Smart Electromotor Controller - Festo · Manual Commissioning of the Servomotor− Controller Type...

Manual

Commissioning ofthe Servomotor−Controller Type SEC−AC−305−COSEC−AC−508−CO

Fieldbus protocolCANopen

Manual534 277en 0802a[715 651]

Smart Electromotor Controller

Contents and general instructions

IFesto P.BE−SEC−AC−CO−EN en 0802a

Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edition en 0802a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE−SEC−AC−CO−EN. . . . . . . . . . . . . . . . . . . . . .

Order no. 534 277. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© (Festo AG�&�Co.KG, D�73726 Esslingen, Federal Republic of Germany 2008)Internet: �http://www.festo.comE−Mail: �[email protected]

The reproduction, distribution and utilisation of this docu�ment as well as the communication of its contents to otherswithout express authorisation is prohibited. Offenders will beheld liable for payment of damages. All rights reserved inparticular the right to register patents, utility models anddesigns.


II Festo P.BE−SEC−AC−CO−EN en 0802a


IIIFesto P.BE−SEC−AC−CO−EN en 0802a

Contents

Designated use VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Notes on the use of this manual VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Trademarks IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Validity IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Manuals on the SEC−AC IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Further documentation about CANopen X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Introduction 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 About this manual 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 How to use the CAN interface 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Cabling and pin assignment 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Description 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Pin assignment and setting of the node address 2−3 . . . . . . . . . . . . . . . . . . . . . .

2.3 Absolute Maximum Ratings 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 General values 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 CAN−Bus 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 Function 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.2 Electrical features 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 A−D converter 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 Function 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


2.7 CAN bus cabling 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Cabling notes 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE−SEC−AC−CO−EN en 0802a

3. Activation of CANopen 3−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Survey 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Activation by Terminal program 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Examples for the activation of CANopen communication 3−6 . . . . . . . . . . . . . . .

3.4 Activation by Transfer window 3−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. Access methods/SDO access 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Survey 4−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Access by SDO 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 SDO sequences to read or write parameters 4−6 . . . . . . . . . . . . . . . . . .

4.2.2 SDO error messages 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.3 Simulation of SDO accesses via RS232 4−8 . . . . . . . . . . . . . . . . . . . . . .

4.3 PDO−Message 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1 Description of objects 4−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Objects for parametrizing PDOs 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.3 Activation of PDOs 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 SYNC−Message 4−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 EMERGENCY message 4−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 Structure of an EMERGENCY message 4−20 . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 Objects 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Node−Guarding 4−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.1 Objects 4−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7 Network management (NMT service) 4−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. Adjustment of parameters/Load and save set of parameters 5−1 . . . . . . . . . .

5.1 Load and save set of parameters 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Survey 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Objects 5−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Conversion factors (Factor Group) 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Survey 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Objects 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Power stage parameters 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Survey 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Objekte 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VFesto P.BE−SEC−AC−CO−EN en 0802a

5.4 Current control and motor adaptation 5−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.1 Survey 5−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.2 Objects 5−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Velocity controller and overspeed protection 5−43 . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1 Survey 5−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Objects 5−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Position Control Function 5−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.1 Survey 5−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 Objects 5−51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 Encoder settings 5−63 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.1 Survey 5−63 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.2 Objects 5−64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8 Sources for demand / actual value 5−78 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.1 Survey 5−78 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.2 Objects 5−78 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9 Digital inputs and outputs 5−80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9.1 Survey 5−80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9.2 Objects 5−80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10 Homing switches (Limit / Reference switch) 5−84 . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10.1 Survey 5−84 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10.2 Objects 5−84 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6. Device Control/State diagram (State machine) 6−1 . . . . . . . . . . . . . . . . . . . . . .

6.1 State diagram (State machine) 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.1 Survey 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.2 The state diagram of the servo controller (State machine) 6−4 . . . . . . .

6.1.3 Controlword 6−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.4 Auslesen des Reglerzustands 6−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.5 Statusword 6−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.6 Objects 6−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VI Festo P.BE−SEC−AC−CO−EN en 0802a

7. Operating modes/Adjustment of the Operating Mode 7−1 . . . . . . . . . . . . . . . .

7.1 Adjustment of the Operating Mode 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1 Survey 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2 Objects 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 Operating Mode "Homing mode" 7−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Survey 7−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.2 Objects 7−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 Operating Mode (Profile Position Mode) 7−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.1 Survey 7−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.2 Objects 7−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 Profile Velocity Mode 7−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.1 Survey 7−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.2 Objects 7−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5 Profile Torque Mode 7−56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5.1 Survey 7−56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5.2 Objects 7−59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A. Technical appendix A−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Recommended components A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index B−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VIIFesto P.BE−SEC−AC−CO−EN en 0802a

Designated use

The Controllers described in this manual are intended forfitting into a machine or an automated system. You mustalways observe the instructions in this manual concerningsafety and the designated use of the controllers.The Controllers may only be used as follows:

� in accordance with designated use

� in its original state

� without any modifications by the user

� in faultless technical condition.

If additional commercially−available components such as sen�sors and actuators are connected, the specified limits forpressures, temperatures, electrical data, torques, etc. mustnot be exceeded.

Please observe the standards specified in the relevantchapters and comply with technical regulations, as well aswith national and local regulations.


VIII Festo P.BE−SEC−AC−CO−EN en 0802a

Target group

This manual is intended exclusively for technicians trained incontrol and automation technology, who have experience ininstalling, commissioning, programming and diagnosing posi�tioning systems and servo controllers.

Service

Please consult your local Festo repair service if you have anytechnical problems.

Notes on the use of this manual

The information and data contained in this document havebeen composed to the best of our knowledge. However, devi�ations between this document and the product cannot beexcluded entirely. The manufacturer does not accept liabilityfor any resulting errors or consequential damage. Neither willany liability be accepted for damage resulting from the use ofthe device or applications or from damaged circuits in thedevice. The manufacturer reserves the right to modify, amendor improve the document or the product without prior noti�fication. This document may not, neither entirely nor in part,be reproduced, translated into any other natural or machine−readable language or transferred to data carriers, neitherelectronically, mechanically, optically nor any other way −without expressive authorisation by the author.


IXFesto P.BE−SEC−AC−CO−EN en 0802a

Trademarks

Any product names in this document may be registeredtrademarks. The sole purpose of any trademarks in this docu�ment is the identification of the corresponding products.

Validity

The publication of this version renders all previous versionsof this manual invalid.

Manuals on the SEC−AC

Type Title Description

Fitting andinstallationmanual

�Fitting and installation",type�P.BE−SEC−AC−HW−...

Information on fitting and installing the motorcontroller SEC−AC.

Commis�sioningmanual

�Commisioning SEC−AC"type P.BE−SEC−AC−SW−...

Information on commissioning and diagnosingthe motor controller SEC−AC.

Field buscouplingmanual

�Commissioning SEC−ACwith field bus coupling CANopen"type P.BE−SEC−AC−CO−...

Supplementary information on commissioningand diagnosing the motor controller SEC−ACwith CANopen field bus coupling.

�Commissioning SEC−ACwith field bus coupling Profibus DP"type P.BE−SEC−AC−PB−...

Supplementary information on commissioningand diagnosing the motor controller SEC−ACwith CANopen field bus coupling.

Software �WMEMOC", type WMEMOC−3.3

Parametrizing program for the SEC−AC.

Fig.�0/1: Manuals on the SEC−AC


X Festo P.BE−SEC−AC−CO−EN en 0802a

Further documentation about CANopen

CANopen is a standard established by the association "CANin Automation" . A great number of device manufacturers areorganised in this association. Therefore we may suppose thatthis standard will gradually replace all manufacturer−specificCAN protocols in use and a manufacturer independent com�munication interface will be soon available for the user:

� CiA Draft Standard 201...207: In this book the generalnetwork administration and the transfer of objects aredetermined. This book is rather comprehensive. The rel�evant aspects are treated in the Technical DocumentationCANopen in hand so that it is not necessary in general toacquire the DS201..207.

� CiA Draft Standard 301: In this book the basic structure ofthe object dictionary of a CANopen device and the accessto this directory are described. Besides this the state�ments made in the DS201..207 are described in detail.The elements needed for the servo controller families ARSand IMD−F of the object directory and the access methodswhich belong to them are described in the present man�ual. It is advisable to acquire the DS301 but not necess�ary.

� CiA Draft Standard 402: This book describes the concreteimplementation of CANopen in servo controllers. Thoughall implemented objects are also briefly documented anddescribed in this Technical Documentation CANopen theuser should own this book.

Order addressCAN in Automation (CiA) International HeadquarterAm Weichselgarten 2691058 Erlangen / GermanyTel. +49−(0)9131−601091 Fax: +49−(0)9131−601092


XIFesto P.BE−SEC−AC−CO−EN en 0802a

Important user instructions

Danger categories

This manual contains instructions on the possible dangerswhich may occur if the product is not used correctly. Theseinstructions are marked (Warning, Caution, etc), printed on ashaded background andmarked additionally with a picto�gram. A distinction is made between the following dangerwarnings:

Warning... This means that failure to observe this instruction mayresult in serious personal injury or damage to property.

Caution... This means that failure to observe this instruction mayresult in personal injury or damage to property.

Please note... This means that failure to observe this instruction mayresult in damage to property.

The following pictogram marks passages in the text whichdescribe activities with electrostatically sensitive compo�nents.

Electrostatically sensitive components may be damaged ifthey are not handled correctly.


XII Festo P.BE−SEC−AC−CO−EN en 0802a

Marking special information

The following pictograms mark passages in the text contain�ing special information.

Pictograms

Information:Recommendations, tips and references to other informationsources.

The parameters thus marked affect the internal controllerstructure and must be used with caution.

Accessories:Information on necessary or sensible accessories for theFesto product.

Text markings

· The bullet indicates activites which may be carried out inany order.

1. Figures denote activities which must be carried out in thenumerical order specified.

� Hyphens indicate general activities.


XIIIFesto P.BE−SEC−AC−CO−EN en 0802a

Safety instructions

Pay attention to the safety notes!

WarningNoncompliance of the safety notes may cause personal orproperty damage.Inside the SEC−AC and on its connections there are highvoltages which can be extremely dangerous.

Switch off the power supply of the SEC−AC, the PC and themotor, therefore, and wait for at least 5 minutes in orderthat the intermediate circuit can discharge before you con�nect or disconnect any plugs.

WarningDuring installation, commissioning and maintenance youmust observe the safety and accident prevention regula�tions valid for the specific application.

The following regulations apply but are not guaranteed tobe complete:

� VDE 0100: Regulations for the installation of high voltage (up to 1000 V) devices

� EN 60 204−1: Electric systems with electronicoperating media

� EN 50 178: Equipment for high voltage systems with electronic operating media

� EN 61 800−3: Electric drives with adjustable speed

� EN 292

� EN 954


XIV Festo P.BE−SEC−AC−CO−EN en 0802a

Introduction

1−1Festo P.BE−SEC−AC−CO−EN en 0802a

Chapter 1

1. Introduction

1−2 Festo P.BE−SEC−AC−CO−EN en 0802a

Contents

1.1 About this manual 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 How to use the CAN interface 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Introduction


1.1 About this manual

This manual describes how to parametrize and control theservo controller of the family SEC−AC−... by using the standar�dised protocol CANopen. The adjustment of the physicalparameters, the activation of the CANopen protocol, theembedding into a CAN network and the communication withthe controller will be explained.

1.2 How to use the CAN interface

The CAN interface is a unit of components which can be ac�quired as a plug−in module for the servo controllers of thefamily SEC−AC−...The plug−in unit is delivered already installed in the servocontroller SEC−AC−...−CO.

Once a CAN unit is plugged into the controller it is automati�cally identified by the controller but not activated.

The standard firmware of the servo controllers from version 6onwards contains the features of CANopen. If a CAN module is plugged into the controller the features ofCANopen have to be activated once via RS232. Preferably this should be done via the parameter set−up pro�gram.

1. Introduction


Cabling and pin assignment


Chapter 2

2. Cabling and pin assignment


Contents

2.1 Description 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Pin assignment and setting of the node address 2−3 . . . . . . . . . . . . . . . . . . . . . .

2.3 Absolute Maximum Ratings 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 General values 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 CAN−Bus 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 Function 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


2.6 A−D converter 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 Function 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


2.7 CAN bus cabling 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Cabling notes 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



2.1 Description

The CAN bus interface possesses a CAN bus output (X306) aswell as a differential 12−bit analogue input with a 5 V auxiliaryoutput voltage (X303). By means of 5 DIP switches 16 differ�ent node addresses can be set or a 120 W terminating resis�tor can be switched in, as desired.

2.2 Pin assignment and setting of the node address

Fig.�2/2: Sketch of the module



X303MiniCombicon, 4−pin

SW1DIP switch, 5−pin

X306Sub−D−Stecker, 9−pol.,male

Pin Designation switch Designation Pin Designation

1 AIN 1 Knoten−Nr. LSB 1 nc

2 AIN# 2 Knoten−Nr. 2 CAN−L

3 AGND 3 Knoten−Nr. 3 CAN−GND

4 5V Output 4 Knoten−Nr. MSB 4 nc

5 120 � terminating resis�tor between CAN L and

5 CAN−SHIELDtor between CAN−L andCAN−H 6 CAN−GND

7 CAN−H

8 nc

9 nc



2.3 Absolute Maximum Ratings

SYMBOL PARAMETER RATING UNIT

AIN, AIN# Analog Input Differential Voltage −30 to 30 VDC

AIN, AGND Analog Input Voltage −30 to 30 VDC

CAN−H, CAN−L CAN Input Voltage −36 to 36 VDC

2.4 General values

SYMBOL PARAMETER Min Typ Max UNIT

Pges Complete power output *) 560 mW

*) with unswitched inputs

2.5 CAN−Bus

2.5.1 Function

The pin assignment of the sub−D plug is compatible with therecommendation of the Can in Automation User Group. A 120 W terminating resistor is integrated and can be swit�ched in via SW1, 5.

2.5.2 Electrical features

The CAN bus output of the module is fully compatible with"ISO 11898−24 V".



2.6 A−D converter

2.6.1 Function

An analogue auxiliary voltage of 5 V and a differential 12−bitanalogue input are provided by a 4−pin MiniCombicon plug.

2.6.2 Electrical features

5 V output


VOUT Output voltage 4.75 5.0 5.25 VDC

Inenn Output rated current 50 mA

IKS Short circuit current limitation (20°C) 110 mA

Analogue input


fg Critical frequency (−3dB) 3500 Hz

tris Rise time, step response 67 ìs

Frequency characteristic TP 1.O.

Resolution 12 Bit

Integral linearity ±0.5 *) ±1 LSB

Differential linearity ±0.5 *) ±1 LSB

Drift offset 0..70°C See Fig. 2/3

Drift amplification 0..70°C See Fig. 2/3

*) See Fig. 2/2



1

2

1 Amplifier fault [LSB]

2 Input voltage [V]

Fig.�2/3: Typical curve of amplifier fault vs input voltage (example measured values)



3

4

3 Fault [LSB]

4 Temperature [°C]

Fig.�2/4: Typical curve of the offset (dotted line) and am�plifier fault vs temperature (example measuredvalues)



2.7 CAN bus cabling

CautionPlease respect carefully the following information andnotes for the cabling of the controller to get a stable andundisturbed communication system. A non professionalcabling can cause malfunctions of the can bus which hencethe controller to shutdown with an error.

2.8 Cabling notes

The can bus offers an easy and safe way to connect all partsof a plant. As condition all following instructions have to berespected carefully.

Fig.�2/5: Cabling (schematically)

· All nodes of a network are principally connected in series,so that the CAN cable is looped through all controllers(see Figure 2.2).

· The two ends of the CAN cable have to be terminated by aresistor of 120 � ± 5%. Please note that such a resistor isoften already installed in CAN cards or the PLC.

· For cabling shielded cable with exactly two twisted pairshave to be used.

� One twisted pair is used for CAN−H and CAN−L.

� One twisted pair is used commonly for CAN−GND.



� The shield of the cable is connected to CAN−SHIELD atall nodes.

A table with technical data of suitable cables can be foundat the end of this chapter. Recommended cables can befound in the Appendix (Recommended components).

· We dissuade from using connectors in between the canbus line. If it is still necessary to use connectors, assurethat the connection of the shield is done by using metalliccases.

· For less noise injection principally

� never place motorcables parallel to signalcables.

� use only motorcables specified by the manufacturerof the servo controller.

� shield and earth motorcables correctly.

For further informations refer to the Controller Area Networkprotocol specification, Ver. 2.0, Robert Bosch GmbH, 1991.

Technical data CAN bus cable:2 twisted pairs, d ≥ 0.22 mm2 loop resistance < 0,2 Ω/mshielded char. impedance 100−120 Ω

Activation of CANopen


Chapter 3

3. Activation of CANopen


Contents

3.1 Survey 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Activation by Terminal program 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Examples for the activation of CANopen communication 3−6 . . . . . . . . . . . . . . .

3.4 Activation by Transfer window 3−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



3.1 Survey

The activation of CANopen is done one−time using the serialinterface of the servo controller.

Two different ways are possible:

� Using a standard terminal program.

� Using the Transfer window of the parameter set−up pro�gram.

The two possibilities are described more exact in the follow�ing chapter.

Altogether 3 parameters have to be entered:

� Basic Node NumberFor unmistakable identification each user within the net�work has to have an unique node number. The nodenumber is used to address the device.

� BaudrateThis parameter determines the used baudrate in kBaud.Please note that high baudrates can only be achievedwith short cable length.

� ModeWith the mode parameter special functions like changingthe node number by digital inputs can be set.



3.2 Activation by Terminal program

The Terminal program have to be set to: baudrate = 9600baud, 8 data bits, 1 stop bit.

The parameters for activating CANopen are transferred usinga single command (BUS:...). This command will be built asfollows (All parameters have to be entered hexadecimal):

BUS NN BBBB MMMM

Write command

MODEThe mode parameters is set bit by bit:

Bit Value Meaning

0 0001h Special function

1 0002h Special function

2 0004h Activation of CANopen

3 0008h Activates check if node exist twice (node verification)

4 0010h Adds DIN0...DIN3 to basic node number

5 0020h Adds AIN1 to basic node number

6 0040h Reserved, must be zero

... ...

15 8000h Reserved, must be zero



BUS NN BBBB MMMM

Write command

Check if node exist twice:If one node number was incorrectly assigned twice in the CAN networkthe error 23 will be displayed.Add DIN0...DIN3 to basic node number:Used to build the node number of the servo controller dependent of itsplug−in location. Once after reset the combination of digital inputs(DIN0...DIN3) is added to the basic node number.Add AIN1to basic node address:Additional AIN1 can be added with valence 32. For a high level the inputhas to be connected to Vref = 10V.The Bits 0 and 1 as well as 6 to 15 always have to be cleared.

BAUDRATEThe following baudrates are permissible:

Baudrate BBBB Baudrate BBBB

1000 kBaud 03E8h 100 kBaud 0064h

800 kBaud 0320h 50 kBaud 0032h

500 kBaud 01F4h 20 kBaud 0014h

250 kBaud 00FAh 10 kBaud 000Ah

125 kBaud 007Dh

BASIC NODE NUMBERBasic node number of the device. It can be modified by digital inputs(see MODE).

BUS ? Read command

Read configuration.Answer according to write command.



3.3 Examples for the activation of CANopen communication

Node number: 1Baudrate: 1000 kBMode: CANopen with node verification

BUS:01:03E8:000C

Node number: 10Baudrate: 500 kBMode: CANopen with node verification

BUS:0A:01F4:000C

Node number: 1+ Value of digital inputsBaudrate: 1000 kBMode: CANopen with node verification

BUS:01:03E8:001C

Node number: any, e.g. 0Baudrate: any, e.g. 0Mode: deactivate CANopen

BUS:00:0000:0000



3.4 Activation by Transfer window

It can be found in menu under File | Transfer. If this commandis not available (greyed) it is necessary to change the userlevel under Options | User level to Expert.

Fig.�3/1:

After entering the BUS command in the upper input line pressthe Send button. The syntax of the command can be found inchapter 3.2 and 3.3.

Access methods/SDO access


Chapter 4

4. Access methods/SDO access


Contents

4.1 Survey 4−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Access by SDO 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 SDO sequences to read or write parameters 4−6 . . . . . . . . . . . . . . . . . .

4.2.2 SDO error messages 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.3 Simulation of SDO accesses via RS232 4−8 . . . . . . . . . . . . . . . . . . . . . .

4.3 PDO−Message 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1 Description of objects 4−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Objects for parametrizing PDOs 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.3 Activation of PDOs 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 SYNC−Message 4−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 EMERGENCY message 4−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 Structure of an EMERGENCY message 4−20 . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 Objects 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Node−Guarding 4−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.1 Objects 4−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7 Network management (NMT service) 4−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



4.1 Survey

CANopen offers an easy and standardised way to access allparameters of the servo controller (e.g. the maximum cur�rent). To achieve a clear arrangement an unique index andsubindex is assigned to every parameter (CAN object). Theparameters altogether form the so called object dictionary.

The object dictionary can be accessed via CAN bus in primar�ily two ways: A confirmed access with so called SDOs and aunconfirmed access using so called PDOs with no hand−shake.

