Kollmorgen AKD EtherCat Communications Manual EN Rev J FW 1

AKD

®

EtherCAT Communication

Edition: J, May 2014

Valid for firmware version 1.12

Part Number 903-200005-00

Original Documentation

Keep all manuals as a product component during the life span of the product.

Pass all manuals to future users and owners of the product.

Record of Document Revisions

Revision

...

Remarks

Table with lifecycle information of this document see "Record of Document Revisions" (➜ p.

146)

G, 11/2012 New chapter EEProm content

H, 05/2013 Fixed mapping, supported cyclic values, FBUS.PARAM05 added, several updates, formatting according to 82079

J, 05/2014 Appendix with object dictionaries and object descriptions

Trademarks

l l l l l l l l l l

AKD is a registered trademark of Kollmorgen Corporation

EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH

EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH

Ethernet/IP is a registered trademark of ODVA, Inc.

Ethernet/IP Communication Stack: copyright (c) 2009, Rockwell Automation sercos® is a registered trademark of sercos® international e.V.

HIPERFACE is a registered trademark of Max Stegmann GmbH

PROFINET is a registered trademark of PROFIBUS and PROFINET International (PI)

SIMATIC is a registered trademark of SIEMENS AG

Windows is a registered trademark of Microsoft Corporation

Current patents

l l l l l

US Patent 5,162,798 (used in control card R/D)

US Patent 5,646,496 (used in control card R/D and 1 Vp-p feedback interface)

US Patent 6,118,241 (used in control card simple dynamic braking)

US Patent 8,154,228 (Dynamic Braking For Electric Motors)

US Patent 8,214,063 (Auto-tune of a Control System Based on Frequency Response)

Technical changes which improve the performance of the device may be made without prior notice!

Printed in the United States of America

This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen.

2 Kollmorgen | May 2014

AKD EtherCAT | Table of Contents

1 Table of Contents

1 Table of Contents

2 General

2.1 About this Manual

2.2 Target Group

2.3 Symbols Used

2.4 Abbreviations Used

3 Installation and Setup

3.1 Important Instructions

3.2 EtherCAT Onboard

3.2.1 LED functions

3.2.2 Connection technology

3.2.3 Network Connection Example

3.3 EtherCAT activation with AKD-CC models

3.4 Guide to Setup

3.5 Setup via TwinCAT NC/PTP System Manager

3.5.1 Scan devices

3.5.2 Select the device

3.5.3 Scan for boxes

3.5.4 Add Slaves to NC tasks

3.5.5 Enable the network configuration

3.5.6 Enable the axis and move the axis

3.6 Setup WorkBench over TwinCAT

3.6.1 TwinCAT and WorkBenchconfiguration

3.6.2 Connecting to a drive using WorkBench

3.6.3 Configuring and enabling a drive

3.6.4 Download a parameterfile over TwinCAT

3.7 Setup via KAS IDE

4 EtherCAT Profile

4.1 Slave Register

4.2 AL Event (Interrupt Event) and Interrupt Enable

4.2.1 Interrupt Enable Register (Address 0x0204:0x0205)

4.2.2 AL Event Request (Address 0x0220:0x0221)

4.3 Phase Run-Up

4.3.1 AL Control (Address 0x0120:0x0121)

4.3.2 AL Status (Address 0x0130:0x0131)

4.3.3 AL Status Code (Address 0x0134:0x0135)

4.3.4 EtherCAT communication phases

4.4 CANopen over EtherCAT (CoE) Status Machine

4.4.1 Status Description

4.4.2 Commands in the Control Word

4.4.3 Status Machine Bits (status word)

4.5 Fixed PDO Mappings

4.6 Flexible PDO Mappings

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4.6.1 Example: Flexible PDO Mapping

4.7 Supported Cyclical Setpoint and Actual Values

4.8 Supported Operation Modes

4.9 Adjusting EtherCAT Cycle Time

4.10 Maximum Cycle Times depending on operation mode

4.11 Synchronization

4.11.1 Synchronization behavior with distributed clocks (DC) enabled

4.11.2 Synchronization behavior with distributed clocks (DC) disabled

4.12 Latch Control Word and Latch Status Word

4.13 Mailbox Handling

4.13.1 Mailbox Output

4.13.2 Mailbox Input

4.13.3 Example: Mailbox Access

4.14 Fieldbus Parameters

4.15 EEProm Content

5 Appendix

5.1 CANopen Emergency Messages and Error Codes

5.2 Object Dictionary

5.2.1 Float Scaling

5.2.2 Communication SDOs

5.2.3 Manufacturer specific SDOs

5.2.4 Profile specific SDOs

5.3 Object descriptions

5.3.1 Object 1000h: Device Type (DS301)

5.3.2 Object 1001h: Error register (DS301)

5.3.3 Object 1002h: Manufacturer Status Register (DS301)

5.3.4 Object 1003h: Predefined Error Field (DS301)

5.3.5 Object 1005h: COB-ID of the SYNC Message (DS301)

5.3.6 Object 1006h: Communication Cycle Period (DS301)

5.3.7 Object 1008h: Manufacturer Device Name (DS301)

5.3.8 Object 1009h: Manufacturer Hardware Version

5.3.9 Object 100Ah: Manufacturer Software Version (DS301)

5.3.10 Object 100Ch: Guard Time (DS301)Response monitoring

5.3.11 Object 100Dh: Lifetime Factor (DS301)

5.3.12 Object 1010h: Store Parameters (DS301)

5.3.13 Object 1011h: Restore Default Parameters DS301

5.3.14 Object 1012h: COB-ID of the Time Stamp (DS301)

5.3.15 Object 1014h: COB-ID for Emergency Message (DS301)

5.3.16 Object 1016h: Consumer Heartbeat Time

5.3.17 Object 1017h: Producer Heartbeat Time

5.3.18 Object 1018h: Identity Object (DS301)

5.3.19 Object 1026h: OS Prompt

5.3.20 Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301)

5.3.21 Objects 1600-1603h: 1st - 4th RXPDO mapping parameter (DS301)

5.3.22 Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301)

5.3.23 Objects 1A00-1A03h: 1st - 4th TXPDO mapping parameter (DS301)


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5.3.24 Object 2000h: System Warnings

