
ro
Sub 4: Operator/Date
32 UDINT
0
ro
0x400A Quad Board Info
4
ro
Sub 1: Product Code
ro
32 UDINT
0x59075151
Sub 2: Revision
32 UDINT
0
ro
Sub 3: Serial number
32 UDINT
0
ro
Sub 4: Operator/Date
32 UDINT
0
ro
0x400B Fan Temperature Threshold [°C]
16
UINT
40
rw
0x400D Special Digital Inputs
(3)
32
UDINT
ro
0x400E Special Digital Outputs
(4)
rw
32
UDINT
0x4010 Firmware Update
ro
2
Sub 1: Invalidate Command
0
ro
32 UDINT
Sub 2: Reset Command
0
ro
32 UDINT
0x4017 Analog Inputs
11
ro
Sub 1: ARM internal Temperature
(5)
16
INT
ro
Sub 2: ARM internal Vref
(5)
16
INT
ro
Sub 3: ARM internal Vbat
(5)
16
INT
ro
Sub 4: sense 160 Vdc 1
16
INT
ro
Sub 5: sense 160 Vdc 2
16
INT
ro
Sub 6: sense 160 Vdc 3
16
INT
ro
Sub 7: sense 160 Vdc 4
16
INT
ro
Sub 8: Temperature 1
(6)
16
INT
ro
Sub 9: Temperature 2
(6)
16
INT
ro
Sub 10: Temperature 3
(6)
16
INT
ro
Sub 11: Temperature 4
(6)
16
INT
ro
0x4018 Pmd Indentity
(7)
7
ro
Family
ro
16
UINT
5
Motor Type
ro
16
UINT
8
Number of Axes
ro
16
UINT
4
Chip count
ro
16
UINT
2
Custom
ro
16
UINT
0
Major SW version
2
ro
16
UINT
Minor SW version
ro
16
UINT
4
0x40F6 Digital Outputs Control
2
ro
Sub 1: Error Mode
ro
16
UINT
0xFFFF
Sub 2: Error Value
ro
16
UINT
0x0000
0x40FD Digital Inputs IN1 … IN16
ro
16
UINT
0x40FE Digital Outputs OUT1 …OUT16
rw
16
UINT
Bitmask
position
Description
0x00000001UL
Fan controlled by network master
0x00000002UL
Fan must be activated
0x00000004UL
Safety output test
0xFFFFFFF8UL
Reserved
Bitmask
position
Description
0x000000FFUL
Reserved
0x00000100UL
Fail on Digital Outputs 1..8
0x00000200UL
Fail on Digital Outputs 9..16
0x00000400UL
Fan active
0x00000800UL
Temperature of µP too high
0x00001000UL
Temperature T1 or T2 too high
0x00002000UL
Temperature T3 or T4 too high
0x00004000UL
24Vdc too low
0x00008000UL
Safety alarm
0xFFFF0000UL
Reserved
V = 10000 microstep/s
10000 * 65536
3906.25
= 167772 (format 16:16)