1

11

2

2 2

4

3

5

6

1 Superimposed control 4 Confirmation2 Servo controller 5 Data from the servo controller3 Order 6 Data to the servo controller

Fig.�4/1: Access methods

As a rule the servo controller will be parametrized and con�trolled by SDOs. Additional types of messages (so calledCommunication Objects, COB) are defined for special applica�tions. They will be sent either by the superimposed control orthe servo controller:



Object Meaning Description

SDO Service Data Object Used for normal parametrization of the servo con�troller

PDO Process Data Object Fast exchange of process data (e.g. velocity ac�tual value) possible

SYNC Synchronization Message Synchronisation of several CAN nodes

EMCY Emergency Message Used to transmit error messages of the servocontroller

NMT Network Management Used for network services

NODE−GUARDING Node Guarding Used for observing all nodes by cyclic messages

Every message sent via CAN bus contains an address toidentify the node the message is meant for. This address iscalled Identifier. The lower the identifier, the higher the prior�ity. Each communication object mentioned above has a spe�cific identifier.

The following Figure shows the schematic structure of a CANopen message:

601h Len D0 D1 D2 D3 D4 D5 D6 D7

1 2

3

1 Number of data bytes (in this case 8)

2 Data bytes 0...7

3 Identifier

Fig.�4/2:



4.2 Access by SDO

The object dictionary can be accessed with Service Data Ob�jects (SDO). This access is particularly easy and clear. There�fore it is recommended to base the application on SDOs firstand later adapt some accesses to the certainly faster butmore complicated Process Data Objects (PDOs).

SDO accesses always start from the superimposed control(host). The host sends a write request to change a parameteror a read request to get a parameter from the servo con�troller. Every request will be answered by the servo controllereither sending the requested parameter or confirming thewrite request.

Every command has to be sent with a definite identifier sothat the servo controller knows what command is intendedfor it. This identifier is composed of the base 600h + nodenumber of the corresponding servo controller. The servocontroller answers with identifier 580h + node number.

The structure of the writing and reading sequences dependson the data type as 1, 2 or 4 data bytes have to be sent orreceived. The following data types will be supported:

UINT8 8 bit value, unsigned 0... 255INT8 8 bit value, signed �−128... 127UINT16 16 bit value, unsigned 0... 65535INT16 16 bit value, signed −32768 ... 32767UINT32 32 bit value, unsigned 0... (232−1)INT32 32 bit value, signed �−(231) ... (231−1)



4.2.1 SDO sequences to read or write parameters

Following sequences have to be used to read or write canobjects of mentioned type. Commands to write a value intothe servo controller start with a different token depending onthe parameters data type, whereas the first token of theanswer is always the same. For commands to read para�meters its vice versa: They always start with the same token,whereas the answer of the servo controller starts with a tokendepending on the parameters data type. For all numericalvalues the hexadecimal notation is used.

read command write command

UINT8/INT8CommandAnswer

40h IX01) IX12)SU3)

4Fh4) IX0 IX1 SU D02Fh4) IX0 IX1 SU DO60h IX0 IX1 SU


40h IX0 IX1 SU4Bh5)IX0 IX1 SU D0 D1

2Bh5)IX0 IX1 SU DO D160h IX0 IX1 SU


40h IX0 IX1 SU43h6) IX0 IX1 SU D0 D1 D2 D3

23h6) IX0 IX1 SU DO D1 D2 D360h IX0 IX1 SU

1) Lower byte of Index (hex)2) Higher byte of Index (hex)3) Subindex (hex)4) Token for 8 bit5) Token for 16 bit6) Token for 32 bit



Example


UINT8/INT8

CommandAnswer

Reading of Obj. 6061_00hReturning data: 01h40h 61h 60h 00h4Fh 61h 60h 00h 01h

Writing of Obj. 1401_02h Data: EFh2Fh 01h 14h 02h EFh60h 01h 14h 02h

UINT16/INT16

CommandAnswer

Reading of Obj. 6041_00h Returning data: 1234h40h 41h 60h 00h4Bh 41h 60h 00h 34h 12h

Writing of Obj. 6040_00h Data: 03E8h2Bh 40h 60h 00h E8h 03h60h 40h 60h 00h

UINT32/INT32

CommandAnswer

Reading of Obj. 6093_01h Returning data: 12345678h40h 93h 60h 01h43h 93h 60h 01h 78h 56h 34h 12h

Writing of Obj. 6093_01h Data: 12345678h23h 93h 60h 01h 78h 56h 34h 12h60h 93h 60h 01h

4.2.2 SDO error messages

If an error occurs reading or writing an object (e.g. becausethe value is out of range) the servo controller answers with anerror message instead of the normal answer:

Command ... IX0 IX1 SU ... ... ... ...Answer: 80h IX0 IX1 SU F0 F1 F2 F3

1 2

1 Error token

2 Error code (4 Byte)

Fig.�4/3:



Error codeF3 F2 F1 F0

Description

06 01 00 00 h Read access to an object that can only be written

06 01 00 01 h Write access to an object that can only be read

06 02 00 00 h The addressed object does not exist

06 04 00 41 h The specified object cannot be mapped into a PDO

06 06 00 00 h Hardware failure

06 07 00 10 h The data length of the object does not match the message length

06 07 00 12 h The data length of the object is greater than the message length

06 07 00 13 h The data length of the object is smaller than the message length

06 09 00 11 h The addressed subindex does not exist

06 09 00 30 h The data value is out of range

06 09 00 31 h The transferred data is too big for the object

06 09 00 32 h The transferred data is too small for the object

08 00 00 10 h Command string "SAVE" or "LOAD" incorrect

08 00 00 22 h The controller is in wrong operation mode for this kind of operation

08 00 00 23 h Before parametrizing max_current, motor_rated_current has to be valid

08 00 00 47 h Overflow of an internal value

4.2.3 Simulation of SDO accesses via RS232

The firmware of the servo controller from version 7e onwardsoffers the option to simulate SDO accesses via the serial port.Consequently it is possible to check objects written to thecontroller via CAN bus by using the serial port. Particularlyusing the transfer window (see File | Transfer) will simplifythe building of applications.



The following syntax has to be used:



?XXXX1)SU2)

=XXXXSU:WW3)=XXXXSU:WW=XXXXSU:WW


?XXXXSU=XXXXSU:WWWW4)

=XXXXSU:WWWW=XXXXSU:WWWW


?XXXXSU=XXXXSU:WWWWWWWW5)

=XXXXSU:WWWWWWW=XXXXSU:WWWWWWWW

1) Index (hex)2) Subindex (hex)3) 8 bit data (hex)4) 16 bit data (hex)5) 32 bit data (hex)

Please note that the commands are composed of chars with�out spaces.

CautionNever use this access mechanism in real applications !The access via RS232 is only implemented for checkingyour application. The protocol is inapplicable for real timeaccess to the controller and may cause errors. In additionthe syntax of this protocol may change without notice.



4.3 PDO−Message

Process Data Objects (PDOs) are suitable to transmit dataevent−controlled, whereat the PDO contains one or morepredefined parameters. In contrast to SDOs no hand−shake isused. So the receiver has to be able to handle an arrivingPDO at any time. In most cases this requires a great deal ofsoftware in the host computer. This disadvantage is in con�trast to the advantage that the host computer does not needcyclically inquiry of the objects embedded in a PDO, whichmean strong reduction of bus load.

EXAMPLEThe host computer wants to know when the servo controllerhas reached the target position at a positioning from A to B.If SDOs are used the host constantly has to poll the objectstatusword, e.g. every millisecond, thus loading the bus ca�pacity more or less depending on the request cycle time.If PDOs are used the servo controller is parametrized at thestart of an application in such a way that a PDO is send oneach modification of the statusword. So the host computerneed not to poll all the time but a message is sent to it auto�matically if an event occurs.



Following types of PDOs can be differenced:

Type Data flow Description

Transmit−PDO (T−PDO) Servo } Host Servo controller sends PDO if a certain event occurs

Receive−PDO (R−PDO) Host } Servo Servo controller evaluates PDO if a certain eventoccurs

The servo controller disposes of two Transmit− and two Re�ceive−PDOs.

Almost all parameters can be embedded (mapped) into aPDO, i.e. the PDO is for example composed of the velocityactual value, the position actual value or the like.Before a PDO can be used the servo controller has to know,what data shall be transmitted, because a PDO only containsuseful data and no information about the kind of parameter.In the following example the PDO contains the position actualvalue in the data byte D0...D3 and the velocity actual value inthe data bytes D4...D7.

D1 D2 D3 D4 D5 D6 D7

1

2

1 Start of velocity actual value(D4...D7)

2 Start of position actual value (D0...D3)

Fig.�4/4:

Almost any desired data frame can be built this way. The fol�lowing chapter shows how to parametrize the servo controllerfor that purpose:



4.3.1 Description of objects

Identifier of PDO COB_ID_used_by_PDO

In the object COB_ID_used_by_PDO the desired identifier hasto be entered. The PDO will be sent with this identifier. If bit31 is set the associated PDO will be deactivated. This is thedefault setting.

Number of objects to betransmitted

number_of_mapped_objects

The object determines how many objects are mapped into thespecific PDO. Following restrictions has to be respected:

� A maximum of 4 objects can be mapped into a PDO.

� The total length of a PDO must not exceed 64 bit.

Objects to be transmitted first_mapped_object ... fourth_mapped_object

The host has to parametrize the index, the subindex and thelength of each object, that should be transmitted by the PDO.By specifying the length also parts of an object can bemapped into a PDO. Only multiple of 8 bit are allowed start�ing with the LSB.



The following format has to be used:

xxx_mapped_object Index Subindex Length(16 Bit) (8 Bit) (8 Bit)

1 2 3

1 Index of object to be mapped (hex)

2 Subindex of object to be mapped (hex)

3 How many bytes of the object should be mapped intothe PDO

Fig.�4/5:

When will be transmitted transmission_type and inhibit_time

For each PDO it can be parametrized which event results insending (Transmit−PDO) resp. evaluating (Receive−PDO) thePDO:

Value Meaning Admittedfor

00h −8Ch SYNC−MessageThe value determines how many SYNC messages will be ignored beforethe PDO will be� sent (T−PDO) resp.� evaluated (R−PDO).

TPDOsRPDOs

FCh SYNC−Message / Remote−The PDO will be updated on every received SYNC message, but not senduntil requested by a Remote Frame.

TPDOs

FDh Remote−The PDO will always be updated and sent, if requested by a RemoteFrame.

TPDOs



Value Admittedfor

Meaning

FEh CyclicA Transfer−PDO will be updated and sent cyclic. The period is determinedby the object inhibit_time.Receive−PDOs will be evaluated immediately after receipt.

TPDOs(RPDOs)

FFh On changeThe Transfer−PDO will be sent, if at least one bit of the PDO data haschanged. Therefore the object inhibit_time determines the minimal pe�riod between two PDOs in multiples of 100 μs.

TPDOs

Masking transmit_mask_high and transmit_mask_low

Using the transmission_type "On change" the TPDO will al�ways be sent if at least one bit has changed. Sometimes it isuseful to send the TPDO only if a defined bit has changed.Therefore it is possible to mask the TPDO. Thereby only TPDObits with an "1" in the corresponding bit of the mask will takeeffect to determine if the TPDO has changed. This function ismanufacturer specific and deactivated by default, i.e. all bitsof the mask are set by default.

EXAMPLEFollowing objects should be transmitted in a PDO:

Name of object Index_subindex Mapping length /Length of object

Meaning

statusword 6041h_00h 16 von 16 Bit Device Control

position_actual_value 6064h_00h 32 von 32 Bit Actual position

digital_inputs 60FDh_00h 16 von 32 Bit Digital inputs

The 1st Transmit−PDO (TPDO1) should be used and shouldalways be sent if a digital input changes but at most every 10ms. The PDO should use identifier 201h.



1. Parametrize number of objects

The PDO contains 3 objects} number_of_mapped_objects = 3h

2. Parametrize objects to be mapped

The above mentioned objects have to be assembled to a32 bit value:

Index =6041h Subin. = 00h Length = 10h} first_mapped_object = 60410010h

Index =6064h Subin. = 00h Length = 20h} second_mapped_object = 60640020h

Index =60FDh Subin. = 00h Length = 10h} third_mapped_object = 60FD0010h

3. Parametrize transmission_type

The PDO should be sent if (a digital input) changes.} transmission_type = FFh

The PDO have to be masked in order to restrict the condi�tion for a transmission of the PDO to a change of the digi�tal inputs.} transmit_mask_high = FFFF0000hÞ } transmit_mask_low = 00000000h

The PDO should be sent at most every 10 ms (100 x100 s).} inhibit_time = 64h

4. Identifier parametrieren

The PDO should use identifier 201h. For activating bit 31has to be cleared.} COB_ID_used_by_PDO = 00000201h



4.3.2 Objects for parametrizing PDOs

1. Transmit−PDO

Index Comment Type Acc. Default Value

1800h_00h number of entries UINT8 ro 03h

1800h_01h COB−ID used by PDO UINT32 rw 80000181h

1800h_02h transmission type UINT8 rw FFh

1800h_03h inhibit time (100 μs) UINT16 rw 0000h

1A00h_00h number of mapped objects UINT8 rw 01h

1A00h_01h first mapped object UINT32 rw 60410010h

1A00h_02h second mapped object UINT32 rw 00000000h

1A00h_03h third mapped object UINT32 rw 00000000h

1A00h_04h fourth mapped object UINT32 rw 00000000h

2. Transmit−PDO2





1801h_03h inhibit time (100 μs) UINT16 rw 0000h

1A01h_00h number of mapped objects UINT8 rw 02h

1A01h_01h first mapped object UINT32 rw 60410010h

1A01h_02h second mapped object UINT32 rw 60610008h

1A01h_03h third mapped object UINT32 rw 00000000h

1A01h_04h fourth mapped object UINT32 rw 00000000h



tpdo_1_transmit_mask


2014h _00h number of entries UINT8 ro 02h

2014h _01h tpdo_1_transmit_mask_low UINT32 rw FFFFFFFFh

2014h _02h tpdo_1_transmit_mask_high UINT32 rw FFFFFFFFh

tpdo_2_transmit_mask


2015h _00h number of entries UINT8 ro 02h

2015h _01h tpdo_2_transmit_mask_low UINT32 rw FFFFFFFFh

2015h _02h tpdo_2_transmit_mask_high UINT32 rw FFFFFFFFh

1. Receive PDO





1600h_00h number of mapped objects UINT8 rw 01h

1600h_01h first mapped object UINT32 rw 60400010h

1600h_02h second mapped object UINT32 rw 00000000h

1600h_03h third mapped object UINT32 rw 00000000h

1600h_04h fourth mapped object UINT32 rw 00000000h



2. Receive PDO





1601h_00h number of mapped objects UINT8 rw 02h

1601h_01h first mapped object UINT32 rw 60400010h

1601h_02h second mapped object UINT32 rw 60600008h

1601h_03h third mapped object UINT32 rw 00000000h

1601h_04h fourth mapped object UINT32 rw 00000000h

4.3.3 Activation of PDOs

The following points have to be fulfilled for the activation of aPDO:

� At least one object has to be mapped into the PDO andthe number_of_mapped_objects must not be zero.

� The Identifier of the PDO has to be defined.

� The communication status of the servo controller has tobe operational (see chapter 4.7, Network management(NMT service).



4.4 SYNC−Message

Several devices of a plant can be synchronised with eachother. To that purpose one of the devices (in most cases thesuperimposed control) periodically sends synchronisationmessages. All connected servo controller receive these mess�ages and use them for the treatment of the PDOs (see chapter4.3).

The identifier the servo controller receives SYNC messages isfixed to 080h. The identifier can be read via the objectCOB_ID_sync_message.

Object attribute Attribute value

Index 1005h

Name COB_ID_sync_message

Object Code VAR

Data Type UINT32


Access rw

PDO Mapping no

Units �

Value Range 00000080h

Default Value 00000080h



4.5 EMERGENCY message

The servo controller supervises the functions of its essentialunits. The power supply, the power stage, the angle encoderinput, and the technology module belong to these units. Be�sides this the motor (temperature, angle encoder) and thelimit switches are constantly controlled. Bad parameterscould also result in error messages (division by zero etc.).

If an error occurs the error number is displayed by the servocontroller. If several error messages occur at the same timethe message which has the highest priority (the least number)is always displayed.

4.5.1 Structure of an EMERGENCY message

If an error occurs the servo controller always sends anEMERGENCY message. The identifier of this message is 080hplus node number.

The EMERGENCY message consists of eight data bytes withthe error code in the first two bytes. There is a further errorcode in the third byte which is not very informative and there�fore needs not to be interpreted. The other five bytes containzeros.

emergency message

080h+node no. error_code sub_error 0 0 0 0 0

Display Error code Reason / Meaning

02 3220h Undervoltage in the intermediate circuit of the power stage

03 4310h Motor temperature exceeds the upper range

04 4210h Power stage temperature exceeds the upper range

05 5111h Undervoltage in the internal power supply



Display Reason / MeaningError code

06 2320h Overcurrent or short circuit in the power stage

07 3210h Overvoltage in the intermediate circuit of the power stage

08 7303h Encoder fault

10 7123h Motor overspeed fault (see Object 6510h_21h)

11 8612h Error during homing operation

12 8100h Technology module fault (fieldbus error) 1)

14 7122h Error during the automatic motor identification

15 6320h Division by zero 2)

16 6100h Program execution fault *)

17 7124h Following error (see Object 6510h_22h)

18 6300h Error during precalculation of a positioning motion *)

20 7306h Incremental input fault (change of angle exceeds upper range)

21 5400h Current measurement fault *)

23 8101h Fieldbus error: Duplicate node number

24 8120h Fieldbus error: Node guarding activated

25 6000h Unknown device type (improper firmware) *)

26 5530h FLASH fault: No application parameter set *)

27 5530h FLASH fault: Checksum error *)

28 5530h FLASH fault: Writefault *)

30 6301h Internal calculation overflow due to the Factor Group *)

31 2312h I2t limitation active

*) On this fault please contact your supplier.1) Most frequent cause: Faulty cabling and /or EMI problems 2) Most frequent cause: Incorrect parametrizing of the Factor Group



Besides the error messages the boot_up_message of theservo controller is also transferred on the identifier 080h +node number. The message can be identified easily as it doesnot contain any data.

4.5.2 Objects

Object 1003h: pre_defined_error_field

The error codes of the error messages are recorded in a four−stage error memory. This memory is structured like a shiftregister so that always the last error is stored in the objectstandard_error_field_0. By a read access to the objectpre_defined_error_field you can find out how many errormessages are recorded in the error memory at the moment.The error memory is deleted by writing the value 00h into theobject pre_defined_error_field. In addition an error reset(see chapter 6.1: State diagram: State transition 15) has to beexecuted to reactivate the power stage of the servo controllerafter an error.

pre_defined_error_field


1003h _00h pre_defined_error_field UINT8 rw 00h

1003h _01h standard_error_field_0 UINT32 ro 00000000h






4.6 Node−Guarding

The servo controller and the superimposed control are super�vising each other with the node guarding. If node guarding isactivated in the servo controller the superimposed controlhas to send messages to the servo controller cyclically. Theservo controller on its side has to answer these messages. Ifthe cyclical message of the superimposed control does notarrive within a defined period the servo controller changesinto the error status (display: 24), deactivates the powerstage and sends an emergency message with the error code8120h.

The permissible period between two messages is determinedby the product of the object guard_time (100Ch) and of theobject life_time_factor (100Dh). As these two objects areevaluated in the servo controller only together as a product itis always possible to set the object life_time_factor (100Dh)to one. Then the maximum time interval can be adjusted di�rectly by the object guard_time (100Ch).

Usually the messages sent by the superimposed control onlyconsist of remote frames. The CAN controller used in theservo controller only supports this kind of message telegramsinsufficiently. Therefore normal messages are used instead.

The superimposed control sends messages to the servo con�troller without useful data. The servo controller responds by abyte which contains the toggle−bit and the NMT state (seechapter 4.7 Network management (NMT service)):

Structure of the response of the servo controller:

node guarding telegramm

700h+node number Togglebit NMT−State



· The toggle−bit has to be checked by the superimposedcontrol. It is cleared in the first response of the servo con�troller after initialisation. Node guarding is activated auto�matically if all of the following requirements are fulfilled:

� Object 100Ch (guard_time) ≠ 0000h

� Object 100Dh (life_time_factor) ≠ 00h

� NMT−State = "operational" (see chapter 4.7 Networkmanagement (NMT service))

� Object 6510h_12h (node_guarding_without_rtr_bit) = 1

4.6.1 Objects

Object 100Ch: guard_time


Index 100Ch

Name guard_time

Object Code VAR

Data Type UINT16


Access rw

PDO Mapping no

Units ms

Value Range 0 − 20000

Default Value 0



Object 100Dh: life_time_factor


Index 100Dh

Name life_time_factor

Object Code VAR

Data Type UINT8


Access rw

PDO Mapping no

Units �


Default Value 0

Object 100Eh: node_guarding_ID

The identifier used for the node−guarding can be read via theobject 100Eh (node_guarding_ID). This identifier is used forthe messages going from the superimposed control to theservo controller and in the opposite direction.


Index 100Eh

Name node_guarding_ID

Object Code VAR

Data Type UINT32




Access ro

PDO Mapping no

Units �

Value Range 700h + node_ID

Default Value 700h + node_ID

Object 6510h_12h: node_guarding_without_rtr_bit

As the CAN controller being in the servo controller supportsmessages with RTR−bit insufficiently an additional mode wasimplemented here. This mode has to be activated so that onlynormal telegrams are interchanged between the servo con�troller and the superimposed control.