5.3.25 Object 2001h: System Faults

5.3.26 Object 2002h: Manufacturer status bytes

5.3.27 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO

5.3.28 Object 2018h: Firmware Version

5.3.29 Object 2026h: ASCII Channel

5.3.30 Object 204Ch: PV Scaling Factor

5.3.31 Object 2071h: Target Current

5.3.32 Object 2077h: Current Actual Value

5.3.33 Object 20A0h: Latch position 1, positive edge

5.3.34 Object 20A1h: Latch position 1, negative edge

5.3.35 Object 20A2h: Latch position 2, positive edge

5.3.36 Object 20A3h: Latch position 2, negative edge

5.3.37 Object 20A4h: Latch Control Register

5.3.38 Object 20A5h: Latch Status Register

5.3.39 Object 20A6h: Latch position 1, positive or negative edge

5.3.40 Object 20A7h: Latch position 2, positive or negative edge

5.3.41 Object 20B8h: Reset of changed input information

5.3.42 Object 345Ah: Brake Control

5.3.43 Object 3474h: Parameters for digital inputs

5.3.44 Object 3475h: Parameters for digital outputs

5.3.45 Object 3496h: Fieldbus synchronization parameters

5.3.46 Object 6040h: Control word (DS402)

5.3.47 Object 6041h: Status word (DS402)

5.3.48 Object 6060h: Modes of Operation (DS402)

5.3.49 Object 6061h: Modes of Operation Display (DS402)

5.3.50 Object 6063h: position actual value* (DS402)

5.3.51 Object 6064h: position actual value (DS402)

5.3.52 Object 6065h: Following error window

5.3.53 Object 606Ch: Velocity actual value (DS402)

5.3.54 Object 6071h: Target torque (DS402)

5.3.55 Object 6073h: Max current (DS402)

5.3.56 Object 6077h: Torque actual value (DS402)

5.3.57 Object 607Ah: Target position (DS402)

5.3.58 Object 607Ch: Homing offset (DS402)

5.3.59 Object 607Dh: Software position limit (DS402)

5.3.60 Object 6081h: Profile velocity (DS402)

5.3.61 Object 6083h: Profile acceleration (DS402)

5.3.62 Object 6084h: Profile deceleration (DS402)

5.3.63 Object 608Fh: Position encoder resolution (DS402)

5.3.64 Object 6091h: Gear Ratio (DS402)

5.3.65 Object 6092h: Feed constant (DS402)

5.3.66 Object 6098h: Homing method (DS402)

5.3.67 Object 6099h: Homing speeds (DS402)

5.3.68 Object 609Ah: Homing acceleration (DS402)

5.3.69 Object 60B1h: Velocity Offset


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5.3.70 Object 60B2h: Torque Offset

5.3.71 Object 60B8h: Touch probe function

5.3.72 Object 60B9h: Touch probe status

5.3.73 Object 60BAh: Touch probe 1 positive edge

5.3.74 Object 60BBh: Touch probe 1 negative edge

5.3.75 Object 60BCh: Touch probe 2 positive edge

5.3.76 Object 60BDh: Touch probe 2 negative edge

5.3.77 Object 60C0h: Interpolation sub mode select

5.3.78 Object 60C1h: Interpolation data record

5.3.79 Object 60C2h: Interpolation time period

5.3.80 Object 60C4h: Interpolation data configuration

5.3.81 Object 60D0h: Touch probe source

5.3.82 Object 60F4h: Following error actual value (DS402)

5.3.83 Object 60FDh: Digital inputs (DS402)

5.3.84 Object 60FEh: Digital outputs (DS402)

5.3.85 Object 60FFh: Target velocity (DS402)

5.3.86 Object 6502h: Supported drive modes (DS402)

6 Record of Document Revisions

7 Index

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2 General





AKD EtherCAT | 2 General

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This manual, AKD EtherCAT Communication, describes the installation, setup, range of functions, and software protocol for the EtherCAT AKD product series. All AKD EtherCAT drives have built-in EtherCAT functionality; therefore an additional option card is not required.

A digital version of this manual (pdf format) is available on the DVD included with your drive.

Manual updates can be downloaded from the Kollmorgen website.

Related documents for the AKD series include: l l l l

AKD Installation ManualThis manual provides instructions for installation and drive setup.

AKD User Guide. This manual describes how to use your drive in common applications. It also provides tips for maximizing your system performance with the AKD. The User

Guide includes the Parameter and Command Reference Guide which provides documentation for the parameters and commands used to program the AKD.

AKD CAN-BUS Communication. This manual describes the CAN communication and delivers a lot of information for CAN over EtherCAT communication.

Accessories Manual. This manual provides documentation for accessories like cables and regen resistors used with AKD. Regional versions of this manual exist.

Additionally, an EtherCAT XML file, entitled AKD EtherCAT Device Description, describes the drive SDO and PDO. This file is available on the Kollmorgen website (part of the firmware zip archive).


This manual addresses personnel with the following qualifications: l l l

Installation: only by electrically qualified personnel.

Setup : only by qualified personnel with extensive knowledge of electrical engineering and drive technology.

Programming: software developers, project-planners.

The qualified personnel must know and observe the following standards: l l

ISO 12100, IEC 60364 and IEC 60664

National accident prevention regulations



Symbol


Indication

Indicates a hazardous situation which, if not avoided, will result in death or serious injury.

Indicates a hazardous situation which, if not avoided, could result in death or serious injury.

Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.

Indicates situations which, if not avoided, could result in property damage.

This symbol indicates important notes.

Warning of a danger (general). The type of danger is specified by the text next to the symbol.

Warning of danger from electricity and its effects.

Warning of suspended loads.




Abbreviation Meaning

AL Application Layer: the protocol that directly used by the process entities.

Cat

DC

Category – classification for cables that is also used in Ethernet.

Distributed Clocks Mechanism to synchronize EtherCAT slaves and master

DL

FPGA

FTP

HW

Data Link(=Layer 2). EtherCAT uses Ethernet, which is standardized as IEEE

802.3.

Field Programmable Gate Array

File Transfer Protocol

Hardware

ICMP

IEC

IEEE

LLDP

MAC

MII

MDI

MDI-X

OSI

OUI

Internet Control Message Protocol: Mechanisms for signaling IP errors.

International Electrotechnical Commission: The international standards

Institute of Electrical and Electronics Engineers, Inc.

Link Layer Discovery Protocol

Media Access Control

Media Independent Interface: Standardized interface Ethernet controller <-> routing equipment.

Media Dependant Interface: Use of connector Pins and Signaling.

Media Dependant Interface (crossed): Use of connector Pins and Signaling with crossed lines.

Open System Interconnect

PDI

PDO

PDU

PHY

Organizationally Unique Identifier – the first 3 Bytes of an Ethernet-Address, that will be assign to companies or organizations and can be used for protocoll identifiers as well (e.g. LLDP)

Physical Device Interface: set of elements that allows access to ESC from the process side.

Process Data Object

Protocol Data Unit: Contains protocol information transferred from a protocol instance of transparent data to a subordinate level

Physical interface that converts data from the Ethernet controller to electric or optical signals.

Phase Locked Loop

Precision Time Protocol in accordance with IEEE 1588

PLL

PTP

RSTP

RT

RX

RXPDO

SNMP

SPI

Src Addr

STP

TCP

TX

TXPDO

UDP

UTP

ZA ECAT

ZA Drive

Rapid Spanning Tree Protocol

Real-time, can be run in Ethernet controllers without special support.

Receive

Receive PDO

Simple Network Management Protocol

Serial Peripheral Interface

Source Address: Source address of a message.

Shielded Twisted Pair

Transmission Control Protocol

Transmit

Transmit PDO

User Datagram Protocol: Non-secure multicast/broadcast frame.

Unshielded Twisted Pair

Access mode EtherCAT

Acces mode drive


3 Installation and Setup








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Electronic equipment is basically not failure-proof. The user is responsible for ensuring that, in the event of a failure of the drive, the drive is set to a state that is safe for both machinery and personnel, for instance with the aid of a mechanical brake.

Drives with EtherCAT are remote-controlled machines. They can start to move at any time without previous warning. Take appropriate measures to ensure that the operating and service personnel is aware of this danger.

Implement appropriate protective measures to ensure that any unintended start-up of the machines cannot result in dangerous situations for personnel or machinery. Software limit-switches are not a substitute for the hardware limit-switches in the machine.

Install the drive as described in the Installation Manual. The wiring for the analog setpoint input and the positioning interface, as shown in the wiring diagram in the Installation Manual, is not required. Never break any of the electrical connections to the drive while it is live. This action can result in destruction of the electronics.

The drive's status must be monitored by the PLC to acknowledge critical situations. Wire the

FAULT contact in series into the emergency stop circuit of the installation. The emergency stop circuit must operate the supply contactor.

It is permissible to use the setup software to alter the settings of the drive. Any other alterations will invalidate the warranty. Because of the internal representation of the position-control parameters, the position controller can only be operated if the final limit speed of the drive does not exceed:

rotary linear

at sinusoidal² commutation: 7500 rpm at sinusoidal² commutation: 4 m/s at trapezoidal commutation: 12000 rpm. at trapezoidal commutation: 6.25 m/s

All the data on resolution, step size, positioning accuracy etc. refer to calculatory values.

Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account. If the final limit speed of the motor must be altered, then all the parameters that were previously entered for position control and motion blocks must be adapted.




Connection to the EtherCAT Network via X5 (in port) and X6 (out port).

3.2.1 LED functions

The communication status is indicated by the built-in LEDs.

Connector LED# Name

X5

X6

LED1 IN port Link

LED2 RUN

Function

ON = active

OFF= not active

ON = running

OFF = not running

LED3 OUT port Link ON = active

OFF = not active

LED4 -

3.2.2 Connection technology

You can connect to the EtherCAT network using RJ-45 connectors.

3.2.3 Network Connection Example




AKD-CC drive models are Drives, which support EtherCAT and CAN fieldbus types within one common software. CC drive models are delivered with EtherCAT set active. If you must change a drive from CANopen to EtherCAT, the DRV.TYPE parameter must be changed

1. by software: connect the PC to the AKD and change the parameter DRV.TYPE in the

WorkBench terminal screen (see DRV.TYPE parameter documentation) or

2. by hardware: with the rotary switches S1 & S2 at the front and the button B1 on the top side of the Drive.

The following steps are needed for changing the fieldbus type from CAN to EtherCAT with the rotary switches.

1. Set the rotary switches on the front side of the AKD to the value of 89.

Set S1 to 8 and S2 to 9

2. Press the button B1 for about 3 seconds (starts DRV.NVSAVE).

The display shows En during the process of changing DRV.TYPE to EtherCAT.

Do not switch off the 24[V] power supply while the seven segment shows En!

3. Wait until the display returns to the original state, now the drive is prepared for EtherCAT.

4. Power cycle the drive by switching the 24 V power supply off and then on again.

The seven segment display shows Er (Error) in case that the DRV.TYPE instruction failed.

In this case please power cycle the drive and contact the Kollmorgen customer support for further help.




Only professional personnel with extensive knowledge of control and drive technology are allowed to setup the drive.

Drives with EtherCAT are remote-controlled machines. They can start to move at any time without previous warning. Take appropriate measures to ensure that the operating and service personnel is aware of this danger.

Implement appropriate protective measures to ensure that any unintended start-up of the machines cannot result in dangerous situations for personnel or machinery. Software limit-switches are not a substitute for the hardware limit-switches in the machine.

1. Check assembly/installation. Check that all the safety instructions in the product manual for the drive and this manual have been observed and implemented. Check the setting for the station address and baud rate.

2. Connect PC,start WorkBench. Use the setup software WorkBench to set the parameters for the drive.

3. Setup basic functions. Start up the basic functions of the drive and optimize the current, speed and position controllers. This section of the setup is described in the in the online help of the setup software.

4. Save parameters. When the parameters have been optimized, save them in the drive.


Before you set up the drive, make sure the following have been completed: l l l l l l

The AKD is configured with WorkBench and the servomotor is able to move

A correctly configured EtherCAT card is present in the master.

TwinCAT software from Beckhoff (NC/PTP-Mode setup) is installed. Install first the Twin-

CAT System Manager, restart your PC, then install the option package NC/PTP-Mode.

The XML description of the drive is available (the XML file on the DVD or on the Kollmorgen website).

An AKD EtherCAT slave is connected to the EtherCAT master PC.

The TwinCAT system manager resides in Config-Mode. The current mode of the system manager is displayed of the bottom right side of the TwinCAT main-screen window.

Copy the XML description of the drive to the TwinCAT system (usually to the folder c:\TwinCAT\IO\EtherCAT) and restart the TwinCAT system since TwinCAT analyzes all device description files during start-up.