Index 6510h

Subindex 12h

Name node_guarding_without_rtr_bit

Object Code VAR

Data Type UINT16


Access ro

PDO Mapping no

Units �

Value Range 0 (off ) , 1 (active)

Default Value 0



4.7 Network management (NMT service)

All CANopen devices can be triggered via the network man�agement. A special identifier (000h) is reserved for that.Commands can be sent to one or all servo controller via thisidentifier. Each command consists of two bytes. The first bytecontains the command code and the second byte the nodeaddress of the addressed servo controller. All nodes whichare in the network can be addressed via the node addresszero simultaneously. So it is possible, for example, to make areset in all devices at the same time. The servo controllerdoes not quit the NMT−commands. It is only indirectly poss�ible to decide if a reset was successful (e. g. through theboot−up−message after a reset).

Structure of the message of the superimposed control:

Identifier Byte 0 Byte 1

000h Commandscode node address

Meaning of the NMT codes:

Code Name Communication state

01 NMT Start operational

02 NMT Stop pre−operational

03 Disconnect Remote Node pre−operational

80 pre−operational

81 reset node pre−operational

82 reset communication pre−operational

Please noteThe communication status has to be set for node guardingand PDO communication as these features only work if thecommunication status has been set to "operational".



The following diagram gives a survey about the used ident�ifier:

Object Type Identifier (hexadecimal) Remarks

SDO (Host to controller) 600h + node number

SDO (Controller to host) 580h + node number

T−PDO1 181h Standard values.Can be changed on demand

T−PDO2 281hCan be changed on demand.

R−PDO1 201h

R−PDO2 301h

SYNC 080h

EMCY 080h + node number

NODE−GUARDING 700h + node number

NMT 000h

Adjustment of parameters/Load and save set ofparameters


Chapter 5

5. Adjustment of parameters/Load and save set of parameters


Contents

5.1 Load and save set of parameters 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Survey 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Objects 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Conversion factors (Factor Group) 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Survey 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Objects 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Power stage parameters 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Survey 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Objekte 5−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Current control and motor adaptation 5−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.1 Survey 5−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.2 Objects 5−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Velocity controller and overspeed protection 5−45 . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1 Survey 5−45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Objects 5−45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Position Control Function 5−50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.1 Survey 5−50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 Objects 5−53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 Encoder settings 5−65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.1 Survey 5−65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.2 Objects 5−66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8 Sources for demand / actual value 5−80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.1 Survey 5−80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.2 Objects 5−80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9 Digital inputs and outputs 5−82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9.1 Survey 5−82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9.2 Objects 5−82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10 Homing switches (Limit / Reference switch) 5−86 . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10.1 Survey 5−86 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10.2 Objects 5−86 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


5−3Festo P.BE−SEC−AC−CO−E N en 0802a

Before a certain task (e.g. torque or velocity control) can bemanaged by the servo controller several parameters have tobe adjusted according to the used motor and the specificapplication. Therefore the chronological order suggested bythe following chapters should be abided.

After explaining the parameter adjustment the device controland the several modes of operation will be presented.


5−4 Festo P.BE−SEC−AC−CO−E N en 0802a

5.1 Load and save set of parameters

5.1.1 Survey

The servo controller has three parameter sets:

� Current parameter set

This parameter set is in the transient memory (RAM) ofthe servo controller. It can be read and written optionallyvia the parameter set−up program or via the CAN bus.When the servo controller is switched on the applicationparameter set is copied into the current parameter set .

� Default parameter set

This is the unmodifiable default parameter set of theservo controller given by the manufacturer. The defaultparameter set can be copied to the current parameter setthrough a write process into the CANopen object1011h_01h (restore_all_default_parameters). This copyprocess is only possible while the output power stage isswitched off.

� Application parameter set

The current parameter set can be saved into the non−transient flash memory. This saving process is enabled bya write access to the CANopen object 1010h_01h(save_all_parameters) and is only possible while theoutput power stage is switched off. When the servo con�troller is switched on the application parameter set iscopied to the current parameter set.



The following graphic illustrates the coherence between therespective parameter sets.

Default parameter set Application parameter set

CANopenObject 1011

CANopenObject 1010

Reset ofservo controller

Current parameter set

Fig.�5/6:

Two different methods are possible concerning the parameterset administration:

� The parameter set is made up with the parameter set−upprogram and also transferred to the single servo con�troller by the parameter set−up program. With this methodonly those objects which can be accessed via CANopenexclusively have to be adjusted via the CAN bus. This method has the disadvantage that the parameterset−up software is needed for every start of a new ma�chine or in case of repair (exchange of servo controller).Therefore this method only makes sense for individualunits.



� This method is based on the fact that most applicationspecific parameter sets only vary in few parameters fromthe default parameter set. Thus it is possible to set up thecurrent parameter set after every reset via the CAN bus.To that purpose the default parameter set is first loadedby the superimposed control (call of the CANopen object1011h_01h (restore_all_default_parameters)). After�wards only those objects are transferred which vary. Thecomplete process only lasts about 0.3 seconds per drive.It is advantageous that this method also works for non−parametrized servo controllers and the parameter set−upsoftware is not necessary for this.

Please noteIt is urgently recommended to use method 2. The appendix of this manual contains an example programdemonstrating this process.

WarningBefore switching on the power stage for the first time, as�sure that the servo controller contains the desired para�meters.An incorrect parameter set−up may cause uncontrolledbehaviour of the motor and thereby personal or materialdamage may occur.



5.1.2 Objects

Object 1011h: restore_default_parameters

Through the object 1011h_01h (restore_all_default_para�meters) it is possible to put the current parameter set into adefined state. For that purpose the default parameter set iscopied to the current parameter set. The copy process is en�abled by a write access to this object and the string "load" isto be passed as data set in hexadecimal form. This commandis only executed while the output power stage is deactivated.Otherwise the SDO error "The controller is in wrong operationmode for this kind of operation" is generated. The parameterfor the CAN communication (node number, baudrate andmode) remain unchanged.


Index 1011h

Name restore_default_parameters

Object Code ARRAY

Number of Elements 1

Data Type UINT32


Sub−Index 01h

Description restore_all_default_parameters

Access rw

PDO Mapping no

Units �

Value Range 64616F6Ch ("load")

Default Value 1



Object 1010h: store_parameters

To store the current parameter set as application parameterset the object 1010h_01h (save_all_parameters) has to beused.


Index 1010h

Name store_parameters

Object Code ARRAY


Data Type UINT32


Sub−Index 01h

Description save_all_parameters

Access rw

PDO Mapping no

Units �

Value Range 65766173h ("save")

Default Value 1



5.2 Conversion factors (Factor Group)

5.2.1 Survey

Servo controllers will be used in a huge number of applica�tions: As direct drive, with gear or for linear drives. To allowan easy parametrization for all kind of applications, the servocontroller can be parametrized in such a way that all valueslike the demand velocity refer to the driven side of the plant.The necessary calculation is done by the servo controller. Consequently it is possible to enter values directly in e.g.millimetre per second if a linear drive is used. The conversionis done by the servo controller using the Factor Group. Foreach physical value (position, velocity and acceleration) ex�ists a specific conversion factor to adapt the unit to the ownapplication. In general the user specific units defined by theFactor Group are called position_units, speed_units and ac�celeration_units. The following Figure shows the function ofthe Factor Group:



Fig.�5/7:

Principally all parameters will be stored in its internal unitsand converted while reading or writing a parameter.Therefore the Factor Group should be adjusted once beforecommissioning the servo controller and not to be changedduring parametrization.

The default setting of the Factor Group is as follows:

Value Name Unit Remark

Length position_units Increments 65536 Increments equals 1 revolution

Velocity speed_units rpm Revolution per minute

Acceleration acceleration_units rpm/s Increase of velocity per second



5.2.2 Objects

Objects treated in this chapter

Index Object Name Type Attr.

6093h ARRAY position_factor UINT32 rw

6094h ARRAY velocity_encoder_factor UINT32 rw

6097h ARRAY acceleration_factor UINT32 rw

607Eh VAR polarity UINT8 rw

Object 6093h: position_factor

The object position_factor converts all values of length of theapplication from position_units into the internal unit increments (65536 Increments equals 1 Revolution). It consists of numerator and divisor:


Index 6093h

Name position_factor

Object Code ARRAY


Data Type UINT32




Sub−Index 01h

Description numerator

Access rw

PDO Mapping Possible

Units increments

Value Range 1..(232 −1)

Default Value 1


Sub−Index 02h

Description divisor

Access rw


Units position_units


Default Value 1

To calculate the position_factor the following values arenecessary:

gear_ratio Ratio between revolutions on the driving side (RIN) and rev�olutions on the driven side (ROUT).

feed_constant Ratio between revolutions on the driven side (ROUT) andequivalent motion in position_units (e.g. 1 rev = 360°)

velocity_encoder_resolution= 65536 Ink.

Internal resolution of position values: 1 RIN equals 65536Increments.



RIN

ROUT

(e.g. �degree")

(e.g. �mm")

OR

Fig.�5/8:

The calculation of the position_factor is done with the follow�ing equation:

position_factor � numeratordivisor

� 65536 � gear_ratio

feed_constant

Numerator and divisor of the position_factor has to be en�tered separately. Therefore it may be necessary to extend thefraction to generate integers:

EXAMPLE

1. Desired unit on the driven side (position_units)

2. feed_constant: How many position_units are 1 revolution (ROUT)

3. gear_ratio: RIN per ROUT

4. Calculate equation



1 2 3 4 Resultshortened

Inc. 1 ROUT= 65536 Ink

1/165536 Inc

R� 1R1R

� 11

65536Inc1R

� 1Inc1Inc

num: 1div: 1

1/10 degree(°/10)

1 ROUT= 3600 °/10

1/1 65536 IncR� 1R1R

3600°�101R

� 65536Inc3600°�10

num: 4096div: 225

1/100 Rev.(U/100)

1 ROUT= 100 R/100

1/1 65536 IncR� 1R1R

100U�1001R

� 65536Inc100R�100

num: 16384div: 25

1/100 Rev.(U/100)

1 ROUT= 100 R/100

2/3 65536 IncR� 2R3R

100R�1001R

� 131072Inc300R�100

num: 32768div: 75

1/10 mm(mm/10)

1 ROUT= 631.5 mm/10

1/1 65536 IncR� 1R1R

631.5mm�101R

� 655360Inc6315mm�10

num: 131072div: 1263

1/10mm(mm/10)

1 ROUT= 631.5 mm/10

4/5 65536 IncR� 4R

5R

631.5mm�101R

� 2621440Inc31575mm�10

num: 524288div: 6315

Object 6094h: velocity_encoder_factor

The object velocity_encoder_factor converts all speed valuesof the application from speed_units into the internal unit in�crements per second (65536 Increments equals 1 Revol�ution). It consists of numerator and divisor:




Index 6094h

Name velocity_encoder_factor

Object Code ARRAY


Data Type UINT32


Sub−Index 01h


Access rw


Units increments


Default Value 65536


Sub−Index 02h

Description divisor

Access rw


Units increments


Default Value 60



In principle the calculation of the velocity_encoder_factor iscomposed of two parts: A conversion factor from internalunits of length into position_units and a conversion factorfrom internal time units into user defined time units (e.g. fromseconds to minutes). The first part equals the calculation ofthe position_factor. For the second part another factor isnecessary for the calculation:

time_factor_v Ratio between internal and user defined time units.



velocity_encoder_resolution= 65536 Inc.

Internal resolution of position values: 1 RIN equals 65536Increments.

The calculation of the velocity_encoder_factor is done withthe following equation:

velocity_encoder_factor � numeratordivisor

� 65536 � gear_ratio � time_factor_v

feed_constant

Numerator and divisor of the position_factor has to be en�tered separately. Therefore it may be necessary to extend thefraction to generate integers:

EXAMPLE

1. Desired unit on the driven side (speed_units)

2. feed_constant: How many position_units are 1 revolution(ROUT) ?

3. time_factor_v: Desired time unit contains how many sec�onds ?





1 2 3 4 5Resultshortened

RPM = R min 1 ROUT=65536 Inc

1 min=60 s

1/165536 Inc

R� 1R1R

� 1min60s

1R1R

�65536Inc�s60R�min

num: 16384div: 15

1/10 °/s(°/10s)

1 ROUT=3600 °/10

1 s=1 s

1/1 65536 IncR� 1R1R

� 1s1s

3600°�101R

� 65536Inc3600°�10s

num: 4096div: 225

1/100 RPM(U/100min)

1 ROUT=100 R/100

1 min=60 s

1/1 65536 IncR� 1R

1U� 1min

60s

100R�1001R

�65536Inc�s6000U�min

num: 4096div: 375

1/100 RPM(R/100min)

1 ROUT=100 R/100

1 min=60 s

2/3 65536 IncR� 2R3R

� 1min60s

100R�1001R

�131072Inc�s

18000U�100min

num: 8192div: 1125

1/10 mm/s(mm/10s)

1 ROUT=631.5 mm/10

1 s=1 s

1/1 65536 IncR� 1R1R

� 1s1s

631.5mm�101R

�655360Inc�s6315mm�10s

num: 131072div: 1263

1/10 mm/s(mm/10s)

1 ROUT=631.5 mm/10

1 s=1 s

4/5 65536 IncR� 4R

5R� 1s1s

631.5mm�101R

�524288Inc�s6315mm�10s

num: 524288div: 6315

Object 6097h: acceleration_factor

The object acceleration_factor converts all acceleration va�lues of the application from acceleration_units into the inter�nal unit increments per second2 (65536 Increments equals 1

Revolution). It consists of numerator and divisor:




Index 6097h

Name acceleration_factor

Object Code ARRAY


Data Type UINT32


Sub−Index 01h


Access rw


Units increments


Default Value 65536


Sub−Index 02h

Description divisor

Access rw


Units increments


Default Value 60



The calculation of the acceleration_factor is also composedof two parts: A conversion factor from internal units of lengthinto position_units and a conversion factor from internal timeunits squared into user defined time units squared (e.g. fromseconds2 to minutes2). The first part equals the calculation ofthe position_factor. For the second part another factor isnecessary for the calculation:

time_factor_a Ratio between internal time units squared and user definedtime units squared

(e.g. 1 min2 = 1 min(1min = 60s � 60s = 3600 s2)



velocity_encoder_resolution= 65536 Inc.

Internal resolution of position values: 1 RIN = 65536 Inc.

The calculation of the acceleration_factor is done with thefollowing equation:

acceleration_factor � numeratordivisor

� 65536 � gear_ratio � time_factor_a

feed_constant

Numerator and divisor of the acceleration_factor has to beentered separately. Therefore it may be necessary to extendthe fraction to generate integers:

EXAMPLE

1. Desired unit on the driven side (acceleration_units)

2. feed_constant: How many position_units are 1 revol�ution(ROUT)

3. time_factor_a: Desired (time unit)2 contains how manyseconds2 ?





1 2 3 4 5Resultshortened

RPM s(R/min s)

1 ROUT=65536Inc

1 min s=60 s s=60 s2

1/165536 Inc

R� 1R1R

� 1min�s60s2

1R1R

�65536Inc�s260R�min � s

num: 16384div: 15

1/10 °/s2

(°/10s2)1 ROUT=3600°/10

1 s2

=1 s2

1/165536 Inc

R� 1R1R

� 1s2

1s2

3600°�101R

�65536Inc�s2

3600°�10s2

num: 4096div: 225

1/100 R/min2

(R/100 min2)1 ROUT=100U/100

1 min2

=60 s 60 s=3600s2

1/165536 Inc

R� 1R1R

� 1min2

3600s2

100R�1001R

�65536Inc�s2

360000R�min2

num: 1024div: 5625

1/100 R/min2

(R/100min2)1 ROUT=100U/100

1 min2

=60 s 60 s=3600s2

2/365536 Inc

R� 2R3R

� 1min2

3600s2

100R�1001R

�131072Inc�s2

1080000R�100min

num: 2048div: 16875

1/10 mm/s2

(mm/10s2)1 ROUT=631.5�mm/10

1 s2

=1 s2

1/165536 Inc

R� 1R1R

� 1s2

1s2

631.5mm�101R

�655360Inc�s2

6315mm�10s2

num: 131072div: 1263

1/10 mm/s2

(mm/10s2)1 ROUT=631.5�mm/10

1 s2

=1 s2

4/565536 Inc

R� 4R

5R� 1s2

1s2

631.5mm�101R

�524288Inc�s2

6315mm�10s2

num: 524288div: 6315



Object 607Eh: polarity

The signs of the position and velocity values of the servo con�troller can be adjusted via the corresponding polarity flag.This flag can serve to invert the direction of rotation of themotor keeping the same desired values. In most applicationsit makes sense to set the position_polarity_flag and the velocity_polarity_flag to the same value. The conversionfactors will be used when reading or writing a position or vel�ocity value. Stored parameters will not be affected.


Index 607Eh

Name polarity

Object Code VAR

Data Type UINT8

Bit Meaning

6 velocity_polarity_flag0: multiply by 1 (default)1: multiply by −1 (invers)

7 position_polarity_flag0: multiply by 1 (default)1: multiply by −1 (invers)



5.3 Power stage parameters

5.3.1 Survey

The supply voltage is directly fed into the power stage. Therectified supply voltage is smoothened by the capacitors ofthe intermediate circuit. The motor is fed from the intermedi�ate circuit via the IGBTs. The power stage contains a numberof security functions which can be parametrized in part:

� Servo controller enable logic (software and hardwareenabling)

� Overvoltage control of the intermediate circuit

� Undervoltage control of the intermediate circuit

� Overcurrent control

� Power stage control

The thermal load of the power stage is proportional to themotor current and the clock frequency of the IGBTs. The clockfrequency can be reduced from 10 kHz to 5 kHz for somerepresentatives of the device family SEC−AC−... to reduce thethermal load of the power stage in applications using highmotor currents.



5.3.2 Objekte

Object 6510h_10h: enable_logic

The digital inputs enable power stage and enable controllerhave to be set so that the power stage of the servo controllercan be activated: The input enable power stage directly acts on the triggersignals of the power transistors and would also be able tointerrupt them in case of a defective microprocessor. There�fore the clearing of the signal enable power stage during themotor is rotating causes the effect that the motor coastsdown without being braked or is only stopped by a possiblyexisting holding brake.

The signal of the input enable controller is processed by themicrocontroller of the servo controller. Depending on themode of operation the servo controller reacts differently afterclearing this signal:

� Profile Position Mode and Profile Velocity ModeThe motor is decelerated using the defined brake rampafter clearing the signal. The power stage is switched off ifthe motor speed is below 10 rpm and a possibly existingholding brake is locked.

� Torque ModeThe power stage is switched off immediately after thesignal has been cleared. At the same time a possibly ex�isting holding brake is locked. Therefore the motor coastsdown without being braked or is only stopped by a stopbrake which might exists.

WarningBoth signals do not ensure that the motor is de−energised,although the power stage has been switched off.



If the servo controller is operated via the CAN bus, it is oftendesirable to connect the two digital inputs enable powerstage and enable controller together at 24V and to controlthe power stage enabling via the CAN bus. Therefore the Ob�ject 6510h_10h (enable_logic) is always set to two after areset if a CAN module is plugged. However, it can be repro�grammed.


Index 6510h

Name drive_data

Object Code REC



Sub−Index 10h

Description enable_logic

Data Type UINT16

Access rw

PDO Mapping no

Units �

Value Range 0: Digital inputs enable power stage and enable controller.

1: Digital inputs enable power stage and enable controller and RS232.

2: Digital inputs enable power stage and enable controller and Fieldbus

Default Value 2



Object 6510h_30h: pwm_frequency

The switching losses of the power stage is proportional to theswitching frequency of the power transistors. A little morepower can be taken from some devices of the SEC−AC−... fam�ily by reducing the PWM frequency from 10 kHz to 5 kHz.Switch over for these devices is made via this object. Switchover is only possible while the power stage is switched off.


Sub−Index 30h

Description pwm_frequency

Data Type UINT16

Access rw

PDO Mapping no

Units Hz

Value Range −−− , 10000 bei SEC−AC−3055000, 10000 bei SEC−AC−508

Default Value 10000

Object 6510h_3Ah: enable_enhanced_modulation

With the object enable_enhanced_modulation the enhancedmodulation can be activated. The DC bus voltage will be usedmore effective thereby increasing the possible velocity by upto 14%. In contrast the control behaviour and the smoothrunning properties at low speed diminish a little. This objectcan only be written if the power stage is switched off.




Sub−Index 3Ah

Description enable_enhanced_modulation

Data Type UINT16

Access rw

PDO Mapping no

Units Hz

Value Range 0: Aus1: Ein

Default Value 0

Object 6510h_31h: power_stage_temperature

The temperature of the power stage can be read via the ob�ject power_stage_temperature. If the temperature specifiedin the object 6510h_32h (max_power_stage_temperature) isexceeded the power stage is switched off and an error mess�age is sent.


Sub−Index 31h

Description power_stage_temperature

Data Type INT16

Access ro

PDO Mapping no

Units °C

Value Range −40...150

Default Value �



Object 6510h_32h: max_power_stage_temperature

The temperature of the power stage can be read via the ob�ject 6510h_31h (power_stage_temperature). If the tempera�ture specified in the object max_power_stage_temperatureis exceeded the power stage is switched off and an errormessage is sent.


Sub−Index 32h

Description max_power_stage_temperature

Data Type INT16

Access ro

PDO Mapping no

Units °C

Value Range 80

Default Value 80

Object 6510h_33h: nominal_dc_link_circuit_voltage

The nominal device voltage in mV can be read via the objectnominal_dc_link_circuit_voltage .


Sub−Index 33h

Description nominal_dc_link_circuit_voltage

Data Type UINT32

Access ro

PDO Mapping no

Units mV




Value Range 310000, 560000

Default Value �

Object 6510h_34h: actual_dc_link_circuit_voltage

The current voltage in mV of the intermediate circuit can beread via the object actual_dc_link_circuit_voltage .