The following example explains the automatic EtherCAT network setup. The network setup can also be done manually; please refer to the TwinCAT manual for more details.



3.5.1 Scan devices

First ensure that the EtherCAT master is physically connected to the EtherCAT AKD. Create a new (empty) project. Right click I/O-Devices and scan for the devices. An example is included in the EtherCAT network card, which is plugged into the PC.

A pop-up window informs you that not all devices can be detected by the TwinCAT software.

Click OK to continue.

3.5.2 Select the device

TwinCAT must be able to find the EtherCAT network card. An EtherCAT slave must be connected to the network card; otherwise TwinCAT will find a real-time EtherNET card instead of the EtherCAT card. Press the OK button.



3.5.3 Scan for boxes

Click Yes to allow TwinCat to scan for boxes. A box is an alias for a slave device and is always used in Beckhoff software products.

3.5.4 Add Slaves to NC tasks

TwinCAT should now have identified the AKD according to the Device Description file. Twin-

CAT next asks if the slaves should be connected to NC tasks. Click Yes to continue. An NC task can, for example, contain a PLC program, which can be programmed by the user.

3.5.5 Enable the network configuration

Confirm that the AKD appears in the device tree. Next, enable the network configuration

Press first the ton in order to let TwinCAT check the configuration and use finally the step into run-mode.

button in order to generate the mappings, afterwards press the butbutton in order to

Confirm afterwards that TwinCAT is allowed to jump into run-mode.



3.5.6 Enable the axis and move the axis

The Axis can be enabled by a mouse-click on the Set button within the Online window inside of each Axis, see also the next picture.

Afterwards a pop-up window appears.

The following setting enables the drive and allows command values in both directions.

Afterwards the motor should move in positive or negative direction as soon as the clicks on the following yellow buttons within the Online window:




l l l

This chapter describes a quick start guide for a user to be able to setup a WorkBench over

TwinCAT system and be able to make a motor spin under that system.

This chapter does not give any specific details on TwinCAT system or WorkBench alone but is giving guidelines and information on how TwinCAT master and WorkBench works together.

Main steps in configuring a WorkBench over TwinCAT system are:

TwinCAT and WorkBench configuration

Connecting to a drive using WorkBench

Configuring and enabling a drive



3.6.1 TwinCAT and WorkBenchconfiguration

The EtherCAT network must be setup and managed using TwinCAT System Manager. To be able to connect to a drive and enable it, the drive must be loaded under the I/O Devices node

in TwinCAT System Manager and axis must be added to NC - Configuration as shown ➜ p.

15 "Setup via TwinCAT NC/PTP System Manager " in the EtherCAT Manual.

In order to connect to the drives using WorkBench, the drives must be either in Pre-Op, Safe-

Op or Op state. State machine for a drive can be accessed from the Online tab for the corresponding drive under the I/O Configuration → I/O Devices → Device [x] → Drive [x] node

(see screenshot below).

Installation process for WorkBench is the same process as normal, except that it must be installed on the same machine as TwinCAT. Communication to the drive is done thru Twin-

CAT master and it's not possible to connect WorkBench to the master remotely.



3.6.2 Connecting to a drive using WorkBench

In order to connect to a drive, a TwinCAT device must be added in WorkBench. The start page of WorkBench can be used to do this. First, the type of drive (Online - TwinCAT) must be specified. Then, a list of available drives will be provided.

The information provided for a drive are it's name, status, Net ID and Port number. After selecting a drive from the list, clicking on the "Connect" button will create a device in the left frame of WorkBenchand connect the device.



The name, Net ID and port number are information comming from the TwinCAT master configuration file (the name may be different than the drive name returned by the DRV.NAME command). While the status is an indicator that tells if there is already a device created within WorkBench which is already connected to that particular drive.

Using TwinCAT System Manager, the drive name and port number can be found in the General and EtherCAT tab respectively for the corresponding drive under the I/O Configuration →

I/O Devices → Device [x] → Drive [x] node.



The Net ID can be found in the EtherCAT tab in the I/O Configuration → I/O Devices →

Device [x] node.

It is important to understand that these information are comming from the TwinCAT master and it's configuration file but not from the drive itself. Thus, if the TwinCAT configuration is not reflecting the actual network configuration,you may have a drive listed in WorkBench which is not be powered up or even connected in the EtherCAT network, or you have a drive powered up and connected to the TwinCAT network but not shown in the WorkBench list.



3.6.3 Configuring and enabling a drive

Once connected with WorkBench, a drive can be configured using all normal functionnalities of WorkBench.

The only operation that is not possible to do using WorkBench over TwinCAT is the download of a new firmware in the drive. Downloading a new firmware in the drive must be performed using File over EtherCAT (FoE) feature of TwinCAT server.

If the cyclic communication of the TwinCAT master is enabled, it is possible that some commands sent by WorkBench using the ASCII channel are overwirtten by the TwinCAT master.

Typically, the drive enable command will have no effect if sent from WorkBench because the control word is usually mapped.

Using TwinCAT, enabling the drive can be done with the following procedure:

1. Under NC Configuration → Axes → Axis [x] node, choose the Online tab.

2. Press the Set button within the Enabling section.

3. In the pop-up dialog box, check the Controller checkbox to enable the drive (or un-check to disable the drive) and press on the OK button.



3.6.4 Download a parameterfile over TwinCAT

You can download a parameter file to the drive over EtherCAT. Before you start, make sure that the drive is in INIT, PREOP, or SAFEOP state before trying to download the file.

1. First select the drive where you want to perform the download.

2. Change to the online tab.

3. Press the download button.

4. Chose “All Files (*.*)” as filetype to see the parameter files which end with “.akd”.

5. Select the file.

6. press open (6) to start the download.

Downloading a parameter file over TwinCAT is support by all drives from firmware

01.12.000.




If you are using a Kollmorgen Automation Suite (KAS) system, the AKD setup is completely integrated into the KAS Integrated Development Environment (IDE), as shown below:

For further information on the setup for a KAS system, see the following sections in the KAS documentation: l l

KAS IDE User Manual: See section 4.2.3 Add and Configure Drive.

KAS Online Help: See Using the KAS IDE> Creating a Project> Step 3 - Add and

Configure Drive.


4 EtherCAT Profile
















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The table below gives the addresses of individual registers in the FPGA memory. The data is provided in little-endian format, with the ’least significant byte’ occupying the lowest address.

A detailed description of all registers and FPGA memory locations is available in the “Ether-

CAT Slave Controller” description of the EtherCAT user organization (www.EtherCAT.org).

Address Length

(Byte)

0x0120 2

0x0130

0x0134

2

2

Description

AL Control

AL Status

AL Status Code

0x0204

0x0220

0x0800

0x0808

0x0810

8

8

2

2

8

Interrupt Enable Register

AL Event (IRQ Event)

Sync Manager 0 (Mail Out Control Register)

Sync Manager 1 (Mail In Control Register)

0x0818 8

8

8

8

Sync Manager 2 (Process data Output Control Register)

Sync Manager 3 (Process data Input Control

Register)

Sync Manager 4 0x0820

0x0828

0x0830

0x0838

0x0840

0x1800

0x1C00

8

8

512

512

Sync Manager 5

Sync Manager 6

Sync Manager 7

Sync Manager 8

0x1100 Max. 64 ProOut Buffer (Process data Output, setpoints ECAT)

0x1140 Max. 64 ProIn (Process data Input, act. values

ECAT)

Mail Out Buffer (Object Channel Buffer

ECAT, byte-length is specified in the device description file)

Mail In Buffer (Object Channel Buffer Drive, byte-length is specified in the device description file)

* ZA ECAT = Access mode EtherCAT

* ZA Drive = Access mode drive

R/W

R/W

R/W

R/W

R/W

R/W

R/W

ZA

ECAT*

R/W

R/O

R/O

R/O

R/W

R/W

R/W

R/W

R/O

R/W

R/O

R/O

R/O

R/O

R/O

R/O

R/O

ZA

Drive*

R/O

R/W

R/W

R/W

R/O

R/O

R/O

R/O

R/O

R/W

R/O

R/W




Communication between the drive and the EtherCAT FPGA can be interrupt-driven. The interrupt enable register and the AL event register are responsible for the EtherCAT interface interrupt functionality.

There are two events which lead also to a HW interrupt within the drive, the EEPROM emulation event and the SyncManager 2 event. The actual values of the drive (SyncManager 3 data) are written without any AL event request during each HW IRQ, e.g. triggered by a Sync-

Manager 2 event. The Mailbox exchange between the master and the AKD is completely handled by polling the AL event register within the background task of the drive.

The drive activates individual EtherCAT interface events when the corresponding bit of the interrupt enable register is set to 1. When it is set to 0, the hardware interrupts for the specific events are deactivated.

4.2.1 Interrupt Enable Register (Address 0x0204:0x0205)

Parameter

AL Control Event

-

Sync0 DC Distributed

Clock

Sync1 DC Distributed

Clock

SyncManager activation register change

EEPROM emulation event

-

Sync Manager 0 Event

(Mail Out Event)


(Mail In Event)


(Pro Out Event)


(Pro In Event)

-

Address Bit ZA

Drive

0x204 0 R/W

ZA

ECAT

R/O

Description

Activation of AL control event for phase run-up

0x204

0x204

0x204

1 R/W R/O Reserved

2 R/W R/O Activation of distributed clock

(DC) sync 0 interrupts for entire communication

3 R/W R/O Activation of distributed clock

(DC) sync 1 interrupts for entire communication

0x204

0x204

4 R/W R/O Activation of ‘SyncManager activation register change’ IRQ.

5 R/W R/O Activation of the EEPROM emulation interrupts.

0x204 3 to 7 R/W R/O Reserved

0x205

0x205

0x205

0 R/W R/O Activation of output event mailbox (SDO, Sync Manager 0) for object channel.

1 R/W R/O Activation of input event mailbox

(SDO, Sync Manager 1) for object channel.

2 R/W R/O Activation of output event process data (PDO, card's cyclical setpoints)

0x205 3 R/W R/O Activation of input event process data (PDO, drive's cyclical actual values)

0x205 4 to 7 R/W R/O Reserved



4.2.2 AL Event Request (Address 0x0220:0x0221)

When the relevant bit of the AL event request register is set to 1, the EtherCAT interface tells the drive which event it should process by the AKD.

Parameter

AL Control Event

Sync0 Distributed Clock

(DC) Event

Sync1 Distributed Clock

(DC) Event

SyncManager activation register change

EEPROM emulation event

-



Address Bit ZA

Drive

0x220 0 R/O

ZA

ECAT

R/W

Description

Processing of AL control event for phase run-up

0x220 2 R/O R/W Processing of a distributed clock (DC) event

0x220

0x220

0x220

0x220

0x221

0x221

3

4

5

R/O R/W The content of the Sync-

Manager activation register has been changed.

R/O R/W Processing of an EEPROM emulation event in order to identify the AKD within the network.

6 to 7 R/O R/W Reserved

0

1

R/O R/W Processing of a distributed clock (DC) event

R/O R/W Mailbox request (SDO, Sync

Manager 0) for object channel.

R/O R/W Mailbox response (SDO, Sync

Manager 1) for object channel.

Sync Manager 2 Event 0x201


2

3

R/O R/W Process data output (PDO, card's cyclical setpoints)

R/O R/W Process data input (PDO, drive's cyclical actual values)

Sync Manager 4 –


Sync Manager 8 –


4 to 7

0 to 7

R/O

R/O

R/W

R/W

Reserved

Reserved




The AL control, AL status and AL status code registers are responsible for communication phase run-up (also referred to as EtherCAT status change), for current status display and for any fault messages. The drive responds to every EtherCAT interface transition request made by the AL control register via the AL Status and AL Status Code registers. Any fault messages are displayed in the AL status code register.

A status change within the AL control register is polled within the AKD, which means that an

AL control event does not lead to a HW interrupt within the drive.