Sub−Index 34h

Description actual_dc_link_circuit_voltage

Data Type UINT32

Access ro

PDO Mapping no

Units mV

Value Range ARS: 0...1000000IMD−F: 0...320000

Default Value �

Object 6510h_35h: max_dc_link_circuit_voltage

The max_dc_link_circuit_voltage indicates above which volt�age in the intermediate circuit the power stage is switched offat once for reasons of safety and an error message is sent.




Sub−Index 35h

Description max_dc_link_circuit_voltage

Data Type UINT32

Access ro

PDO Mapping no

Units mV


Default Value ARS−310/xx: 399994ARS−560/xx: 769989

Object 6510h_36h: min_dc_link_circuit_voltage

The servo controller has an undervoltage control. This controlcan be activated via the object 6510h_37h (en�able_dc_link_undervoltage_error). The object 6510h_36h(min_dc_link_circuit_voltage) determines the lower voltagerange. Below this voltage the servo controller decelerates andswitches off the power stage afterwards. Beside this an errormessage is sent.


Sub−Index 36h

Description min_dc_link_circuit_voltage

Data Type UINT32

Access rw

PDO Mapping no

Units mV





Default Value 125000

Object 6510h_37h: enable_dc_link_undervol�tage_error

The undervoltage control can be activated via the object en�able_dc_link_undervoltage_error.In object 6510h_36h (min_dc_link_circuit_voltage) you mustspecify the lowest possible intermediate circuit voltage atwhich the controller should work.


Sub−Index 37h

Description enable_dc_link_undervoltage_error

Data Type UINT16

Access rw

PDO Mapping no

Units �

Value Range 0 (inactive), 1 (active)

Default Value 0

Object 6510h_40h: nominal_current

The nominal current of the device can be read via this object.It is also the upper limit for the object 6075h (motor_rated_current).




Sub−Index 40h

Description nominal_current

Data Type UINT32

Access ro

PDO Mapping no

Units mA

Value Range dependent of servo controller

Default Value dependent of servo controller

Object 6510h_41h: peak_current

The peak current device can be read via this object. It is alsothe upper limit for the object 6073h (max_current).It is also the upper limit for the object 6073h (max_current).


Sub−Index 41h

Description peak_current

Data Type UINT32

Access ro

PDO Mapping no

Units mA


Default Value dependent of servo controller



5.4 Current control and motor adaptation

CautionIncorrect setting of current control parameters and thecurrent limits may possibly destroy the motor and even theservo controller immediately!

5.4.1 Survey

The parameter set of the servo controller has to be adaptedto the connected motor and the used cable set. The followingparameters are concerned:

� Nominal current Depending on motor

� Overload Depending on motor

� Pairs of poles Depending on motor

� Current controller Depending on motor

Additional if a resolver is used:

� Direction of rotation Depending on motor and the phase sequence in the motor cable and the resolver cable

� Offset angle Depending on motor and the phase sequence in the motor cable and the resolver cable

These data have to be determined by the parameter set−upprogram when a motor type is used for the first time. You mayobtain elaborate parameter sets for a number of motors fromyour dealer. Please remember that direction of rotation andoffset angle also depend on the used cable set. Therefore theparameter sets only work if wiring is identical.



CautionPermuted phase order in the motor or the resolver cablemay result in a positive feedback so the motor cannot becontrolled. The motor will rotate uncontrolled !Please set object 6510 h_21h and 6510h_22h accordingly(overspeed protection, see chapter 5.5: Velocity controllerand overspeed protection).

5.4.2 Objects


6075h VAR motor_rated_current UINT32 rw

6073h VAR max_current UINT16 rw

604Dh VAR pole_number UINT8 rw

6410h RECORD motor_data UINT32 rw

60F6h RECORD torque_control_parameters UINT16 rw

Object 6075h: motor_rated_current

This value can be taken from the motor plate and is specifiedin mA (effective value, RMS). The upper limit is determined bythe object 6510h_40 : nominal_current.


Index 6075h

Name motor_rated_current

Object Code VAR

Data Type UINT32




Access rw

PDO Mapping no

Units mA


Default Value 566

Please noteIf a new value is written into object 6075h(motor_rated_current) also object 6073h (max_current)has to be rewritten.

Object 6073h: max_current

Servo motors may be overloaded for a certain period of time.The maximum permissible motor current is set via this object.It refers to the nominal motor current (object 6075h:motor_rated_current) and is set in thousandths. The upperlimit for this object is determined by the object 6510h_41h(peak_current). Many motors may be overloaded by the fac�tor 2 for a short while. In this case the value 2000 has to bewritten into this object.

Please noteBefore writing object 6073h (max_current) the object6075h (motor_rated_current) must have a valid value.




Index 6073h

Name max_current

Object Code VAR

Data Type UINT16


Access rw

PDO Mapping no

Units per thousand of rated current

Value Range �

Default Value 1750

Object 604Dh: pole_number

The number of poles of the motor can be taken from themotor datasheet or the parameter set−up program.The pole number is always integer. Often the pairs of polesare specified instead of the pole number. Then the polenumber corresponds to twice the pairs of poles.


Index 604Dh

Name pole_number

Object Code VAR

Data Type UINT8




Access Sincoder: ro (from FirmwareRev. 8e: rw)

other: rw

PDO Mapping no

Units �

Value Range 2−14

Default Value 4

Object 6410h_03h: iit_time_motor

Servo motors may be overloaded for a certain period of time.This object indicates how long the motor may receive a cur�rent specified in the object 6073h (max_current). After theexpiry of the IIT−time the current is automatically limited tothe value specified in the object 6075h (motor_rated_current)in order to protect the motor. The default adjustment is 2seconds and can be used for most motors.


Index 6410h

Name motor_data

Object Code REC





Sub−Index 03h

Description iit_time_motor

Data Type UINT16

Access rw

PDO Mapping no

Units ms


Default Value 2000



Object 6510h_38h: iit_error_enable

The object iit_error_enable determines the behaviour whenreaching the iit limit: Either this will only be displayed in thestatusword or Error 31 will be generated and the power stagewill be switched off.


Index 6510h

Name drive_data

Object Code REC



Sub−Index 38h

Description iit_error_enable

Data Type UINT16

Access rw

PDO Mapping no

Units �

Value Range 0: Warning (statusword)1: Error 31

Default Value �



Object 6410h_11h: resolver_offset_angle

In case of the used servo motors permanent magnets are onthe rotor. These magnets generate a magnetic field whoseorientation to the stator depends on the rotor position. Forthe electronic commutation the controller always has to posi�tion the electromagnetic field of the stator in the correct angletowards this permanent magnetic field. For that purpose itcurrently determines the rotor position with an angle encoder(resolver etc.).

If a resolver is used the resolver_offset_angle determinesthe orientation of the zero impulse of the angle encoder to�wards the permanent magnetic field. This angle can be evalu�ated by the parameter set−up program. The angle determinedby the parameter set−up program is in the range of +/−180°. Ithas to be converted as follows:

resolver_offset_angle = set−up program value/180°*32767


Index 6410h

Name motor_data

Object Code REC



Sub−Index 11h

Description resolver_offset_angle

Data Type INT16

Access Yaskawa: roother: rw

PDO Mapping no




Units �

Value Range −32767...32767, 32767 = 180°

Default Value undefined

Object 6410h_10h: phase_order

With the object phase_order it is possible to consider per�mutations of motor− or resolver cable. On a normal cablingthis object has to be zero, on an inverted cabling one. Thisvalue can be taken from the parameter set−up program.


Sub−Index 10h

Description phase_order

Data Type UINT16

Access rw

PDO Mapping no

Units �

Value Range 0, 1

Default Value 0

Object 60F6h: torque_control_parameters

The data of the current controller has to be taken from theparameter set−up program. The following conversions have tobe noticed:

· The gain of the current controller has to be multiplied by256. In case of a gain of 1.5 in the parameter set−up pro�gram the value 384 = 180h has to be written into the ob�ject torque_control_gain.



The time constant of the current controller is specified in milli�seconds in the parameter set−up program. This time constanthas to be converted to microseconds before it can be trans�ferred into the object torque_control_time. In case of a speci�fied time of 0.6 milliseconds a value of 600 has to be enteredinto the object torque_control_time.


Index 60F6h

Name torque_control_parameters

Object Code RECORD


Sub−Index 01h

Description torque_control_gain

Data Type UINT16

Access rw

PDO Mapping no

Units 256 = Gain 1

Value Range 20...25600

Default Value 768




Sub−Index 02h

Description torque_control_time

Data Type UINT16

Access rw

PDO Mapping no

Units μs


Default Value 1000

Please noteThe resolution of the object torque_control_time (60F6h_02h) is 102,4 μs. Therefore the reread value may differfrom the written one.



5.5 Velocity controller and overspeed protection

5.5.1 Survey

The parameter set of the servo controller has to be adaptedto the specific application. In particular the gain strongly de�pends on the masses coupled to the motor. So the data haveto be determined by means of the program when the plant isset into operation.

WarningIncorrect setting of the velocity control parameters maylead to strong vibrations and destroy parts of the plant thisway!

5.5.2 Objects


60F9h RECORD velocity_control_parameters rw

6510h RECORD motor_data rw

Object 60F9h: velocity_control_parameters

The data of the velocity controller can be taken from the para�meter set−up program. Note the following conversions:

The gain of the velocity controller has to be multiplied by 256.In case of a gain of 1.5 in the parameter set−up program thevalue 384 = 180h has to be written into the object velocity_control_gain.



The time constant of the velocity controller is specified inmilliseconds in the parameter set−up program. This time con�stant has to be converted to microseconds before it can betransferred into the object velocity_control_time. In case of aspecified time of 2.0 milliseconds a value of 2000 has to bewritten into the object velocity_control_time.

The velocity_control_filter_time can also be taken from theparameter set−up program under parameters | speed con�troller.


Index 60F9h

Name velocity_control_parameters

Object Code RECORD


Sub−Index 01h

Description velocity_control_gain

Data Type UINT16

Access rw

PDO Mapping no

Units 256 = Gain 1


Default Value 2560




Sub−Index 02h

Description velocity_control_time

Data Type UINT16

Access rw

PDO Mapping no

Units μs


Default Value 6150


Sub−Index 04h

Description velocity_control_filter_time

Data Type UINT16

Access rw

PDO Mapping no

Units μs


Default Value 410

Please noteThe resolution of the object 60F9h_02h (velocity_control_time) and 60F9h_03h (velocity_control_filter_time) is 204.8 μs.Therefore the reread value may differ from the written one.



Object 6510h_21h: over_speed_protection_limit_speed

A maximum permissible speed can be entered into the object6510h_21h (over_speed_ protection_limit_speed). If thisspeed is exceeded the power stage is switched off immedi�ately. So the motor runs to zero without being braked. Thismechanism is designed as additional protection against de�fective sensor and motor cables (phase break) and against anoffset angle that has been parametrized incorrectly. It alsooperates in case of disturbed signals on the zero impulse lineof an incremental encoder and even works if the servo con�troller does not actually control the motor. The value of themaximum permissible speed has to be entered inspeed_units. Values equivalent to more than 16000 rpm willbe automatically replaced by the upper limit whereby thefunction is deactivated (as lowest value recommended: 150rpm).


Index 21h

Name over_speed_protec�tion_limit_speed

Object Code VAR

Data Type UINT32


Access rw

PDO Mapping no

Units speed units

Value Range 0..(232−1)




Object 6510h_22h: position_error_switch_off_limit

A maximum permissible trailing error (following_error) can beentered into the object position_error_switch_off_limit. If the trailing error exceeds this value the power stage isswitched off immediately. So the motor coasts down withoutbeing braked. This mechanism is designed as additionalprotection against defective sensor and motor cables (phasebreak) and against an offset angle that has been parame�trized incorrectly. It also operates in case of disturbed signalson the zero impulse line of an incremental encoder and evenworks if the servo controller does not actually control themotor. The value of the maximum difference between theposition_demand_value and the position_actual_value hasto be entered in position_units. Entering 0 deactivates thisfunction.


Index 22h

Name position_error_switch_off_limit

Object Code VAR

Data Type UiNT32


Access rw

PDO Mapping no

Units position units


Default Value 0 (off )



5.6 Position Control Function

5.6.1 Survey

This chapter describes all parameters which are required forthe position controller. The desired position value (posi�tion_demand_value) of the trajectory generator is the inputof the position controller. Besides this the actual positionvalue (position_actual_value) is supplied by the angle en�coder (resolver, incremental encoder, etc.). The behaviour ofthe position controller can be influenced by parameters. It ispossible to limit the output quantity (control_effort) in orderto keep the position control system stable. The output quan�tity is supplied to the speed controller as desired speedvalue. In the Factor Group all input and output quantities areconverted from the application−specific units to the respect�ive internal units of the controller.

The following subfunctions are defined in this chapter:

1. Trailing error (Following Error)

The deviation of the actual position value (posi�tion_actual_value) from the desired position value (posi�tion_demand_value) is named trailing error. If for a certainperiod of time this trailing error is bigger than specified in thetrailing error window (following_error_window) bit 13 (fol�lowing_error) of the object statusword will be set. The per�missible time can be defined via the object follow�ing_error_time_out.



Fig.�5/9: Following error: Functional overview

Fig.�5/10 shows how the window function is defined for themessage "following error". The range between xi−x0 andxi+x0 is defined symmetrically around the desired position(position_demand_value) xi. For example the positions xt2and xt3 are outside this window (following_error_window). Ifthe drive leaves this window and does not return to the win�dow within the time defined in the object follow�ing_error_time_out then bit 13 (following_error) in thestatusword will be set.

Fig.�5/10: Following error



2. Position Reached

This function offers the chance to define a position windowaround the target position (target_position) . If the actualposition of the drive is within this range for a certain period oftime − the position_window_time − bit 10 (target_reached)will be set in the statusword.

Fig.�5/11: Position reached − Functional overview

Fig.�5/11 shows how the window function is defined for themessage "position reached". The position range betweenxi−x0 and xi+x0 is defined symmetrically around the targetposition (target_position) xi. For example the positions xt0and xt1 are inside this position window (position_window). If the drive is within this window a timer is started. If thistimer reaches the time defined in the object position_win�dow_time and the drive uninterruptedly was within the validrange between xi−x0 and xi+x0, bit 10 (target_reached) will beset in the statusword.



As far as the drive leaves the permissible range, bit 10 iscleared and the timer is set to zero.

Fig.�5/12: Position reached (target reached)

5.6.2 Objects

The following objects are defined in this chapter:


6062h VAR position_demand_value INT32 ro

6063h VAR position_actual_value* INT32 ro

6064h VAR position_actual_value INT32 ro

6065h VAR following_error_window UINT32 rw

6066h VAR following_error_time_out UINT16 rw

6067h VAR position_window UINT32 rw

6068h VAR position_window_time UINT16 rw

60FAh VAR control_effort INT32 ro

60FBh RECORD position_control_parameter_set rw

60FCh VAR position_demand_value* INT32 ro



Affected objects from other chapters

Index Object Name Type Chapter

607Ah VAR target_position INT32 7.4 Operating Mode "Profile PositionMode

607Bh VAR position_range_limit INT32 7.4 Operating Mode "Profile PositionMode

607Ch VAR home_offset INT32 7.2 Operating Mode "Homing mode

607Dh VAR software_position_limit INT32 7.4 Operating Mode "Profile PositionMode

607Eh VAR polarity UINT8 5.2 Conversion factors (Factor Group)

6093h VAR position_factor UINT32 5.2 Conversion factors (Factor Group)

6094h ARRAY velocity_encoder_factor UINT32 5.2 Conversion factors (Factor Group)

6096h ARRAY acceleration_factor UINT32 5.2 Conversion factors (Factor Group)

6041h VAR controlword INT16 5.13. Device Control

6041h VAR statusword UINT16 5.13. Device Control

Object 60FBh: position_control_parameter_set

All parameters of the servo controller have to be adapted tothe specific application. Therefore the position control para�meters have to be determined optimal by means of the para�meter set−up program.

WarningIncorrect setting of the position control parameters maylead to strong vibrations and so destroy parts of the plant !



The position controller compares the desired position withthe actual position and forms a correction speed (Object60FAh: control_effort). This correction speed is supplied tothe speed controller. The position controller is relatively slowcompared to the current controller and speed controller.Therefore the controller internally works with feed forward sothat the correction work for the position controller is mini�mised reaching a fast settling time.

Usually a proportional control unit is sufficient as positioncontroller. The gain of the position controller has to be multi�plied by 256. In case of a gain of 1.5 in the menu Positioncontroller of the parameter set−up program the value 384 =180h has to be written into the object position_control_gain.

Normally the position controller can work without an integra�tor. In this case 0 has to be written into the object posi�tion_control_time. Otherwise the time constant of the posi�tion controller has to be converted to microseconds. So thevalue 4000 has to be written into the object position_con�trol_time in case of a time of 4.0 milliseconds.

Please noteThe resolution of the object position_control_time(60FBh_02h) is 409.6 μs. Therefore the reread value maydiffer from the written one.

As the position controller even transforms smallest deviationsinto a considerable correction speed, very high correctionspeeds may occur in case of a short disturbance (e. g. shortblocking). This can be avoided if the output of the positioncontroller is adequately limited (e.g. 500 rpm) via the objectposition_control_v_max.

The object position_error_tolerance_window determines themaximum control deviation without reaction of the positioncontroller. Therewith it is possible to even out backlash withinthe plant.




Index 60FBh

Name position_control_parameter_set

Object Code RECORD


Sub−Index 01h

Description position_control_gain

Data Type UINT16

Access rw

PDO Mapping no

Units 256 = Gain 1


Default Value 102


Sub−Index 02h

Description position_control_time

Data Type UINT16

Access rw

PDO Mapping no

Units milliseconds

Value Range 0..65536

Default Value 0 (deactivated)




Sub−Index 04h

Description position_control_v_max

Data Type UINT32

Access rw

PDO Mapping no

Units speed units


Default Value 487


Sub−Index 05h

Description position_error_tolerance_window

Data Type UINT32

Access rw

PDO Mapping no



Default Value 16

Object 6062h: position_demand_value

The current position demand value can be read by this object.This position is fed into the position controller by the trajec�tory generator.




Index 6062h

Name position_demand_value

Object Code VAR

Data Type INT32


Access ro



Value Range (−231)..(231−1)

Default Value �

Object 60FCh: position_demand_value

The current position demand value in the internal unit in�crements can be read by this object.You can use the object 6062h (position_demand_value) toread the position demand value in the user−defined unit.


Index 60FCh

Name position_demand_value*

Object Code VAR

Data Type INT32




Access ro


Units increments

Value Range (−231)..(231−1)

Default Value �

Object 6064h: position_actual_value

The actual position can be read by this objects. The unit ofthis object is position_units.


Index 6064h

Name position_actual_value

Object Code VAR

Data Type INT32


Access ro



Value Range (−231)..(231−1)

Default Value �



Object 6063h: position_actual_value

The actual position in the internal unit increments can be readby this objects. The actual position in position_units can beread by the object 6064h (position_actual_value).


Index 6063h

Name position_actual_value*

Object Code VAR

Data Type INT32


Access ro


Units increments

Value Range (−231)..(231−1)

Default Value �

Object 6065h: following_error_window

The object following_error_window (trailing error window)defines a symmetrical range around the desired positionvalue (position_demand_value). If the actual position (posi�tion_actual_value) is outside the trailing error window (fol�lowing_ error_window) a trailing error occurs and bit 13 in theobject statusword will be set.



The following reasons may cause a trailing error:

� A drive is locked

� The positioning speed is too high

� The accelerations are too high

� The object following_error_window is too low

� The position controller is not parametrized correctly.

If the value of the trailing error window is set to 232−1 then thetrailing error window is deactivated.


Index 6065h

Name following_error_window

Object Code VAR

Data Type UINT32


Access rw




Default Value 9102



Object 6066h: following_error_time_out

If a trailing error occurs longer than defined in this object bit 13 (following_error) will be set in the statusword.


Index 6066h

Name following_error_time_out

Object Code VAR

Data Type UINT16


Access rw


Units milliseconds


Default Value 0

Object 60FAh: control_effort

The output quantity of the position controller can be read viathis object. This value is supplied internally to the speed con�troller as desired value.


Index 60FAh

Name control_effort

Object Code VAR

Data Type INT32




Access ro


Units speed_units

Value Range (−231)..(231−1)

Default Value 0

Object 6067h: position_window

A symmetrical range around the target position (target_posi�tion) is defined by the object position_window. If the actualposition value (position_actual_value) is within this rangethe target position (target_position) is regarded as reached.


Index 6067h

Name position_window

Object Code VAR

Data Type UINT32


Access rw


Units position_units


Default Value 1820



Object 6068h: position_window_time

If the actual position of the drive is within the positioning win�dow (position_window) as long as defined in this object bit 10 (target_reached) will be set in the statusword.


Index 6068h

Name position_window_time

Object Code VAR

Data Type UINT16


Access rw


Units milliseconds


Default Value 0



5.7 Encoder settings

5.7.1 Survey

This chapter describes the configuration of the position en�coder input X2 and the incremental input X10 resp. the incre�mental output X11.

For instance it is possible to parametrize the resolution of anincremental encoder connected to X2. Using the incrementalinput X10 you can connect an external position encoder op�tionally (e.g. on the driving side of a gear) or feed in an addi�tional position demand value to synchronise two motors.

CautionIncorrect parameter adjustment may cause uncontrolledrevolving of the motor and thereby damaging of machineparts.