4.3.1 AL Control (Address 0x0120:0x0121)

Parameter

Status

0x02: PreOperational

Request

0x03: Bootstrap Mode

Request

0x04: Safe Operational

Request

Address Bit ZA

Drive

ZA

ECAT

Description

0x120 3 to 0 R/O W/O 0x01: Init Request

0x08: Operational

Request

Acknowledgement

Reserved

Applic. specific

0x120 4 R/O W/O 0x00: No fault acknowledgement

0x01: Fault acknowledgement

(positive edge)

0x120 7 to 5 R/O W/O -

0x120 15 to 8 R/O W/O -

4.3.2 AL Status (Address 0x0130:0x0131)

Parameter

Status

0x02: PreOperational

0x03: Bootstrap Mode

0x04: Safe Operational

0x08: Operational

Status change

Address Bit ZA

Drive

ZA

ECAT

Description

0x130 3 to 0 W/O R/O 0x01: Init

Reserved

Applic. specific

0x130 4 W/O R/O 0x00: Acknowledgement

0x01: Error, e.g. forbidden transition

0x130 7 to 5 W/O R/O -

0x130 15 to 8 W/O R/O -



4.3.3 AL Status Code (Address 0x0134:0x0135)

Parameter Address

Status 0x134

Status 0x135

Code

0x0000

0x0011

0x0017

Bit

7 to 0

7 to 0

ZA Drive ZA ECAT

W/O

W/O

R/O

R/O

Description

See table below

See table below

Description

No error

Current Status

(Status change)

All

Invalid requested state change I -> S, I -> O, P -> O,

O -> B, S -> B, P -> B

Invalid sync manager configuration I -> P, P -> S

Resulting Status

Current Status

Current Status + E

Current Status + E

No other codes are supported.

4.3.4 EtherCAT communication phases

INIT:

Initialization, no communication.

EEPROM emulation will be activated.

PRE-OP:

Mailbox active, slave parameterization and startup parameters

SAVE-OP:

Cyclical actual values are transferred and the drive tries to synchronize.

OPERATIONAL:

Cyclical setpoints are processed, torque enable can be activated and the drive must be synchronized.

Individual communication transitions

Transition AL Control

(Bit 3 to 0)

(IB) 0x03

(BI) -

Description

-

-

(IP) 0x02

(PI)

(PS)

(SP)

(SI)

(SO)

0x01

0x04

0x02

0x01

0x08

-

-

AKD reads the SyncManager 0 & 1 configuration and verifies the value of the start-address and the length. The AKD prepares itself for handling SyncManager 0 events.

-

AKD reads the SyncManager 2 & 3 configuration and verifies the value of the start-address and the length.

(OS)

(OP)

(OI)

0x04

0x02

0x01

The SnycManager 2 hardware interrupt will be enabled by the drive.

Deactivation of SyncManager 2 hardware interrupt.

Deactivation of SyncManager 2 hardware interrupt..

Deactivation of SyncManager 2 hardware interrupt.




The status machine for the control and status words corresponds to the CANopen status machine in accordance with DS402.

CANopen control and status words are captured in every instance of fixed PDO map-

ping (see chapter "Fixed

PDO Mappings" (➜ p. 36)).

4.4.1 Status Description

Status

Not Ready to

Switch On

Description

The drive is not ready to switch on; the controller has not indicated readiness for service. The drive is still in the boot phase or in fault status.

Switch On Disable In 'Switch On Disable' status, the amplifier cannot be enabled via the

EtherCAT interface, because (for example) there is no connection to a power source.

Ready to Switch

On

Switched On In 'Switched On' status, the amplifier is enabled, but the setpoints of the EtherCAT-interface are not yet transferred. The amplifier is idle, and a positive edge in bit 3 of the control word activates setpoint transfer (transition to 'Operation Enable' status).

Operation Enable In this status, the drive is enabled and setpoints are transferred from the EtherCAT interface.

Quick Stop Active The drive follows a quick stop ramp.

Fault Reaction

Active

Fault

In 'Ready to Switch On' status, the drive can be enabled via the control word.

The drive responds to a fault with an emergency stop ramp.

A fault is pending, the drive is stopped and disabled.



4.4.2 Commands in the Control Word

Bit assignment in the control word

5

6

3

4

7

1

2

Bit Name

0 Switch on

Disable Voltage

Quick Stop

Enable Operation

Operation mode specific



Reset Fault (only effective for faults)

Bit Name

8 Pause/halt

9 reserved

10 reserved

11 reserved

12 reserved

13 Manufacturer-specific



Commands in the control word

Command

Shutdown

Switch on

Disable Voltage

Quick Stop

Disable Operation

Enable Operation

Fault Reset

Bit 7

Fault

Reset

X

X

1

X

X

X

X

Bit 3

Enable Operation

X

Bit 2

Quick

Stop

1

X

0

X

X

1

X

1

X

0

1

1

X

Bit 1

Disable

Voltage

1

1

0

1

X

1

1

Bit 0

Switch

On

0

1

X

1

X

X

1

Bits labeled X are irrelevant. 0 and 1 indicate the status of individual bits.

Transitions

2, 6, 8

3

7, 9, 10, 12

7, 10, 11

5

4, 16

15

Mode-dependent bits in the control word

The following table shows the mode-dependent bits in the control word. Only manufacturerspecific modes are supported at present. The individual modes are set by Object 6060h

Modes of operation.

Operation mode

Profile Position Mode (pp)

Profile Velocity Mode (pv)

Profile Torque Mode (tq)

Homing Mode (hm) 06h homing_operation_ start

Interpolated Position Mode (ip) 07h

Cyclic synchronous position mode

No Bit 4

01h new_setpoint

03h reserved

04h reserved

08h reserved

Bit 5

change_set_ immediately

Bit 6

absolute/relative reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved

Description of the remaining bits in the control word

Bit 8: (Pause) If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed for homing or jogging, motion task number, setpoints for digital mode) for the individual modes are retained.

Bit 9,10: These bits are reserved for the drive profile (DS402).

Bit 13, 14, 15: These bits are manufacturer-specific, and reserved at present.



4.4.3 Status Machine Bits (status word)

Bit assignment in the status word

Bit Name

0 Ready to switch on

1 Switched on

2 Operation enable

3 Fault

4 Voltage enabled

5 Quick stop

6 Switch on disabled

7 Warning

Bit Name

8 Manufacturer-specific (reserved)

9 Remote (always 1)

10 Target reached

11 Internal limit active

12 Operation mode specific (reserved)




States of the status machine

State Bit 6 switch on disable

Bit 5 quick stop

Bit 3 fault

Bit 2 operation enable

Not ready to switch on

Switch on disabled

Ready to switch on

Switched on

Operation enabled

Fault

Fault reaction active

Quick stop active

0

1

0

0

0

0

0

0

X

X

1

1

1

X

X

0

0

0

0

0

0

1

1

0

0

0

0

0

1

0

1

1

Bits labeled X are irrelevant. 0 and 1 indicate the status of individual bits.

1

1

1

0

0

1

0

0

Bit 1 switched on

Bit 0 ready to switch on

0

0

1

0

1

1

1

1

Description of the remaining bits in the status word

Bit 4: voltage_enabled The DC-link voltage is present if this bit is set.

Bit 7: warning There are several possible reasons for Bit 7 being set and this warning being produced. The reason for this warning can be revealed by using the Object 20subindex manufacturer warnings.

Bit 9: remote is always set to 1, i.e. the drive can always communicate and be influenced via the RS232 - interface.

Bit 10: target_reached This is set when the drive has reached the target position.

Bit 11: internal_limit_active This bit specifies that a movement was or is limited. In different modes, different warnings cause the bit to be set.




Various ready-to-use mappings can be selected for cyclic data exchange via SDO’s of the object 0x1C12 and 0x1C13. Using object 0x1C12 subindex 1 (Sync Manager 2 assignment), a fixed mapping for the cyclic command values can be set with the values 0x1701, 0x1702,

0x1720 to 0x1724. Using object 0x1C13 subindex 1 (Sync Manager 3 assignment), a fixed mapping for the cyclic actual values can be set via the data 0x1B01, 0x1B20 to 0x1B25.

Use the sequence below to select the fixed command value mapping 0x1701 via SDO’s:

1. SDO write access to object 0x1C12Sub0 Data:0x00



Up to firmware version 1.8.x.x AKD.XML file, fixed mapping 0x1701 called out 0x6062sub0 as the “Position Command”. From AKD firmware release 1.8.5.0, the AKD.XML will be changed to call out 0x60C1sub1 as the “Position Command” and an additional XML file called

“AKD_TwinCAT.XML” will be added to support TwinCat 2x and older. In reality, SDO

0x6062sub0 is not supported in the AKD firmware but was called in the fixed mapping to support a TwinCat issue.

Position interface, supported fixed mappings:

0x1701 Position command value (4 bytes), Control word (2 bytes), total (6 bytes)

0x1720 Control Word (2 bytes), Interpolated position command value (4 bytes), Latch control word (2 bytes), Torque feed forward (2 bytes), Digital outputs (2 bytes)

0x1721 Interpolated position command value (4 bytes), Control Word (2 bytes), Torque feed forward (2 bytes)

0x1722 Control word (2 byte), Interpolated position command value (4 bytes), Latch control word (2 bytes), Torque feed forward (2 bytes), Digital outputs (2 bytes), max.

torque (2 bytes)

0x1723 Control word (2 bytes), Interpolated position command value (4 bytes), Latch control word (2 bytes), Torque feed forward (2 bytes), Digital outputs (2 bytes), Reset of changed input information (2 bytes)

0x1724 Target position for cyclic synchronous position mode (4 bytes), Control word (2 byte), Torque feed forward (2 bytes)

0x1B01 Position actual value (4 bytes), Status word (2 bytes), total (6 bytes)

0x1B20 Position actual internal value ( 4 bytes), 2nd position feedback position (4 bytes), velocity actual value (4 bytes), digital inputs (4 bytes), following error (4 bytes), latch position positive (4 bytes), status word (2 bytes), torque actual value (2 bytes), latch status (2 bytes), analogue input value (2 bytes)

0x1B21 Position Actual Internal Value (4 bytes), Status word (2 bytes)

0x1B22 Position actual internal value ( 4 bytes), 2nd position feedback position (4 bytes), velocity actual value (4 bytes), digital inputs (4 bytes), following error (4 bytes), latch position negative (4 bytes), status word (2 bytes), torque actual value (2 bytes), latch status (2 bytes), analogue input value (2 bytes)

0x1B23 Position actual internal value ( 4 bytes), 2nd position feedback position (4 bytes), velocity actual value (4 bytes), digital inputs (4 bytes), following error (4 bytes), latch position positive / negative (4 bytes), status word (2 bytes), torque actual value (2 bytes), latch status (2 bytes), analogue input value (2 bytes)

0x1B24 Position actual value (4 bytes), status word (2 bytes)

0x1B25 Position actual internal value (4 bytes), 2nd position feedback position (4 bytes), latch position 2 positive / negative (4 bytes), digital inputs (4 bytes), following error

(4 bytes), latch position 1 positive / negative (4 bytes), status word (2 bytes), torque actual value (2 bytes), latch status (2 bytes), analogue input value (2 bytes)



Velocity interface, supported fixed mappings:

0x1702 Velocity command value (4 bytes), Control word (2 bytes), total (6 bytes)

The objects, which are mapped into the fixed PDOs can be read via the subindices 1 to n of the above indices. The number of mapped entries is available by reading subindex 0 of the above indices.

Example:

A read access to object 1702 sub 0 gives a value of 2, a read on subindex 1 gives

0x60ff0020, on subindex 2 0x60400010. The meaning of these numbers can be seen in the

CANopen manual or the flexible-mapping example (➜ p. 40.).




In addition to the fixed PDO mapping the so-called flexible mapping of real-time objects is possible.

Available objects for PDO mapping are listed in the object dictionaries ("Appendix" (➜ p.

54)). All objects with the entry "yes" in column "PDO map." can be used.

Restrictions of flexible mapping: l l

An odd length PDO is not allowed.

n

In the Rx(=set-point)-direction the dummy-object 0x0002 sub 0 with a length of 8 bits n can be used to make the PDO-length even.

In the Tx(=actual value)-direction one sub-index of the manufacturer status object n

0x2002 sub 1..4 can be used to guarantee the even length of the Tx-PDO.

These special mappings may be used if the objects 0x6060 and 0x6061 have to be used in the mapping.

The allowed PDOs have up to 32 bytes (Tx) or 22 bytes (Rx). They are built from smaller

PDO modules with a maximum length of 8 bytes. These are built by using the mapping objects 0x1600 to 0x1603 and 0x1a00 to 0x1a03.

The configuration is similar to the described sequence for the fixed mappings:

1. The mapping selection is cleared (write 0 to object 0x1C12 sub 0 and 1C13 sub 0)

2. As the AKD - implementation is based on CANopen the real-time data are build from up to

4 PDOs with 8 bytes in both directions. These PDOs are built in the same way as in a

CAN-drive with the objects 0x1600 - 0x1603 and 0x1A00 - 0x1A03. Unused PDOs must be cleared with writing 0 to the subindex 0.

3. SDO write access to object 0x1C12 sub 1 .. 4 with the PDOs (0x1600 .. 0x1603), that should be used in receive direction of the AKD (set point values).