Please noteIn case of strange behaviour of the servo controller afterparametrizing like an incorrect velocity value e.g., pleasecheck the following objects. If you don’t use an externalencoder the actual value of all objects has to comply withthe default value.



5.7.2 Objects



2020h VAR position_controller_resolution UINT32 rw

2021h VAR position_encoder_selection INT16 rw

2022h VAR synchronization_encoder_select INT16 rw

2023h VAR synchronization_filter_time UINT32 rw

2024h RECORD encoder_X2_data_field rw

2025h RECORD encoder_X10_data_field rw

2028h VAR encoder_emulation_resolution INT32 rw

Object 2020h: position_controller_resolution

Only for experienced users

The object position_controller_resolution defines the in�crements per unit of length / angle the position controller iscalculating with. This resolution should be adapted to theresolution of the position encoder connected optional to X2or X10 respectively adapted to the resolution of the technol�ogy module. Nevertheless different values are possible toachieve the unit needed in the machine, e.g. 1,000,000 in�crements per meter or 36,000 increments per revolution. Theservo controller uses this object to make a conversion factor.This may cause an overflow or underflow that will be detectedby the controller before releasing the power stage andthereby cause an error.




Index 2020h

Name position_controller_resolution

Object Code VAR

Data Type UINT32


Access rw

PDO Mapping no

Units increments


Default Value 65536



Object 2023h: synchronization_filter_time


The object synchronization_filter_time determines the timeconstant of a low pass used to smooth the synchronisationvelocity. Suggestive values are 400−20000μs.


Index 2023h

Name synchronization_filter_time

Object Code VAR

Data Type UINT32


Access rw

PDO Mapping no

Units μs

Value Range 410...26843340

Default Value 410



Object 2024h: encoder_X2_data_field


The object record encoder_X2_data_field is a collection of allparameter used for parametrizing the encoder at X2.

The object encoder_X2_resolution determines the in�crements per unit of length / angle of the used encoder. Formost of all encoders this is a fixed value, yet motors by Yas�kawa are available with 12, 13 or 15 bit resolution. The resol�ution of the used encoder has to be parametrized in this ob�ject.

The objects encoder_X2_numerator and encoder_X2_divisorare used for the conversion of encoder increments (objectencoder_X2_counter) into the unit of the position controller(object position_controller_selection). Also possibly avail�able gears can be considered. The encoder increments will bemultiplied by

position_controller_resolution

encoder_X2_resolution� encoder_X2_numerator

encoder_X2_divisor

to build the position demand value (object encoder_x2_posi�tion).

Some encoders do not create a reference signal. Hence the evaluation can be deactivated by the object encoder_x2_control.

With the object encoder_x2_status it can be determined if areference pulse (northmarker) has occurred. For incrementalencoders this may not occur before 1 complete revolution.For resolver and absolute angle encoders bit 0 is always set.




Index 2024h

Name encoder_X2_data_field

Object Code RECORD



Sub−Index 01h

Description encoder_X2_resolution

Data Type UINT32

Access Heidenhain: ro (see Object 2029h)Other: rw

PDO Mapping no

Units increments

Value Range RDC12: 4096RDC16: 65536RDC16N: 65536SinCos: 262144SinCoder: 262144Yaskawa: 4096, 8192 or 32768Incremental encoder:64 − 500000000

Default Value depends to the used encoder




Sub−Index 02h

Description encoder_X2_numerator

Data Type INT16

Access rw

PDO Mapping no

Units �

Value Range +/− 32767

Default Value 1


Sub−Index 03h

Description encoder_X2_divisor

Data Type INT16

Access rw

PDO Mapping no

Units �


Default Value 1


Sub−Index 04h

Description encoder_X2_counter

Data Type UINT32

Access ro





Units Increments

Value Range 0 − (encoder_X2_resolution−1)

Default Value �


Sub−Index 05h

Description encoder_X2_position

Data Type INT32

Access rw



Value Range (−231)..(231−1)

Default Value �


Sub−Index 06h

Description encoder_X2_control

Data Type INT32

Access rw

PDO Mapping no

Units �

Value Range b0=1: ignore the northmarkerOnly incremental encoder:b1=1: sinus−commutation

enabled

Default Value 0




Sub−Index 07h

Description encoder_X2_status

Data Type INT32

Access ro


Units �

Value Range 1: northmarker appeared

Default Value 0



Object 2025h: encoder _X10_data_field


The object record position_X10_data_field is a collection ofall parameter used for parametrizing the encoder at X10.

The object encoder_X10_resolution defines the incrementsper unit of length / angle of the used encoder. The resolutionof the used encoder has to be parametrized to this object.

The objects encoder_X10_numerator and encoder_X10_div�isor are used for the conversion of encoder increments (ob�ject encoder_X10_counter) into the unit of the position con�troller (object position_controller_selection). Also possiblyavailable gears can be considered. The encoder incrementswill be multiplied by

position_controller_resolution

encoder_X10_resolution� encoder_X10_numerator

encoder_X10_divisor

to build the current position value (Object encoder_x10_position).

Some encoder do not create a reference signal. Hence theevaluation can be deactivated by the object encoder_x10_control.

With the object encoder_x10_status it can be determined if areference pulse has occurred (this may not occur before onecomplete revolution). This bit can be cleared.



Using the object max_x2_x10_position_difference a monitor�ing function for the objects encoder_X2_position and en�coder_X10_position can be realised. If the difference be�tween these two objects exceeds the value in max_X2_X10_position_difference the power stage will be switched off im�mediately and error 17 will be displayed (CANopen error code7124). Parametrizing 0 will disable this function.


Index 2025h

Name encoder_X10_data_field

Object Code RECORD



Sub−Index 01h

Description encoder_X10_resolution

Data Type UINT32

Access rw

PDO Mapping no

Units increments


Default Value �




Sub−Index 02h

Description encoder_X10_numerator

Data Type INT16

Access rw

PDO Mapping no

Units �


Default Value 1


Sub−Index 03h

Description encoder_X10_divisor

Data Type INT16

Access rw

PDO Mapping no

Units �


Default Value 1


Sub−Index 04h

Description encoder_X10_counter

Data Type UINT32

Access ro





Units Increments

Value Range 0 − (encoder_X10_resolution−1)

Default Value 0


Sub−Index 05h

Description encoder_X10_position

Data Type INT32

Access rw



Value Range (−231)..(231−1)

Default Value 0


Sub−Index 06h

Description encoder_X10_control

Data Type INT32

Access rw

PDO Mapping no

Units �

Value Range 1: ignore the northmarker

Default Value 0




Sub−Index 07h

Description encoder_X10_status

Data Type INT32

Access rw


Units �

Value Range 1: northmarker appeared

Default Value 0


Sub−Index 08h

Description max_X2_X10_position_difference

Data Type UINT32

Access rw


Units Position units

Value Range 0 − (231−1)

Default Value 0 (off )



Object 2028h: encoder_emulation_resolution

The object encoder_emulation_resolution determines theresolution of the encoder emulation output X11. The valuerange depends on the used encoder and must not exceed thevalue in encoder_X2_resolution. Otherwise the entered valuewill be limited to this value.


Index 2028h

Name encoder_emulation_resolution

Object Code VAR

Data Type INT32


Access RDC12, RDC16,SinCos, SinCoder roOther rw

PDO Mapping no

Units Increments

Value Range RDC12: 4096RDC16: 4096RDC16N: 4..65536SinCos: 2048SinCoder: 4096Yaskawa: 0...4096/0...8192/0...32768Incremental−Encoder: 0...encoder_X2_resolutionHeidenhain: 4...65536

Default Value 4096



5.8 Sources for demand / actual value

5.8.1 Survey

The following objects can be used to change the source of thedemand and the actual value. By default the standard en�coder input X2 will be used for the position actual value. If an external position encoder is used, e.g. on the drivingside of a gear, it is possible to use the signals of the incre�mental input X10 as actual value. It is also possible to usesignals of X10 as additional position demand value, e.g. tosynchronise two motors.

5.8.2 Objects

Object 2021h: position_encoder_selection

The object position_encoder_selection determines the inputfor the current position value (X2, X10 or Technology mod�ule).


Index 2021h

Name position_encoder_selection

Object Code VAR

Data Type INT16




Access rw

PDO Mapping no

Units �

Value Range 0: X2, 1: X10, 2:�Technology−Modul

Default Value 0

Object 2022h: synchronization_encoder_select

The object synchronization_encoder_select determines theinput for the additional position demand value. It can be usedto synchronise two motors.


Index 2022h

Name synchronization_encoder_select

Object Code VAR

Data Type INT16


Access rw

PDO Mapping no

Units �

Value Range �1: No Encoder1: X102: Technology−module

Default Value �1



5.9 Digital inputs and outputs

5.9.1 Survey

All digital inputs of the servo controller can be read out andalmost any digital output can be set or reset using the canbus. In addition to it several state messages can be mappedto the outputs.

5.9.2 Objects

Object 60FDh: digital_inputs

Using object 60FDh the digital inputs can be read out:


Index 60FDh

Name digital_inputs

Object Code VAR

Data Type UINT32


Access ro


Units �

Value Range 0..FFFFFFFFh

Default Value �



Bit Value Digital input

0 00000001h Negative limit switch

1 00000002h Positive limit switch

2 00000004h Reference switch

3 00000008h Power stage locked (Either the signal "controller enable" or"power stage enable" is not set)

16 − 23 Additional inputs of the can module

24 − 27 Target position selectors (POS0−POS3, Din0..Din3)

28 10000000h Start input

29 20000000h Sample input



Object 60FEh: digital_outputs

The digital outputs can be set via the object 60FEh. For thatpurpose it has to be indicated which of the digital outputs areallowed to be set in the object digital_outputs_mask. Thenthe selected outputs can be set optionally via the object digi�tal_outputs_data .

It has to be kept in mind that a delay of up to 15 millisecondsmay occur between sending the command and a real reactionof the outputs when the brake and the default outputs (DOUT1 − DOUT 3) are triggered. When the outputs are really set canbe found out by rereading the object 60FEh. The additionaldigital outputs of the CAN module act without a mentionabledelay.


Index 60FEh

Name digital_outputs

Object Code ARRAY


Data Type UINT32


Sub−Index 01h

Description digital_outputs_data

Access rw


Units �


Default Value 0




Sub−Index 02h

Description digital_outputs_mask

Access rw


Units �


Default Value 16711680; 00FF0000h

Bit Digital output

0 Brake

16 − 23 Additional digital outputs of the CAN module

25 − 27 Default outputs of the servo controller (Dout1 − Dout3)



5.10 Homing switches (Limit / Reference switch)

5.10.1 Survey

For the definition of the reference (zero) position of the servocontroller optional limit switches or reference switches can beused. Further information concerning reference methods canbe found in chapter 7.2, Operating Mode "Homing mode.

5.10.2 Objects

Object 6510h_11h: limit_switch_polarity

The polarity of the limit switches can be parametrized by theobject 6510h_11h (limit_switch_polarity). For B−contacts(normally closed) zero has to be entered, for A−contacts (nor�mally opened) one.


Index 6510h

Sub−Index 11h

Name limit_switch_polarity

Object Code AR

Data Type UINT16




Access rw


Units �

Value Range 0, 1

Default Value 1

Object 6510h_14h: homing_switch_polarity

The polarity of the homing switch can be parametrized by theobject 6510h_14h (homing_switch_polarity). For B−contacts(normally closed) zero has to be entered, for A−contacts (nor�mally opened) one.


Index 6510h

Sub−Index 14h

Name homing_switch_polarity

Object Code VAR

Data Type UINT16


Access rw


Units �

Value Range 0, 1

Default Value 1



Object 6510h_13h: homing_switch_selector

The object 6510h_13h (homing_switch_selector) determines,if the reference switch is connected either to the START or theSAMPLE input of the servo controller.


Index 6510h

Sub−Index 13h

Name homing_switch_selector

Object Code VAR

Data Type UINT16


Access rw

PDO Mapping no

Units �

Value Range 0: SAMPLE input (DIN9)1: START input (DIN8)

Default Value 0



Object 6510h_15h: limit_switch_deceleration

The object limit_switch_deceleration determines the de�celeration used to stop the motor if a limit switch will be re�ached during normal operation (limit switch emergency stop).


Index 6510h

Sub−Index 15h

Name limit_switch_deceleration

Object Code VAR

Data Type UINT32


Access rw


Units acceleration units


Default Value 1966080 Inc / sec2

High values result in "fast braking," low values result in "slowbraking" of the motor. With excessive values for braking acceleration (delay) thedelay time will tend towards 0 s.This may result in the fault message "Division by zero" in theparametrizing program. Select a value suitable for your application.

Device Control/State diagram (State machine)


Chapter 6

6. Device Control/State diagram (State machine)


Contents

6.1 State diagram (State machine) 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.1 Survey 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.2 The state diagram of the servo controller (State machine) 6−4 . . . . . . .

6.1.3 Controlword 6−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.4 Auslesen des Reglerzustands 6−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.5 Statusword 6−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.6 Objects 6−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



6.1 State diagram (State machine)

6.1.1 Survey

The following chapter describes how to control the servo con�troller using CANopen, i.e. how to switch on the power stageor to reset an error.

Using CANopen the complete control of the servo is done bytwo objects. Via the controlword the host is able to controlthe servo, as the status of the servo can be read out of thestatusword. The following items will be used in this chapter:

State State The servo controller is in different states dependent onfor instance if the power stage is alive or if an error has oc�curred. States defined under CANopen will be explained inthis chapter.Example: SWITCH_ON_DISABLED

State Transition Just as the states it is defined as well how to move from onestate to another (e.g. to reset an error). These state transi�tions will be either executed by the host by setting bits inthe controlword or by the servo controller itself, if an erroroccurs for instance.

Command To initiate a state transition defined bit combinations have tobe set in the controlword. Such bit combination are calledcommand.Example: Enable Operation

Zum Auslösen von Zustandsübergängen müssen bestimmteKombinationen von Bits im controlword gesetzt werden.Eine solche Kombination wird als Kommando bezeichnet.Beispiel: Enable Operation

State diagram (State Machine)

All the states and all state transitions together form the socalled state diagram: A survey of all states and the possibletransitions between two states.



6.1.2 The state diagram of the servo controller (State machine)

Fig.�6/1: State diagram of the servo controller

The state diagram can be divided into three main parts:�Power Disabled" means the power stage is switched off and�Power Enabled" the power stage is live. The area �Fault"contains all states necessary to handle errors of the con�troller.The most important states have been highlighted in the Fig�ure: After switching on the servo controller initialises itselfand reaches the state SWITCH_ON_DISABLED after all. In thisstate CAN communication is possible and the servo controllercan be parametrized (e.g. the mode of operation can be set to�velocity control"). The power stage remains switched off andthe motor shaft is freely rotatable. Through the state transi�tions 2, 3 and 4 ("enable controller" under CANopen) thestate OPERATION_ENABLE will be reached. In this state thepower stage is live and the servo controller controls themotor according to the parametrized mode of operation.



Therefore previously ensure that the servo controller hasbeen parametrized correctly and the according demand valueis zero.

The state transition 9 complies with disabling the powerstage, i.e. the motor is freely rotatable.

In case of a fault the servo controller branches independentof the current state lately to the state FAULT. Dependent onthe seriousness of the fault several actions can be executedbefore, for instance an emergency stop (FAULT_REAC�TION_ACTIVE).

To execute the mentioned state transitions defined bit com�binations have to be set in the controlword. To that the lower4 bits of the controlword will be evaluated commonly. At firstonly the important transitions 2, 3, 4, 9 and 15 will be ex�plained. A table of all possible transitions can be found at theend of this chapter.

The following chart contains the desired state transition in the1st column. The 2nd column contains the condition for thetransition (mostly a command by the host, here marked witha frame). How the command has to be built, i.e. what bitshave to be set in the controlword, will be shown in the 3rdcolumn (x = not relevant).



No. Executed if Bit combination (controlword) Action

��Bit 3 2 1 0

2 �Enable controller" and �Enablepower stage" applied + Command Shutdown

Shutdown = x 1 1 0 None

3 Command Switch On Switch On = x 1 1 1 Power stage will beswitched on

4 Command Enable Operation Enable Operation = 1 1 1 1 Motor is controlled ac�cording to modes_of_operation

9 Command Disable Voltage Disable Voltage = x x 0 x Power stage is dis�abled. The motor isfreely rotatable.

15 Cause of fault remedied + Command Fault Reset

Fault Reset = Bit 7 = Reset fault

Fig.�6/2: Most important state transitions

EXAMPLE

After the servo controller has been parametrized it should beenabled, i.e. the power stage should be switched on:

1. The servo is in the state SWITCH_ON_DISABLED.

2. The state OPERATION_ENABLE should be reached.

3. In accordance to the state diagram (Fig.�6/1) the statetransitions 2, 3 and 4 have to be executed.



4. From Fig.�6/2 follows:

Transition 2: controlword = 0006hNew state: READY_TO_SWITCH_ON 1)

Transition 3: controlword = 0007hNew state: SWITCHED_ON 1)

Transition 4: controlword = 000FhNew state: OPERATION_ENABLE 1)

Please note� The example implies, that no more bits in the control�word are set. (For the state transitions only the bits 0..3are necessary).

� The state transitions 3 and 4 can be combined by settingthe controlword to 000Fh directly. For the state transition3 the set bit 3 is irrelevant.

1) The host has to wait until the requested state can be read in the statusword. This will be explained more exact in thefollowing sections.



State diagram: States

In the following table all states and their meaning are listed:

Name Meaning

NOT_READY_TO_SWITCH_ON

The servo controller executes its selftest. The CAN communication doesnot work.

SWITCH_ON_DISABLED The selftest has been completed. Activation of the CAN communication.

READY_TO_SWITCH_ON The servo controller waits until the digital inputs �Enable controller" +�Enable power stage" will be set (controller enable logic �digital inputand CAN").

SWITCHED_ON *1) The power stage is live.

OPERATION_ENABLE *1) The motor is under voltage and will be controlled according tomodes_of_operation.

QUICKSTOP_ACTIVE *1) The Quick Stop Function will be executed (see: quick_stop_option_code).The motor is under voltage and will be controlled according to the QuickStop Function.

FAULT_REACTION_ACTIVE *1)

An error has occurred. On critical errors switching to state Fault. Other�wise the action according to the fault_reaction_option_code will be ex�ecuted. The motor is under voltage and will be controlled according tothe Fault Reaction Function.

FAULT An error has occurred. The power stage has been switched off.

*1) The power stage is live.



State diagram: State transitions

The following table lists all state transitions and their mean�ing:


Bit 3 2 1 0

0 �Power on" or Reset internal transition Execute self test

1 Self test succesful internal transition Activation of the CAN�communication

2 �Enable controller" + �Enablepower stage" applied + Command Shutdown

Shutdown = x 1 1 0 �

3 Command Switch On Switch On = x 1 1 1 Power stage will beswitched on

4 Command Enable Operation Enable Operation = 1 1 1 1 Motor is controlled ac�cording to modes_of_operation

5 Command Disable Operation Disable Operation = 0 1 1 1 Power stage is disabled.Motor is freely rotatable

6 Command Shutdown Shutdown = x 1 1 0 Power stage is disabled.Motor is freely rotatable

7 Command Quick Stop Quick Stop = x 0 1 x �

8 Command Shutdown Shutdown = x 1 1 0 Power stage is disabled.Motor is freely rotatable

9 Command Disable Voltage Disable Voltage = x x 0 x Power stage is disabled.Motor is freely rotatable

10 Command Disable Voltage Disable Voltage = x x 0 x Power stage is disabled.Motor is freely rotatable

11 Command Quick Stop Quick Stop = x 0 1 x A braking according toquick_stop_option_codeis started.




Bit 3 2 1 0

12 Braking has ended orCommand Disable Voltage

Disable Voltage = x x 0 x Power stage is disabled.Motor is freely rotatable

13 Error occurred internal transition On non−critical errors reac�tion according to fault_re�action_option_code. Oncritical error executingtransition 14.

14 Error treating has ended internal transition Power stage is disabled.Motor is freely rotatable

15 Cause of fault remedied +Command Fault Reset

Fault Reset = Bit 7 = Reset fault (Rising edge)

WarningPower stage disabled

This means the transistors are not driven anymore. If thisstate is reached on a rotating motor, the motor coastsdown without being braked. If a mechanical motor brakeis available it will be locked.

CautionThis does not ensure that the motor is not under voltage.

WarningPower stage enabled

This means the motor will be controlled according to thechosen mode of operation. If a mechanical motor brake isavailable it will be released. A defect or an incorrect para�meter set−up (Motor current, number of poles, resolveroffset angle, etc.) may cause an uncontrolled behaviour ofthe motor.



6.1.3 Controlword

Object 6040h: controlword

Via the controlword the state of the servo controller can bechanged or a designated action (e.g. starting homing oper�ation) can be executed directly. The meaning of the bits 4, 5,6 and 8 depends on modes_of_operation, which will be ex�plained in the chapter hereafter.


Index 6040h

Name controlword

Object Code VAR

Data Type UINT16


Access rw


Units �

Value Range 0...FFFFh

Default Value 0



Bit Value Function

0 0001h

1 0002h Initiating state transitions( i ill b l d l )

2 0004h

g(Bits will be evaluated commonly)

3 0008h

4 0010h new_set_point/start_homing_operation

5 0020h change_set_immediatly

6 0040h absolute/relative

7 0080h reset_fault

8 0100h halt

9 0200h reserved set to 0







Fig.�6/3: Bitbelegung des controlword

As described detailed in the previous chapter the bits 0..3 areused to execute state transitions. The necessary commandsare summarised in the following chart. The command FaultReset will be executed on a rising edge of bit 7 (from 0 to 1).



Commando Bit 7 Bit 3 Bit 2 Bit 1 Bit 0

0080h 0008h 0004h 0002h 0001h

Shutdown x x 1 1 0

Switch On x x 1 1 1

Disable Voltage x x x 0 x

Quick Stop x x 0 1 x

Disable Operation x 0 1 1 1

Enable Operation x 1 1 1 1

Fault Reset x x x x

Fig.�6/4: Survey of all commands (x = not relevant)

Please note· As some state transitions take time for processing, allchanges written into the controlword have to read backfrom the statusword. Only when the requested statuscan be read in the statusword, one may write in furthercommands using the controlword.

Following the remaining bits of the controlword will be ex�plained. The meaning of some bits depends on the objectmodes_of_operation, i.e. if the controller will be torque orvelocity controlled for instance.



Bit 4 Depends on modes_of_operation:

new_set_point On Profile Position Mode: A rising edge indicates to the servo controller that a newpositioning task should be processed. (You must also readchapter 7.3 for this).

start_homing_operation

On Homing Mode: A rising edge starts the parametrized search for reference. A falling edge stops the search immediately.

Bit 5 change_set_immediatly

Only on Profile Position Mode: If this bit is cleared a current positioning order will be pro�cessed before starting a new one. If this bit is set a currentpositioning order will be interrupted by the new one. Seealso chapter 7.3.

Bit 6 relative Only On Profile Position Mode: If this bit is set the target_position of the current position�ing order will be added to the position_demand_value ofthe position controller.

Bit 7 reset_fault On a rising edge the servo controller tries to reset the pres�ent errors. This will only succeed if the cause of error hasbeen remedied.


halt On Profile Position Mode: If this bit is set the current positioning will be cancelled ac�cording to the object profile_deceleration. After stoppingthe bit target_reached (statusword) will be set. Resettingthis bit has no effect.

halt On Profile Velocity Mode: If this bit is set the velocity will be reduced to zero accordingto the profile_deceleration. Resetting this bit will acceleratethe motor again.

halt On Profile Torque Mode: If this bit is set the torque will be reduced to zero accordingto the torque_slope. Resetting this bit will accelerate themotor again.

halt On Homing Mode: If this bit is set the current homing operation will be can�celled and a homing error will be generated. Resetting thisbit has no effect.



6.1.4 Auslesen des Reglerzustands

Similar to initiating several commands by setting bits of thecontrolword, the state of the servo controller can be read byspecific bit combinations in the statusword.

The following chart lists all states of the state diagram andtheir respective bit combination occurring in the statusword.

State Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Mask Value

0040h 0020h 0008h 0004h 0002h 0001h

NOT_READY_TO_SWITCH_ON 0 x 0 0 0 0 004Fh 0000h

SWITCH_ON_DISABLED 1 x 0 0 0 0 004Fh 0040h

READY_TO_SWITCH_ON 0 1 0 0 0 1 0006Fh 0021h

SWITCHED_ON 0 1 0 0 1 1 006Fh 0023h

OPERATION_ENABLE 0 1 0 1 1 1 006Fh 0027h

FAULT 0 x 1 1 1 1 004Fh 000Fh

FAULT_REACTION_ACTIVE 0 x 1 1 1 1 004Fh 000Fh

QUICK_STOP_ACTIVE 0 0 0 1 1 1 006Fh 0007h

Fig.�6/5: Device state (x = not relevant)



EXAMPLE

The above mentioned example shows, what bits in thecontrolword have to be set to enable the servo controller.Now the requested state should be read out of thestatusword:Transition from SWITCH_ON_DISABLED to OPERATION_ENABLE:

1. Write state transition 2 into the controlword.

2. Wait until state READY_TO_SWITCH_ON occurs in thestatusword.Transition 2: controlword = 0006h

Wait until (statusword & 006Fh) = 0021h1)

3. The state transitions 3 and 4 can be written combined intothe controlword.

4. Wait until the state OPERATION_ENABLE occurs in thestatusword.Transition 3+4:controlword = 000Fh

Wait until (statusword & 006Fh) = 0027h1)

Please noteThe example implies, that no more bits in the controlwordare set. (For the state transitions only the bits 0..3 arenecessary).

1) To identify a state also cleared bits have to be evaluated (see table). Therefore the statusword has to be masked properly.



6.1.5 Statusword

Object 6041h: statusword


Index 6041h

Name statusword

Object Code VAR

Data Type UINT16


Access ro


Units �

Value Range 0..FFFFh

Default Value 0



Bit Value Function

0 0001h

1 0002h State of the servo controller (see Fig.�6/5).( h bi h b l d l )

2 0004h

( g / )(These bits have to be evaluated commonly)

3 0008h

4 0010h voltage_disabled

5 0020hState of the servo controller (see Fig 6/5)

6 0040hState of the servo controller (see Fig.�6/5).

7 0080h warning

8 0100h unused

9 0200h remote

10 0400h target_reached

11 0800h internal_limit_active

12 1000h set_point_acknowledge/speed_0/homing_attained

13 2000h following_error/homing_error

14 4000h unused

15 8000h trigger_result

Fig.�6/6: Bit assignment in the statusword

Please noteAll bits of the statusword are not buffered and thereforerepresenting the actual state of the device.



In addition to the state of the device several informations canbe read out directly of the statusword, i.e. every bit is as�signed a specific event like a following error. The meaning ofthe bits is as follows:

Bit 4 voltage_disable This bit is set if the transistors of the power stage switchedoff.

WarningOn a defect the motor may still be under voltage.

Bit 5 quick_stop If this bit is cleared a Quick Stop will be executed accordingto the quick_stop_option_code.

Bit 7 warning This bit is undefined. It must not be evaluated.

Bit 8 manufacturer specific This bit is undefined. It must not be evaluated.

Bit 9 remote This bit indicates that the power stage can be enabled via thecan bus. It is set if the object enable_logic is set accordingly.


target_reached On Profile Position Mode:This bit will be set if the actual position (position_actual_value) is within the parametrized position window (position_window).It will also be set if the motor stops after setting the bit halt inthe controlword.It will be cleared if a new positioning is started.

target_reached On Profile Velocity Mode:The bit will be set if the actual velocity (velocity_actual_value) is within the parametrized velocity window (velocity_window, velocity_window_time).

Bit 11 internal_limit_active This bit indicates that the i2t limitation is active.




set_point_acknowledge

On Profile Position Mode:This bit will be set to acknowledge the bit new_set_point inthe controlword. It will be cleared if the bit new_set_pointwill be cleared. See chapter 6.1.3 Functional Description aswell.

speed_0 On Profile Velocity Mode:This bit will be set if the velocity_actual_value is within thewindow determined by the object velocity_threshold.

homing_attained On Homing Mode:This bit will be set if the homing operation has been finishedwithout an error.


following_error On Profile Position Mode:This bit will be set if the position_actual_value differs fromthe position_demand_value so much that the difference isout of the tolerance window determined by the objectsfollowing_error_window and following_ error_time_out.

homing_error On Homing Mode:This bit will be set if a homing operation was cancelled bysetting the bit halt in the controlword, if both limit switchesare closed or the search for the switch exceeds the prede�fined positioning limits (min_position_limit, max_posi�tion_limit).

Bit 14 unused This bit is unused at present. It must not be evaluated.

Bit 15 trigger_result manufacturer specificThis bit will be set, if a trigger event occurs and the corre�sponding trigger mask is set accordingly.



6.1.6 Objects



605Bh VAR shutdown_option_code INT16 rw

605Ch VAR disable_operation_option_code INT16 rw

605Ah VAR quick_stop_option_code INT16 rw

605Eh VAR fault_reaction_option_code INT16 rw

Object 605Bh: shutdown_option_code

The object shutdown_option_code determines the behaviourif the state transition 8 (from OPERATION ENABLE to READYTO SWITCH ON) will be executed.


Index 605Bh

Name shutdown_option_code

Object Code VARVAR

Data Type INT16


Access rw

PDO Mapping no

Units �

Value Range 0: Power stage will be switched off.Motor is freely rotatable.

Default Value 0



Object 605Ch: disable_operation_option_code

The object disable_operation_option_code determines thebehaviour if the state transition 5 (from OPERATION ENABLEto SWITCHED ON) will be executed.


Index 605Ch

Name disable_operation_option_code

Object Code VAR

Data Type INT16


Access rw

PDO Mapping No

Units �

Value Range 0: Power stage will be switched off.Motor is freely rotatable.

Default Value 0



Object 605Ah: quick_stop_option_code

The object quick_stop_option_code determines the behav�iour if a Quick Stop will be executed.


Index 605Ah

Name quick_stop_option_code

Object Code VAR

Data Type INT16


Access rw

PDO Mapping No

Units �

Value Range 2: Motor decelerates according to the�quick stop acceleration"

Default Value 2



Object 605Eh: fault_reaction_option_code

The object fault_reaction_option_code determines the be�haviour on a fault. Notwithstanding the power stage will al�ways be switched off on a critical fault.


Index 605Eh

Name fault_reaction_option_code

Object Code VAR

Data Type INT16


Access rw

PDO Mapping no

Units �

Value Range 0. Power stage will be switched offThe motor is freely rotatable

2: Motor slows down with the �quick stop ramp"

Default Value 0

Operating modes/Adjustment of the Operating Mode


Chapter 7

7. Operating modes/Adjustment of the Operating Mode


Contents

7.1 Adjustment of the Operating Mode 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1 Survey 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2 Objects 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 Operating Mode "Homing mode" 7−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Survey 7−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.2 Objects 7−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 Operating Mode (Profile Position Mode) 7−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.1 Survey 7−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.2 Objects 7−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 Profile Velocity Mode 7−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.1 Survey 7−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.2 Objects 7−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5 Profile Torque Mode 7−56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5.1 Survey 7−56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5.2 Objects 7−59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



7.1 Adjustment of the Operating Mode

7.1.1 Survey

The servo controller can be set into a great number of operat�ing modes. Only some are specified in detail under CANopen:

� torque controlled operation

� speed controlled operation

� homing operation (search for reference)

� positioning operation

7.1.2 Objects



6060h VAR modes_of_operation INT8 wo

6061h VAR modes_of_operation_display INT8 ro



Object 6060h: modes_of_operation

The operating mode of the servo controller is determined bythe object modes_of_operation.


Index 6060h

Name modes_of_operation

Object Code VAR

Data Type INT8


Access wo


Units �

Value Range 1, 3, 4, 6

Default Value 255

Value Action

−1 Unknown or invalid operating mode on CANopen

1 Profile Positioning Mode (position controller with position�ing operation)

3 Profile Velocity Mode (speed controller with setpoint ramp)

4 Torque Profile Mode (torque controller with setpoint ramp)

6 Homing mode (homing operation)



Please noteThe current operating mode can only be read in the objectmodes_of_operation_display.

· As a change of the operating mode might require sometime to process, one will have to wait until the new se�lected mode appears in the object modes_of_oper�ation_display.

Object 6061h: modes_of_operation_display

The current operating mode of the servo controller can beread in the object modes_of_operation_display.


Index 6061h

Name modes_of_operation_display

Object Code VAR

Data Type INT8


Access ro


Units �

Value Range −1, 1, 3, 4, 6

Default Value 3



Value Action

−1 Unknown operating mode under CANopen

1 Profile Positioning Mode (position controller with position�ing operation)

3 Profile Velocity Mode (speed controller with setpoint ramp)

4 Torque Profile Mode (torque controller with setpoint ramp)

6 Homing mode (homing operation)

Please noteThe operating mode can only be set via the objectmodes_of_operation.

· As a change of the operating mode might require sometime, one will have to wait until the new selected modeappears in the object modes_of_operation_display.During this period of time it could happen that invalidoperating modes (−1) are displayed for a short while.



7.2 Operating Mode "Homing mode"

7.2.1 Survey

This chapter describes how the servo controller searches thestart position (also called reference point or zero point).There are various methods to determine this position. Eitherthe limit switches at the end of the positioning range can beused or a reference switch (zero point switch) within the poss�ible range of motion. Among some methods the zero impulseof the used encoder (resolver, incremental encoder, etc.) canbe included to achieve a state that can be reproduced as wellas possible.

Fig.�7/1: Homing operation

The user can determine the velocity, acceleration, and thekind of homing operation. After the servo controller has foundits reference the zero position can be moved to the desiredpoint via the object home_offset.

There are two kinds of speed for the homing operation. Thehigher search speed (speed_during_search_for_switch) isused to find the limit switch respectively the reference switch.To determine the reference slope exactly a lower speed isused (speed_during_search_for_zero) .



Please noteThe motor will not necessarily reach the reference position.

If all required values are known, no physical motion will beexecuted.

7.2.2 Objects



607Ch VAR home_offset INT32 rw

6098h VAR homing_method INT8 rw

6099h ARRAY homing_speeds UINT32 rw

609Ah VAR homing_acceleration UINT32 rw



6040h VAR controlword UINT16 5.13

6041h VAR statusword UINT16 5.13



Object 607Ch: home_offset

The object home_offset determines the displacement of thezero position to the limit resp. reference switch position.

Fig.�7/2: Home Offset


Index 607Ch

Name home_offset

Object Code VAR

Data Type INT32


Access rw



Value Range (−231)..(231−1)

Default Value 0



Object 6098h: homing_method

The object homing_method determines which kind of homingoperation is used.

Objectattribute

Attribute value

Index 6098h

Name homing_method

Object Code VAR

Data Type INT8

Objectattribute

Attribute value

Access rw


Units �

Value Range −18, −17, −2, −1, 1, 2, 7, 11, 17, 18, 23, 27, 32, 33, 34

Default Value 17

homing_method Direction Target Reference point for Homeposition

−18 Positive Endstop Endstop

−17 Negative Endstop Endstop

−2 Positive Endstop Zero impulse

−1 Negative Endstop Zero impulse

1 Negative Limit switch Zero impulse

2 Positive Limit switch Zero impulse

7 Positive Reference switch Zero impulse



homing_method Reference point for Homeposition

TargetDirection

11 Negative Reference switch Zero impulse

17 Negative Limit switch Limit switch

18 Positive Limit switch Limit switch

23 Positive Reference switch Reference switch

27 Negative Reference switch Reference switch

32 Negative Zero impulse Zero impulse

33 Positive Zero impulse Zero impulse

34 No run Actual position

Please note· Using method 34 is only possible if at least one time azero impulse has been detected by the servo controllerbefore executing the homing operation or the detectionof the zero impulse has been disabled. Otherwise a hom�ing error occurs.

Object 6099h: homing_speeds

This object determines the speeds which are used during thehoming operation.


Index 6099h

Name homing_speeds

Object Code ARRAY


Data Type UINT32




Sub−Index 01h

Description speed_during_search_for_switch

Access rw


Units speed units


Default Value 100 min−1


Sub−Index 02h

Description speed_during_search_for_zero

Access rw


Units speed units


Default Value 10 min−1



Object 609Ah: homing_acceleration

The objects homing_acceleration determine the accelerationwhich is used for all acceleration and deceleration during thesearch for reference.


Index 609Ah

Name homing_acceleration

Object Code VAR

Data Type UINT32


Access rw




Default Value 0



Description of Features

Usually it is necessary to know the absolute position for posi�tioning motions. For various reasons servo controller mostlyhave no absolute angle encoder so that a search for referenceis necessary in almost all cases after resetting the device. Anumber of different methods is kept ready for that. Themethod that is necessary for the application can be selectedvia the object homing_method.

There are four possible signals for the homing operation: thenegative and positive limit switch, the reference switch andthe (periodic) zero impulse of the angle encoder. Besides thisthe controller can refer to the negative or positive endstopwithout additional signal.

If a method of reference has been determined via the objecthoming_method the following adjustments are fixed by that:

� The signal for the reference (negative or positive limitswitch, the reference switch, negative or positive end�stop)

� The direction and process of the homing operation

� The kind of evaluation of the zero impulse of the usedangle encoder

The different methods for the homing operation are shown inthe following diagrams. The encircled numbers correspond tothe code that has to be entered in the objecthoming_method.



Method 1: Negative limit switch using zero impulseevaluation

If this method is used the drive first moves relatively quickinto the negative direction until it reaches the negative limitswitch. This is displayed in the diagram by the rising edge.Afterwards the drive slowly returns and searches for the exactposition of the limit switch. The zero position refers to the firstzero impulse of the angle encoder in positive direction fromthe limit switch.

Fig.�7/3: Homing operation to the negative limit switch including evaluation of the zeroimpulse

Method 2: Positive limit switch using zero impulseevaluation

If this method is used the drive first moves relatively quickinto the positive direction until it reaches the positive limitswitch. This is displayed in the diagram by the rising edge.Afterwards the drive slowly returns and searches for the exactposition of the limit switch. The zero position refers to the firstzero impulse of the angle encoder in negative direction fromthe limit switch.



Fig.�7/4: Homing operation to the positive limit switch including evaluation of the zeroimpulse

Methods 7 and 11: Reference switch and zero im�pulse evaluation

These two methods use the reference switch which is onlyactive over parts of the distance. These reference methodsare particularly useful for round−axis applications where thereference switch is activated once per revolution.

In case of method 7 the drive first moves into positive and incase of method 11 into negative direction. Depending on thedirection of the motion the zero position refers to the firstzero impulse in negative or positive direction from the refer�ence switch. This can be seen in the two following diagrams.



Fig.�7/5: Homing operation to the reference switch evaluating the zero impulse for apositive start motion

Please noteWhen using homing operations to the reference switch thelimit switches keep its normal function.

Fig.�7/6: Homing operation to the reference switch evaluating the zero impulse for anegative start motion



Method 17: Homing operation to the negative limitswitch

If this method is used the drive first moves relatively quickinto the negative direction until it reaches the negative limitswitch. This is displayed in the diagram by the rising edge.Afterwards the drive slowly returns and searches for the exactposition of the limit switch. The zero position refers to thedescending edge from the negative limit switch.

Fig.�7/7: Homing operation to the negative limit switch

Method 18: Homing operation to the positive limitswitch

If this method is used the drive first moves relatively quickinto the positive direction until it reaches the positive limitswitch. This is displayed in the diagram by the rising edge.Afterwards the drive slowly returns and searches for the exactposition of the limit switch. The zero position refers to thedescending edge from the positive limit switch.



Fig.�7/8: Homing operation to the positive limit switch

Methods 23 and 27: Homing operation to the refer�ence switch

These two methods use the reference switch which only isactive over part of the distance. These reference methods areparticularly useful for round−axis applications where the ref�erence switch is activated once per revolution.

In case of method 23 the drive first moves into positive and incase of method 27 into negative direction. The zero positionrefers to the edge from the reference switch. This can be seenin the two following diagrams.

Fig.�7/9: Homing operation to the reference switch for a positive start motion



Please noteWhen using homing operations to the reference switch thelimit switches keep its normal function.

Fig.�7/10: Homing operation to the reference switch for a negative start motion

Methods 32 and 33: Homing operation to the zeroimpulse

For the methods 32 and 33 the direction of the homing oper�ation is negative and positive, respectively. The zero positionrefers to the first zero impulse from the angle encoder insearch direction.

Fig.�7/11: Homing operation only referring to the zero impulse



Method 34: Homing operation to the current posi�tion

On method 34 the zero position is referred to the currentposition.

Method −1: Negative stop evaluating the zero im�pulse

If this method is used the drive moves into negative directionuntil it reaches the stop. The servo controller needs ca. 1 sec�ond to identify the stop. The stop has to be mechanically di�mensioned so that it is not damaged in case of the parame�trized maximum current. The zero position refers to the firstzero impulse of the angle encoder in positive direction fromthe stop.

Fig.�7/12: Homing operation to the negative stop evaluating the zero impulse

Method −2: Positive stop evaluating the zero im�pulse

If this method is used the drive moves into positive directionuntil it reaches the stop. The servo controller needs ca. 1 sec�ond to identify the stop. The stop has to be mechanically di�mensioned so that it is not damaged in case of the parame�trized maximum current. The zero position refers to the firstzero impulse of the angle encoder in negative direction fromthe stop.



Fig.�7/13: Homing operation to the positive stop evaluating the zero impulse

Method −17: Homing operation to the negative stop

If this method is used the drive moves into negative directionuntil it reaches the stop. The servo controller needs ca. 1 sec�ond to identify the stop. The stop has to be mechanically di�mensioned so that it is not damaged in case of the parame�trized maximum current. The zero position refers directly tothe endstop.

Fig.�7/14: Homing operation to the negative stop



Method −18: Homing operation to the positive stop

If this method is used the drive moves into positive directionuntil it reaches the stop. The servo controller needs ca. 1 sec�ond to identify the stop. The stop has to be mechanically di�mensioned so that it is not damaged in case of the parame�trized maximum current. The zero position refers directly tothe endstop.

Fig.�7/15: Homing operation to the positive stop



Control of the homing operation

The homing operation is started by setting bit 4 in the con�trolword. The successful end of a homing operation is indi�cated by a set bit 12 in the object statusword. A set bit 13 inthe object statusword indicates that an error has occurredduring the homing operation. The error reason can be identi�fied by the objects error_register and predefined_error_field.

Bit 4 Meaning

0 Homing operation is not active

0 } 1 Start homing operation

1 Homing operation is active

1 } 0 Interrupt homing operation

Bit 13 Bit 12 Meaning

0 0 Homing operation has not yet finished

0 1 Homing operation executed successfully

1 0 Homing operation not executed successfully

1 1 Illegal state



7.3 Operating Mode (Profile Position Mode)

7.3.1 Survey

The structure of this operating mode is shown in Figure 7.16:

The target position (target_position) is passed to the trajec�tory generator. This generator generates a desired positionvalue (position_demand_value) for the position controllerthat is described in the chapter Position Controller (positioncontrol function, chapter 5.6). These two function blocks canbe adjusted independently from each other.

Fig.�7/16: Trajectory generator and position controller



All input quantities of the trajectory generator are convertedinto internal quantities of the controller by means of thequantities of the Factor group (see chapter 5.2: Conversionfactors (Factor Group)). The internal quantities are marked byan asterisk and are not imperatively needed by the user.

Fig.�7/17: The trajectory generator



7.3.2 Objects



607Ah VAR target_position INT32 rw

607Bh ARRAY position_range_limit INT32 rw

607Dh ARRAY software_position_limit INT32 rw

6081h VAR profile_velocity INT32 rw

6082h VAR end_velocity INT32 rw

6083h VAR profile_acceleration UINT32 rw

6084h VAR profile_deceleration UINT32 rw

6085h VAR quick_stop_deceleration UINT32 rw

6086h VAR motion_profile_Type INT16 rw

6510h RECORD position_range_limit_enable rw



6040h VAR controlword INT16 5.13

6041h VAR statusword UINT16 5.13

605Ah VAR quick_stop_option_code INT16 5.13

607Eh VAR polarity UINT8 5.2 Conversion factors

6093h ARRAY position_factor UINT32 5.2 Conversion factors

6094h ARRAY velocity_encoder_factor UINT32 5.2 Conversion factors

6097h ARRAY acceleration_factor UINT32 5.2 Conversion factors



Object 607Ah: target_position

The object target_position determines the destination theservo controller moves to. For this purpose the current ad�justments of the velocity, of the acceleration, of the deceler�ation and the kind of motion profile (motion_profile_type)have to be considered. The target position (target_position)is interpreted either as an absolute or relative position. Thisdepends on bit 6 (relative) of the object controlword.


Index 607Ah

Name target_position

Object Code VAR

Data Type INT32


Access rw



Value Range (−231)..(231−1)

Default Value 0



Object 607Bh: position_range_limit

The object position_range_limit (limit of the positioningrange) contains two subparameters: min_posi�tion_range_limit and max_position_range_limit. These ob�jects limit the numerical range of the position values. If one ofthese limits is exceeded the corresponding actual positionvalue automatically jumps to the other limit of the positioningrange. This is particularly useful for rotary axes. The positionlimits which correspond to the same position, e.g. 0 and 360°have to be entered.

This feature is normally disabled. It has to be activated in theobject 6510h_20h position_range_limit_enable.


Index 607Bh

Name position_range_limit

Object Code ARRAY


Data Type INT32


Sub−Index 01h

Description min_position_range_limit

Access rw



Value Range (−231)..(231−1)

Default Value −231




Sub−Index 02h

Description max_position_range_limit

Access rw



Value Range (−231)..(231−1)

Default Value 231 − 1

Object 6510h_20h: position_range_limit_enable

Using the object position_range_limit_enable the positionlimits determined by the object 607Bh can be activated. Inaddition to the so far existing mode two new modes havebeen implemented from firmware Rev. 8e onwards: The mode"Shortest distance" will be activated by writing a 2 into thisobject. The drive always takes the shortest distance to reachthe target position. In the mode "Predefined direction", acti�vated by writing a 3, the user can determine the direction ofmovement by the sign of the object 6081h (profile_velocity).


Index 6510h

Subindex 20h

Name position_range_limit_enable

Object Code VAR

Data Type UINT16




Access rw

PDO Mapping no

Units �

Value Range 0: Deactivated1: Standard2: Shortest distance3: Predefined direction

Default Value 0

Object 607Dh: software_position_limit

The object software_position_limit contains the subpara�meters min_position_limit and max_position_limit. For ab�solute positioning motions each new target position(target_position) is checked if it is within these limits, i.e.writing values out of these limits leads to an error message.However, it is possible to leave this positioning window usingrelative positioning motions. The positioning window is speci�fied in position_units and always refers to the zero positionof the drive (see also: homing operation).


Index 607Dh

Name software_position_limit

Object Code ARRAY


Data Type INT32




Sub−Index 01h

Description min_position_limit

Access rw



Value Range (−231)..(231−1)

Default Value −231


Sub−Index 02h

Description max_position_limit

Access rw



Value Range (−231)..(231−1)




Object 6081h: profile_velocity

The object profile_velocity specifies the speed that usually isreached during a positioning motion at the end of the acceler�ation ramp. The object profile_velocity is specified inspeed_units. If the ratio between profile_velocity and thecorresponding acceleration or deceleration exceeds circa26�sec the error Overflow of an internal value occurs. In thiscase either the acceleration is too small or the velocity is toolarge.


Index 6081h

Name profile_velocity

Object Code VAR

Data Type INT32


Access rw


Units speed units

Value Range (−231)..(231−1)

Default Value 0



Object 6082h: end_velocity

The object end_velocity defines the speed at the target posi�tion (target_position). Usually this object has to be set to zeroso that the controller stops when it reaches the target posi�tion. The object end_velocity is specified in speed_units likethe object profile_velocity. If the ratio between end_velocityand the corresponding acceleration or deceleration exceedscirca 26 sec the error Overflow of an internal value occurs. Inthis case either the acceleration is too small or the velocity istoo large.


Index 6082h

Name end_velocity

Object Code VAR

Data Type INT32


Access rw


Units speed units

Value Range (−231)..(231−1)

Default Value 0



Object 6083h: profile_acceleration

The object profile_acceleration determines the maximumacceleration used during a positioning motion. It is specifiedin acceleration_units. If the ratio between profile_acceler�ation and the corresponding velocity exceeds circa 26 sec theerror Overflow of an internal value occurs. In this case eitherthe acceleration is too small or the velocity is too large.


Index 6083h

Name profile_acceleration

Object Code VAR

Data Type UINT32


Access rw




Default Value 0



Object 6084h: profile_deceleration

The object profile_deceleration specifies the maximum de�celeration used during a positioning motion. This object isspecified in the same units as the object profile_acceler�ation. If the ratio between profile_deceleration and thecorresponding velocity exceeds circa 26 sec the error Over�flow of an internal value occurs. In this case either the accel�eration is too small or the velocity is too large.


Index 6084h

Name profile_deceleration

Object Code VAR

Data Type UINT32


Access rw




Default Value 0



Object 6085h: quick_stop_deceleration

The object quick_stop_deceleration determines the deceler�ation if a Quick Stop will be executed and the quick_stop_op�tion_code (605Ah) is set to 2.

The object quick_stop_deceleration is specified in acceler�ation_units.


Index 6085h

Name quick_stop_deceleration

Object Code VAR

Data Type UINT32


Access rw




Default Value 14110



Object 6086h: motion_profile_Type

The object motion_profile_type is used to select the kind ofpositioning profile. Besides a linear profile also a jerklessprofile is available.


Index 6086h

Name motion_profile_Type

Object Code VAR

Data Type INT16


Access rw


Units none

Value Range 0−3

Default Value 0

Value Kurvenform

0 Linear ramp

1 Sin2 ramp

2 Jerkless ramp

3 Linear ramp with jerkless start



Functional Description

Two different ways to apply target positions to the servo con�troller are supported.

Single setpoints

After reaching the target_position the servo controller signalsthis status to the host by the bit target_reached (Bit 10 ofcontrolword) and then receives a new setpoint. The servocontroller stops at the target_position before starting a moveto the next setpoint.

Set of setpoints

After reaching the target_position the servo controller im�mediately processes the next target_position which results ina move where the velocity of the drive normally is not re�duced to zero after reaching a setpoint.

These two methods are controlled by the bits new_setpointand change_set_immediately in the object controlword andsetpoint_acknowledge in the object statusword. These bitsare in a request−response relationship. So it is possible toprepare one positioning job while another job is still running.

Fig.�7/18: Positioning job transfer from a host



Figure 7/18 shows the communication between the host andthe servo controller via the CAN bus:

At first the positioning data (target_position, profile_velocity,end_velocity and profile_acceleration) are transferred to theservo controller. After the positioning data set has been trans�ferred completely (1) the host can start the positioning mo�tion by setting the bit new_setpoint in the controlword (2).This will be acknowledged by the servo controller by settingthe bit setpoint_acknowledge in the statusword (3), whenthe positioning data has been copied into the internal buffer.Afterwards the host can start to transfer a new positioningdata set into the servo controller (4) and clear the bitnew_setpoint (5). The servo controller signals by a clearedsetpoint_acknowledge bit that it can accept a new drive job(6). The host has to wait for the falling edge of the bit set�point_acknowledge before a new positioning motion can bestarted (7).

In Figure 7/19 a new positioning motion is started after theprevious one has been finished completely. For that purposethe host evaluates the bit target_reached in the objectstatusword.

Fig.�7/19: Simple positioning job



In Figure 7/20 a new positioning motion has already beenstarted while the previous motion was still running. The hostalready transfers the subsequent target to the servo con�troller if it signals by a cleared setpoint_acknowledge bit thatit has read the buffer and started the corresponding position�ing motion. In this way the positioning motions are joinedtogether gaplessly. For this operating mode the objectend_velocity of the first job should be parametrized to thesame value as the object profile_velocity of the following jobso that the servo controller does not decelerate to zeroamongst the single positioning motions.

Fig.�7/20: Gapless sequence of positioning jobs

If the bit change_set_immediately is set in the controlword anew positioning move started with the bit new_set_point, willinterrupt the current positioning move immediately and startthe new drive job at once. Therefore the end position may beundefined if a relative positioning move interrupts a currentone.



7.4 Profile Velocity Mode

7.4.1 Survey

The profile velocity mode includes the following subfunctions:

� Setpoint generation by the ramp generator

� Speed recording via the angle encoder by differentiation

� Speed control with suitable input and output signals

� Limitation of the desired torque value (torque_de�mand_value)

� Control of the actual speed (velocity_actual_value) withthe window−function/threshold

The meaning of the following parameters is described in thechapter Profile Position Mode: profile_acceleration, pro�file_deceleration, quick_stop



Fig.�7/21: Structure of the profile velocity mode

7.4.2 Objects



6069h VAR velocity_sensor_actual_value INT32 ro

606Ah VAR sensor_selection_code INT16 rw

606Bh VAR velocity_demand_value INT32 ro

606Ch VAR velocity_actual_value INT32 ro



Index Attr.TypeNameObject

606Dh VAR velocity_window UINT16 rw

606Eh VAR velocity_window_time UINT16 rw

606Fh VAR velocity_threshold UINT16 rw

6080h VAR max_motor_speed UINT32 rw

60FFh VAR target_velocity INT32 rw



6040h VAR controlword INT16 6. Device Control

6041h VAR statusword UINT16 6. Device Control

6063h VAR position_actual_value* INT32 5.6 Position Control Function

6069h VAR velocity_sensor_actual_value INT32 5.6 Position Control Function

6071h VAR target_torque INT1 7.8 Profile Torque Mode

6072h VAR max_torque_value UINT16 7.8 Profile Torque Mode

607Eh VAR polarity UINT8 5.2 Conversion factors(Factor Group)

6083h VAR profile_acceleration UINT32 7.4 Operating Mode "Profile Position Mode"

6084h VAR profile_deceleration UINT32 7.4 Operating Mode "Profile Position Mode"

6085h VAR quick_stop_deceleration UINT32 7.4 Operating Mode "Profile Position Mode"

6086h VAR motion_profile_Type INT16 7.4 Operating Mode "Profile Position Mode"

6094h ARRAY velocity_encoder_factor UINT32 5.2 Conversion factors (Factor Group)



Object 6069h: velocity_sensor_actual_value

The speed encoder is read via the object velocity_sen�sor_actual_value. The value is normalised in increments persecond. Also the object 606Ch can be used to determine theactual velocity value.


Index 6069h

Name velocity_sensor_actual_value

Object Code VAR

Data Type INT32


Access ro


Units increments/s

Value Range (−231)..(231−1)

Default Value 0



Object 606Ah: sensor_selection_code

The speed sensor can be selected by this object. Currently noseparate speed sensor will be provided by the servo con�troller. Therefore only the default angle encoder can be se�lected.


Index 606Ah

Name sensor_selection_code

Object Code VAR

Data Type INT16


Access rw


Units �

Value Range 0

Default Value 0



Object 606Bh: velocity_demand_value

The velocity demand value can be read via this object. It willbe influenced by the ramp generator and the trajectory gen�erator respectively. Besides this the correction speed of theposition controller is added if it is activated.


Index 606Bh

Name velocity_demand_value

Object Code VAR

Data Type INT32


Access ro


Units speed_units

Value Range (−231)..(231−1)

Default Value 0



Object 606Ch: velocity_actual_value

The actual velocity value can be read via the object veloc�ity_actual_value.


Index 606Ch

Name velocity_actual_value

Object Code VAR

Data Type INT32


Access ro


Units speed_units

Value Range (−231)..(231−1)

Default Value 0



Object 606Dh: velocity_window

With the object velocity_window a tolerance window for thevelocity actual value will be defined for comparing the veloc�ity_actual_value with the target_velocity (object 60FFh). Ifthe difference is smaller than the velocity window for a longertime than specified by the object velocity_window_time bit10 (target_reached) will be set in the object statusword.

See also: Object 606Eh (velocity_window_time).


Index 606Dh

Name velocity_window

Object Code VAR

Data Type UINT16


Access rw


Units speed_units

Value Range 0−65535

Default Value 4



Object 606Eh: velocity_window_time

The object velocity_window serves to adjust the windowcomparator. It compares the velocity_actual_value with thetarget_velocity (object 60FFh). If the difference is smallerthan specified by velocity_window for a longer time thanspecified by the object velocity_window_time bit 10(target_reached) will be set in the object statusword.


Index 606Eh

Name velocity_window_time

Object Code VAR

Data Type UINT16


Access rw


Units ms


Default Value 0



Object 606Fh: velocity_threshold

The object velocity_threshold determines the velocity belowthe axis is regarded as stationary. As soon as the veloc�ity_actual_value exceeds the velocity_threshold longer thanthe velocity_threshold_time bit 12 is cleared in the statu�sword.


Index 606Fh

Name velocity_threshold

Object Code VAR

Data Type UINT16


Access rw


Units speed_units


Default Value 10



Object 6070h: velocity_threshold_time

The object velocity_threshold determines the velocity belowthe axis is regarded as stationary. As soon as the veloc�ity_actual_value exceeds the velocity_threshold longer thanthe velocity_threshold_time bit 12 is cleared in the statu�sword. Instantaneous this object will not be evaluated by theservo controller. Therefore the regulator always behaves as if0 is specified.


Index 6070h

Name velocity_threshold_time

Object Code VAR

Data Type UINT16


Access rw


Units ms


Default Value 0



Object 6080h: max_motor_speed

The object max_motor_speed specifies the maximum per�missible speed for the motor in rpm. The object is used toprotect the motor and can be taken from the motor specifica�tions. If a higher value as specified by max_motor_speed iswritten into the object target_velocity an error message re�turns. The velocity_demand_value will not be limited directlyaccording to this object.


Index 6080h

Name max_motor_speed

Object Code VAR

Data Type UINT16


Access rw


Units rpm


Default Value 6000



Object 60FFh: target_velocity

The object target_velocity is the setpoint for the ramp gener�ator.


Index 60FFh

Name target_velocity

Object Code VAR

Data Type INT32


Access rw


Units speed_units

Value Range (−231)..(231−1)

Default Value 0



7.5 Profile Torque Mode

7.5.1 Survey

This chapter describes the torque controlled operation. Thisoperating mode offers the chance to demand an externaltorque value (target_torque) which can be smoothed by theintegrated ramp generator. So it is also possible to use thisservo controller for trajectory control functions where bothposition controller and speed controller are dislocated to anexternal computer.



Fig.�7/22: Structure of the Profile Torque Mode



The parameters torque_slope and torque_profile_type (rampform) have to be specified for the ramp generator.

If bit 8 halt is set in the controlword the ramp generator re�duces the torque down to zero. Correspondingly it raises itagain to the target_torque if bit 8 is cleared. In both casesthis will be done under consideration of the ramp generator.All definitions within this document refer to rotatable motors.If linear motors are used all "torque"−objects correspond to"force" instead. For reasons of simplicity the objects do notexist twice and their names should not be modified.

The operating modes Profile Position Mode and Profile Veloc�ity Mode need the torque controller to work properly. There�fore it is always necessary to parameterise the torque con�troller.



7.5.2 Objects



6071h VAR target_torque INT16 rw

6072h VAR max_torque UINT16 rw

6074h VAR torque_demand_value INT16 ro

6076h VAR motor_rated_torque UINT32 rw

6077h VAR torque_actual_value INT16 ro

6078h VAR current_actual_value INT16 ro

6079h VAR DC_link_circuit_voltage UINT32 ro

6087h VAR torque_slope UINT32 rw

6088h VAR torque_profile_Type INT16 rw

60F7h RECORD power_stage_parameters rw

60F6h RECORD torque_control_parameters rw



6040h VAR controlword INT16 5.13 Device Control

60F9h RECORD motor_parameters 5.4 Current control and motor

6075h VAR motor_rated_current UINT32 5.4 Current control and motor

6073h VAR max_current UINT16 5.4 Current control and motor



Object 6071h: target_torque

This parameter is the input value for the torque controller inProfile Torque Mode. It is specified as thousandths of thenominal torque (object 6076h).


Index 6071h

Name target_torque

Object Code VAR

Data Type INT16


Access rw


Units per thousand of rated torque

Value Range −32768..32767

Default Value 0



Object 6072h: max_torque

This value is the maximum permissible value of the motor. Itis specified as thousandths of motor_rated_torque (object6076h). If for example a double overload of the motor is per�missible for a short while the value 2000 has to be entered.

HinweisThe Object 6072h: max_torque corresponds with object6073h: max_current. You are only allowed to write to oneof these objects, once the object 6075h: motor_rated_cur�rent has been parametrized with a valid value.


Index 6072h

Name max_torque

Object Code VAR

Data Type UINT16


Access rw

PDO Mapping No



Default Value 2000



Object 6074h: torque_demand_value

The current demand torque can be read in thousandths ofmotor_rated_torque (6076h) via this object. The internal li�mitations of the servo controller will be considered (currentlimit values and iit control).


Index 6074h

Name torque_demand_value

Object Code VAR

Data Type INT16


Access ro




Default Value 0



Object 6076h: motor_rated_torque

This object specifies the nominal torque of the motor. Thisvalue can be taken from the motor plate. It has to be enteredby the unit 0.001 Nm.


Index 6076h

Name motor_rated_torque

Object Code VAR

Data Type UINT32


Access rw

PDO Mapping no

Units 0.001 Nm


Default Value 1000



Object 6077h: torque_actual_value

The actual torque value of the motor can be read via this ob�ject in thousandths of the nominal torque (object 6076h).


Index 6077h

Name torque_actual_value

Object Code VAR

Data Type INT16


Access ro




Default Value 0



Object 6078h: current_actual_value

The actual current value of the motor can be read via thisobject in thousandths of the nominal current (object 6075h).


Index 6078h

Name current_actual_value

Object Code VAR

Data Type INT16


Access ro


Units per thousand of rated current


Default Value 0



Object 6079h: dc_link_circuit_voltage

The voltage in the intermediate circuit of the regulator can beread via this object. The voltage is specified in millivolt.


Index 6079h

Name DC_link_circuit_voltage

Object Code VAR

Data Type UINT32


Access ro


Units MV




Object 6087h: torque_slope

This parameter describes the modification speed of the set�point ramp. This speed is to be specified as thousandths ofthe nominal torque per second. For example the desiredtorque value target_torque is raised from 0 Nm to the valuemotor_rated_torque. If the output value of the intercon�nected torque ramp is to reach this value within a second thevalue 1000 is to be entered into this object.


Index 6087h

Name torque_slope

Object Code VAR

Data Type UINT32


Access rw


Units per thousand of rated torque per second


Default Value 87



Object 6088h: torque_profile_Type

The object torque_profile_type defines by which shape ofcurve a setpoint step is executed. Instantaneous only thelinear ramp is implemented in the servo controller so only 0can be written to this object.


Index 6088h

Name torque_profile_Type

Object Code VAR

Data Type INT16


Access rw


Units �

Value Range 0

Default Value 0

Technical appendix

A−1Festo P.BE−SEC−AC−CO−EN en 0802a

Appendix A

A. Technical appendix

A−2 Festo P.BE−SEC−AC−CO−EN en 0802a

Contents

A.1 Recommended components A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


A−3Festo P.BE−SEC−AC−CO−EN en 0802a

A.1 Recommended components

� CAN bus plugs for SEC−AC−...

FBS−SUB−9−WS−CO−K from Festo

� CAN bus cables

Suitable cables are available at Friedrich Lütze GmbH, Tel. +49−07151/6053−0, Fax +49−07151/6053−277:

Designation Loop resistance

Capacity(800 Hz)

Char. impe�dance

Order no. Remark

Lütze−ElectronicBus (C)Y2x2x0,22

max.186Ω/km

60 nF/km 100−120Ω 104 206

Lütze−SuperflexBus (C) PUR2x2x0,25

max.159,8Ω/km

60 nF/km 100−120Ω 104 220 suitable fordrag chains


A−4 Festo P.BE−SEC−AC−CO−EN en 0802a

Index

B−1Festo P.BE−SEC−AC−CO−EN en 0802a

Appendix C

B. Index

B−2 Festo P.BE−SEC−AC−CO−EN en 0802a

C.1 Index B−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


A

acceleration_factor 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Actual position 5−57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Increments 5−58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

actual_dc_link_circuit_voltage 5−28 . . . . . . . . . . . . . . . . . . . .

Additional position demand value, Synchronization 5−79 . . .

Adjustment of parameters 5−3 . . . . . . . . . . . . . . . . . . . . . . . . .

Adjustment of the Operating Mode 7−3 . . . . . . . . . . . . . . . . .

B

Behaviour with command "disable operation" 6−22 . . . . . . .

Behaviour with command "quick stop" 6−23 . . . . . . . . . . . . .

Behaviour with command "shutdown" 6−21 . . . . . . . . . . . . . .

boot_up_message 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C

Cabling notes 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CAN interface, Use of 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control of the servo 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

control_effort 5−60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Controlword 6−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Bit assignment 6−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commandos 6−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Object description 6−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Converting factorsAcceleration factor 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position factor 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sign 5−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed factors 5−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Current control 5−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Current controllerGain of 5−40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter 5−40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Time constant 5−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

current_actual_value 7−65 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

dc_link_circuit_voltage 7−66 . . . . . . . . . . . . . . . . . . . . . . . . . .

Default parameter, load 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description of Features 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . .

Designated use VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Device Control 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Digital inputs 5−80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Digital outputs 5−82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Maske 5−83 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

digital_inputs 5−80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

digital_outputs 5−82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

digital_outputs_data 5−82 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

digital_outputs_mask 5−83 . . . . . . . . . . . . . . . . . . . . . . . . . . .

disable_operation_option_code 6−22 . . . . . . . . . . . . . . . . . . .

Velocity controller 5−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Filter time constant 5−45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Gain 5−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter 5−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Time constant 5−45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E

EMERGENCY 4−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMERGENCY message 4−20 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Enable controller 5−23 , 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . .

Enable power stage 5−23 , 5−24 . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


enable_dc_link_undervoltage_error 5−30 . . . . . . . . . . . . . . .

enable_enhanced_modulation 5−25 . . . . . . . . . . . . . . . . . . . .

enable_logic 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Encoder _X10Counter 5−74 , 5−75 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Divisor 5−74 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Numerator 5−74 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter 5−73 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position 5−75 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Resolution 5−73 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Status 5−76 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

encoder _X10_data_field 5−72 . . . . . . . . . . . . . . . . . . . . . . . . .

encoder _X2_data_field 5−67 . . . . . . . . . . . . . . . . . . . . . . . . . .

Encoder output X11, Resolution 5−77 . . . . . . . . . . . . . . . . . . .

encoder_emulation_resolution 5−77 . . . . . . . . . . . . . . . . . . . .

encoder_X10_control 5−75 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

encoder_X10_counter 5−74 . . . . . . . . . . . . . . . . . . . . . . . . . . .

encoder_X10_divisor 5−74 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

encoder_X10_numerator 5−74 . . . . . . . . . . . . . . . . . . . . . . . . .

encoder_X10_position 5−75 . . . . . . . . . . . . . . . . . . . . . . . . . . .

encoder_X10_resolution 5−73 . . . . . . . . . . . . . . . . . . . . . . . . .

encoder_X10_status 5−76 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Encoder_X2 5−67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 0 impulse control 5−70 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Factor (counter) 5−69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Factor (divisor) 5−69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Max. position difference to X10 5−76 . . . . . . . . . . . . . . . . . . Numerator 5−69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter 5−68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position 5−70 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Resolution 5−68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Status 5−71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

encoder_X2_control 5−70 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

encoder_X2_counter 5−69 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

encoder_X2_divisor 5−69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


encoder_X2_numerator 5−69 . . . . . . . . . . . . . . . . . . . . . . . . . .

encoder_X2_position 5−70 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

encoder_X2_resolution 5−68 . . . . . . . . . . . . . . . . . . . . . . . . . .

encoder_X2_status 5−71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

end_velocity 7−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Enhanced modulation 5−25 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Error, SDO error messages 4−7 . . . . . . . . . . . . . . . . . . . . . . . .

F

Factor Group 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . acceleration_factor 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . polarity 5−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . position_factor 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . velocity_encoder_factor 5−14 . . . . . . . . . . . . . . . . . . . . . . .

Fault 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fault Reaction Active 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

fault_reaction_option_code 6−24 . . . . . . . . . . . . . . . . . . . . . .

Filter time constant , Synchronisation velocity 5−66 . . . . . . . .

Following ErrorDefinition 5−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Protection 5−47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

following_error_time_out 5−60 . . . . . . . . . . . . . . . . . . . . . . . .

following_error_window 5−58 . . . . . . . . . . . . . . . . . . . . . . . . .

G

Gain of the current controller 5−40 . . . . . . . . . . . . . . . . . . . . .

guard_time 4−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

H

home_offset 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing mode 7−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


homing modehome_offset 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . homing_acceleration 7−13 . . . . . . . . . . . . . . . . . . . . . . . . . . homing_method 7−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . homing_speeds 7−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing operation 7−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing switch 5−84 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Polarity 5−84 , 5−85 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

homing_acceleration 7−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

homing_method 7−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

homing_speeds 7−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

homing_switch_polarity 5−85 . . . . . . . . . . . . . . . . . . . . . . . . .

homing_switch_selector 5−86 . . . . . . . . . . . . . . . . . . . . . . . . .

I

IdentifierNMT service 4−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . node_guarding 4−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

iit limit 5−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

iit time 5−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

iit_error_enable 5−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

iit_time_motor 5−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions XI . . . . . . . . . . . . . . . . . . . . . . . . .

Intermediate circuit 5−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Maximum 5−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

intermediate circuit XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

K

Kind of homing operation 7−10 . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


L

life_time_factor 4−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Limit switch 5−84 , 7−15 , 7−18 . . . . . . . . . . . . . . . . . . . . . . . . . . Polarity 5−84 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Limit switch emergency stop 5−87 . . . . . . . . . . . . . . . . . . . . . .

limit_switch_deceleration 5−87 . . . . . . . . . . . . . . . . . . . . . . . .

limit_switch_polarity 5−84 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

M

Max. current 5−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Max. intermediate circuit 5−28 . . . . . . . . . . . . . . . . . . . . . . . . .

max_current 5−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

max_dc_link_circuit_voltage 5−28 . . . . . . . . . . . . . . . . . . . . . .

max_motor_speed 7−54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

max_position_limit 7−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

max_position_range_limit 7−30 . . . . . . . . . . . . . . . . . . . . . . . .

max_power_stage_temperature 5−27 . . . . . . . . . . . . . . . . . . .

max_torque 7−61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

max_X2_X10_position_difference 5−76 . . . . . . . . . . . . . . . . .

min_dc_link_circuit_voltage 5−29 . . . . . . . . . . . . . . . . . . . . . .

min_position_limit 7−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

min_position_range_limit 7−29 . . . . . . . . . . . . . . . . . . . . . . . .

modes_of_operation 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

modes_of_operation_display 7−5 . . . . . . . . . . . . . . . . . . . . . .

motion_profile_type 7−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor adaptation 5−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor current, Maximum 5−34 . . . . . . . . . . . . . . . . . . . . . . . . .

Motor nominal current 5−33 . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Motor parameterMax. current 5−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Nominal current 5−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pairs of poles 5−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Phase order 5−40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

motor_rated_current 5−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

motor_rated_torque 7−63 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

N

Network management 4−27 . . . . . . . . . . . . . . . . . . . . . . . . . . .

NMT service 4−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Node−Guarding 4−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

node_guarding_ID 4−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

node_guarding_without_rtr_bit 4−26 . . . . . . . . . . . . . . . . . . .

Nominal current 5−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor 5−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Nominal device voltage 5−27 . . . . . . . . . . . . . . . . . . . . . . . . . .

nominal torque of the motor 7−63 . . . . . . . . . . . . . . . . . . . . . .

nominal_current 5−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

nominal_dc_link_circuit_voltage 5−27 . . . . . . . . . . . . . . . . . .

Not Ready to Switch On 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Notes on the use of this manual VIII . . . . . . . . . . . . . . . . . . . .

O

Object 1005#h 4−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 100C#h 4−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 100D#h 4−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 100E#h 4−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 1010#h 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 1010#h_01#h 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 1011#h 5−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Object 1400#h 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 1401#h 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 1600#h 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 1601#h 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 1800#h 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 1801#h 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 1A00#h 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 1A01#h 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2014#h 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2015#h 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2020#h 5−64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2021#h 5−78 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2022#h 5−79 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2023#h 5−66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2024#h 5−67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2024#h_01#h 5−68 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2024#h_02#h 5−69 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2024#h_03#h 5−69 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2024#h_04#h 5−69 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2024#h_05#h 5−70 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2024#h_06#h 5−70 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2024#h_07#h 5−71 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2025#h 5−72 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2025#h_01#h 5−73 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2025#h_02#h 5−74 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2025#h_03#h 5−74 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2025#h_04#h 5−74 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2025#h_05#h 5−75 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2025#h_06#h 5−75 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2025#h_07#h 5−76 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Object 2025#h_08#h 5−76 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 2028#h 5−77 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 604D#h 5−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6060#h 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6061#h 7−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6062#h 5−55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6063#h 5−58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6064#h 5−57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6065#h 5−58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6066#h 5−60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6067#h 5−61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6068#h 5−62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6069#h 7−46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 606A#h 7−47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 606B#h 7−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 606D#h 7−50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 606E#h 7−51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 606F#h 7−52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6070#h 7−53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6071#h 7−60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6072#h 7−61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6073#h 5−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6074#h 7−62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6075#h 5−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6076#h 7−63 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6077#h 7−64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6078#h 7−65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6079#h 7−66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 607A#h 7−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 607B#h 7−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Object 607B#h_01#h 7−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 607B#h_02#h 7−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 607C#h 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 607D#h 7−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 607E#h 5−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6080#h 7−54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6081#h 7−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6082#h 7−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6083#h 7−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6084#h 7−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6086#h 7−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6087#h 7−67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6088#h 7−68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6093#h 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6094#h 5−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6097#h 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6098#h 7−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6099#h 7−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6099#h_01#h 7−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6099#h_02#h 7−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 609A#h 7−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60F6#h 5−40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60F6_01#h 5−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60F6_02#h 5−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60F9#h 5−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60F9#h_04#h 5−45 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60F9#h_01#h 5−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60F9#h_02#h 5−45 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60FA#h 5−60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60FB#h 5−52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Object 60FB#h_01#h 5−54 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60FB#h_02#h 5−54 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60FB#h_04#h 5−55 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60FB#h_05#h 5−55 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60FC#h 5−56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60FD#h 5−80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60FE#h 5−82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60FE#h_01#h 5−82 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60FE#h_02#h 5−83 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 60FF#h 7−55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6410#h_03#h 5−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6410#h_10#h 5−40 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6410#h_11#h 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_10#h 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_11#h 5−84 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_12#h 4−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_13#h 5−86 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_14#h 5−85 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_15#h 5−87 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_20#h 7−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_21#h 5−46 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_22#h 5−47 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_30#h 5−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_31#h 5−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_32#h 5−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_33#h 5−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_34#h 5−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_35#h 5−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_36#h 5−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_37#h 5−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Object 6510#h_38#h 5−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_3A#h 5−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_40#h 5−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object 6510#h_41#h 5−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Objekt 6040#h 6−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Objekt 6041#h 6−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Objekt 605A#h 6−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Objekt 605B#h 6−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Objekt 605C#h 6−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Objekt 605E#h 6−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Objekt 606C#h 7−49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Objekt 6085#h 7−37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating Mode 7−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Adjustment of the 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Positioning 7−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating mode 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operation enable 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

over_speed_protection_limit_speed 5−46 . . . . . . . . . . . . . . .

Overspeed protection 5−43 . . . . . . . . . . . . . . . . . . . . . . . . . . .

P

Parameter sets, Save parameter sets 5−8 . . . . . . . . . . . . . . . .

PDO 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RPDO1 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . COB−ID used by PDO 4−17 . . . . . . . . . . . . . . . . . . . . . . . . first mapped object 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . fourth mapped object 4−17 . . . . . . . . . . . . . . . . . . . . . . . Identifier 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Number of entries 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . number of mapped objects 4−17 . . . . . . . . . . . . . . . . . . . second mapped object 4−17 . . . . . . . . . . . . . . . . . . . . . . . third mapped object 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . transmission type 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


RPDO2 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . COB−ID used by PDO 4−18 . . . . . . . . . . . . . . . . . . . . . . . . first mapped object 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . fourth mapped object 4−18 . . . . . . . . . . . . . . . . . . . . . . . Identifier 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Number of entries 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . number of mapped objects 4−18 . . . . . . . . . . . . . . . . . . . second mapped object 4−18 . . . . . . . . . . . . . . . . . . . . . . . third mapped object 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . transmission type 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . .

TPDO1 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . TPDO2 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Number of entries 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . COB−ID used by PDO 4−16 . . . . . . . . . . . . . . . . . . . . . . . . first mapped object 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . fourth mapped object 4−16 . . . . . . . . . . . . . . . . . . . . . . . inhibit time 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . number of mapped objects 4−16 . . . . . . . . . . . . . . . . . . . second mapped object 4−16 . . . . . . . . . . . . . . . . . . . . . . . third mapped object 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . transmission type 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . .

PDO−Message 4−4 , 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

peak_current 5−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Permissible speed, Protection 5−46 . . . . . . . . . . . . . . . . . . . . .

Phase order 5−40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

phase_order 5−40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

polarity 5−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pole number 5−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

pole_number 5−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position Control Function 5−48 . . . . . . . . . . . . . . . . . . . . . . . .

Position control parameters 5−52 . . . . . . . . . . . . . . . . . . . . . .

Position controllerOutput of 5−60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Time constant 5−53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position controller , Gain 5−53 . . . . . . . . . . . . . . . . . . . . . . . . .

Position demand 5−78 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position demand value 5−56 . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Position Reached 5−50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

position_actual_value 5−57 , 5−58 . . . . . . . . . . . . . . . . . . . . . .

position_control_gain 5−54 . . . . . . . . . . . . . . . . . . . . . . . . . . .

position_control_parameter_set 5−52 . . . . . . . . . . . . . . . . . . .

position_control_time 5−54 . . . . . . . . . . . . . . . . . . . . . . . . . . .

position_control_v_max 5−55 . . . . . . . . . . . . . . . . . . . . . . . . .

position_controller_resolution 5−64 . . . . . . . . . . . . . . . . . . . .

position_demand_value 5−55 , 5−56 . . . . . . . . . . . . . . . . . . . .

position_encoder_selection 5−78 . . . . . . . . . . . . . . . . . . . . . .

position_error_switch_off_limit 5−47 . . . . . . . . . . . . . . . . . . .

position_error_tolerance_window 5−55 . . . . . . . . . . . . . . . . .

position_factor 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

position_range_limit 7−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

position_range_limit_enable 7−30 . . . . . . . . . . . . . . . . . . . . . .

position_window 5−61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

position_window_time 5−62 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning 7−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power stage parameterIntermediate circuit 5−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . Max. current 5−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Max. intermediate circuit 5−28 . . . . . . . . . . . . . . . . . . . . . . . Max. temperature 5−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Min. voltage range 5−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Nominal device voltage 5−27 . . . . . . . . . . . . . . . . . . . . . . . .

Power stage parametersPWM frequency 5−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Temperature 5−22 , 5−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

power_stage_temperature 5−26 . . . . . . . . . . . . . . . . . . . . . . .

Profile Position Mode 7−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . motion_profile_type 7−38 . . . . . . . . . . . . . . . . . . . . . . . . . . end_velocity 7−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . position_range_limit 7−29 . . . . . . . . . . . . . . . . . . . . . . . . . . position_range_limit_enable 7−30 . . . . . . . . . . . . . . . . . . . . profile_acceleration 7−35 . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


profile_deceleration 7−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . profile_velocity 7−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . quick_stop_deceleration 7−37 . . . . . . . . . . . . . . . . . . . . . . . software_position_limit 7−31 . . . . . . . . . . . . . . . . . . . . . . . . target_position 7−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Profile Torque Mode 7−56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . current_actual_value 7−65 . . . . . . . . . . . . . . . . . . . . . . . . . . dc_link_circuit_voltage 7−66 . . . . . . . . . . . . . . . . . . . . . . . . max_torque 7−61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . motor_rated_torque 7−63 . . . . . . . . . . . . . . . . . . . . . . . . . . . target_torque 7−60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . torque_actual_value 7−64 . . . . . . . . . . . . . . . . . . . . . . . . . . torque_demand_value 7−62 . . . . . . . . . . . . . . . . . . . . . . . . . torque_profile_type 7−68 . . . . . . . . . . . . . . . . . . . . . . . . . . . torque_slope 7−67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Profile Velocity Mode 7−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . max_motor_speed 7−54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . sensor_selection_code 7−47 . . . . . . . . . . . . . . . . . . . . . . . . target_velocity 7−55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . velocity_actual_value 7−49 . . . . . . . . . . . . . . . . . . . . . . . . . . velocity_demand_value 7−48 . . . . . . . . . . . . . . . . . . . . . . . . velocity_sensor 7−46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . velocity_threshold 7−52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . velocity_threshold_time 7−53 . . . . . . . . . . . . . . . . . . . . . . . velocity_window 7−50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . velocity_window_time 7−51 . . . . . . . . . . . . . . . . . . . . . . . . .

profile_acceleration 7−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

profile_deceleration 7−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

profile_velocity 7−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

pwm_frequency 5−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Q

Quick Stop Active 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

quick_stop_deceleration 7−37 . . . . . . . . . . . . . . . . . . . . . . . . .

quick_stop_option_code 6−23 . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


R

R−PDO 1 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

R−PDO 2 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Ready to Switch On 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Receive_PDO_1 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Receive_PDO_2 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference switch 5−84 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Resolution, Position controller 5−64 . . . . . . . . . . . . . . . . . . . .

Resolution of the encoder emulation output X11 5−77 . . . . .

resolver_offset_angle 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . .

restore_default_parameters 5−7 . . . . . . . . . . . . . . . . . . . . . . .

S

Safety instructions XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SAMPLE input as reference switch 5−86 . . . . . . . . . . . . . . . . .

save_all_parameters 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SDO 4−4 , 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Access 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . error messages 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SDO−Message 4−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

sensor_selection_code 7−47 . . . . . . . . . . . . . . . . . . . . . . . . . .

Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Set of parameters, Load and save 5−4 . . . . . . . . . . . . . . . . . . .

shutdown_option_code 6−21 . . . . . . . . . . . . . . . . . . . . . . . . . .

software_position_limit 7−31 . . . . . . . . . . . . . . . . . . . . . . . . . .

Speed, during the homing operation 7−11 . . . . . . . . . . . . . . .

START input as reference switch 5−86 . . . . . . . . . . . . . . . . . . .

B. Index


State 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault Reaction Active 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . Not Ready to Switch On 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . Operation enable 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Quick Stop Active 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ready to Switch On 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Switch On Disabled 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Switched On 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

State diagram 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

State diagram of the servo controller 6−4 . . . . . . . . . . . . . . . .

State machine 6−3 , 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Statusword 6−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Bit assignment 6−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Object description 6−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Stop 7−21 , 7−22 , 7−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

store_parameters 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch On Disabled 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switched On 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SYNC 4−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SYNC−Message 4−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

synchronization_encoder_select 5−79 . . . . . . . . . . . . . . . . . . .

synchronization_filter_time 5−66 . . . . . . . . . . . . . . . . . . . . . . .

T

T−PDO1 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

T−PDO2 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target position window 5−61 . . . . . . . . . . . . . . . . . . . . . . . . . . Time 5−62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

target_position 7−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

target_torque 7−60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

target_velocity 7−55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Time constant of the current controller 5−41 . . . . . . . . . . . . .

torque_actual_value 7−64 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

torque_control_gain 5−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

torque_control_parameters 5−40 . . . . . . . . . . . . . . . . . . . . . .

torque_control_time 5−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

torque_demand_value 7−62 . . . . . . . . . . . . . . . . . . . . . . . . . .

torque_profile_type 7−68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

torque_slope 7−67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

tpdo_1_transmit_mask 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . .

tpdo_2_transmit_mask 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . .

Trailing error, Time out 5−60 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Trailing error window 5−58 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Trajectory generator 7−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

transfer_PDO_1 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

transfer_PDO_2 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

U

Undervoltage controlActivate 5−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Deactivate 5−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

V

Velocity value 7−49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

velocity_actual_value 7−49 . . . . . . . . . . . . . . . . . . . . . . . . . . .

velocity_control_filter_time 5−45 . . . . . . . . . . . . . . . . . . . . . . .

velocity_control_gain 5−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

velocity_control_parameters 5−43 . . . . . . . . . . . . . . . . . . . . . .

velocity_control_time 5−45 . . . . . . . . . . . . . . . . . . . . . . . . . . .

velocity_demand_value 7−48 . . . . . . . . . . . . . . . . . . . . . . . . . .

velocity_encoder_factor 5−14 . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


velocity_sensor_actual_value 7−46 . . . . . . . . . . . . . . . . . . . . .

velocity_threshold 7−52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

velocity_threshold_time 7−53 . . . . . . . . . . . . . . . . . . . . . . . . .

velocity_window 7−50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

velocity_window_time 7−51 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Voltage range, Minimum 5−29 . . . . . . . . . . . . . . . . . . . . . . . . .

W

WMEMOC value 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Z

Zero impulse 7−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Zero position 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Zielposition 7−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Smart Electromotor Controller - Festo · Manual Commissioning of the Servomotor− Controller Type...

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Transcript of Smart Electromotor Controller - Festo · Manual Commissioning of the Servomotor− Controller Type...