4. SDO write access to object 0x1C13 sub 1 .. 4 with the PDOs (0x1A00 .. 0x1A03), that should be used in transmit direction of the AKD (actual values).

5. SDO write access to the objects 0x1C12 sub 0 and 0x1C13 sub 0 with the number of mapped PDOs in this direction.

See an example in chapter "Flexible PDO Mappings" (➜ p. 38) .

The cyclically used data are visible in the PDO-assignment window for the Inputs and Outputs of the Sync Managers. Default setting are the fixed PDOs 0x1701 and 0x1B01 (visible contents when selected in the PDO list).



If the flexible mapping is required, the PDO configuration check box must be changed.

4.6.1 Example: Flexible PDO Mapping

For the flexible mapping of the Outputs the fixed mapping 0x1701 has to be switched off and up to 4 free-mappable PDOs (0x1600-0x1603) can be used instead. The maximum number of bytes for each of these PDOs is 8.

==========>

After that the default mapping of e.g. the PDO 0x1600 can be extended:



A list of possible objects for the mapping will be shown and a new entry can be chosen.

In this case the setpoint for the interpolated position mode is selected.

The same is valid for the Tx-PDO-direction.

Here the value of the actual internal position is selected.

This results in the startup-SDO-list for this sample free-mapped-configuration.

The meaning of the data (for example 0x60410010 in the mapping of 0x1A00 sub 1) is as follows: l l l

0x6041 is the index of the DS402 status word

0x00 is the subindex of the DS402 status word

0x10 is the number of bits for this entry, i. e. 16 bits or 2 bytes.



If this shall be used in the NC, the interpolation set point position has to be linked from the axis to the NC-axis.



After doing this configuration the mapping can be activated as seen before in this document:

Now the NC-screen should show a position in the online window, which changes a bit in the last digits.

After enabling the power stage with the All-button, the drive can be moved via the jog-buttons or via the functions in the function menu.




Supported cyclical setpoint values

Name

Position command value

CANopen object

Data type

Description

0x60C1 sub 1 INT32 Interpolation data record in IPmode

0x60FF sub 0 INT32 Velocity command value

CANopen control-word

Latch Control word

Torque feed forward

Digital outputs

Target current

Modes of Operation

Velocity Window

Velocity Window Time

Target Torque

Maximum Torque

0x6040 sub 0 UINT16 CANopen control word.

0x20A4 sub 0 UINT16

0x60B2 sub 0 INT16

0x60FE sub 1 UINT32

0x2071 sub 0 32 bit

0x6060 sub 0 8 bit

0x606D sub 0 16 bit

0x606E sub 0 16 bit

0x6071 sub 0 16 bit

0x6072 sub 0 16 bit

Profile position target velocity 0x6081 sub 0 32 bit

Profile position target acc 0x6083 sub 0 32 bit scaled in mA

DS402 opmode setpoint

0.1% resolution

MT.V

MT.ACC

MT.DEC

Profile position target dec

Velocity feed forward

Touch probe function

Analog output value

0x6084 sub 0 32 bit

0x60B1 sub 0 32 bit

0x60B8 16 bit

0x3470 sub 3 16 bit

External feedback position 0x3497 sub 0 32 bit

Clear digital Input Change Bit 0x20B8 16 bit



Supported cyclical actual values

Name

Position actual internal value

Velocity actual value

CANopen status-word

Second position feedback

Digital inputs

Following error actual value

Latch position positive edge

Torque actual value

Latch status

Analog input value

Actual Current

Latch1 negative edge

Latch2 Positive

Latch2 Negative

Latch1 positive/negative edge

CANopen object

Data type

0x6063 sub 0 INT32

Description

0x606C sub 0 INT32

0x6041 sub 0 UINT16 CANopen status word

0x2050 sub 0 INT32

0x60FD sub 0 UINT32

0x60F4 sub 0 INT32

0x20A0 sub 0 INT32

0x6077 sub 0 INT16

0x20A5 sub 0 UINT16

0x3470 sub 0 INT16

0x2077 sub 0 32 bit

0x20A1 sub 0 32 bit

0x20A2 sub 0 32 bit

0x20A3 sub 0 32 bit

0x20A6 32 bit scaled in mA

Latch 2 positive/negative edge 0x20A7

Modes of Operation 0x6061

Position Actual Value

Touch probe status

0x6064 sub 0

32 bit

8 bit

32 bit

0x60B9 sub 0 16 bit

Touch probe 1 positive edge pos 0x60BA sub 0 32 bit

Touch probe 1 negative edge pos 0x60BB sub 0 32 bit

Touch probe 2 positive edge pos 0x60BC sub 0 32 bit

Touch probe 2 negative edge pos 0x60BD sub 0 32 bit

Additional Pos actual value

Additional Pos actual value

Motor I2t

Analog output value

Analog Input & Output value

Manufacturer status register

0x60E4 sub 0 48 bit

0x60E4 sub 1 32 bit

0x3427 sub 3

0x3470 sub 2

0x3470 sub 4

0x1002 sub 0

32 bit

16 bit

16 bit

32 bit

DS402 opmode status

WB/ DS402 scale units




CANopen mode of operation

Profile velocity

AKD mode of operation

DRV.OPMODE 1

DRV.CMDSOURCE 1

Interpolated position DRV.OPMODE 2

Homing mode

Profile Position

Torque

Cyclic Synchronous

Position

DRV.CMDSOURCE 1

DRV.OPMODE 2

DRV.CMDSOURCE 0

DRV.OPMODE 2

DRV.CMDSOURCE 0

DRV.OPMODE 0

DRV.CMDSOURCE 1

DRV.OPMODE 2

DRV.CMDSOURCE 1

Description

0x6060Sub0 Data: 3

In this mode, the EtherCAT master sends cyclic velocity command values to the

AKD.

0x6060Sub0 Data: 7

In this mode of operation the EtherCAT master sends cyclic position command values to the AKD. These command values are interpolated by the AKD according to the fieldbus sample rate.

0x6060 sub 0 data : 6

In this mode an AKD-internal homing can be done.

0x6060sub0 Data: 1

Uses motion task 0 to execute a point to point move

0x6060sub0 Data: 4

Commands torque in % of drive peak torque

0x6060sub0 Data: 8

Master calculates move profile and commands motion with position points


The cycle time to be used in the drive for the cyclical setpoints and actual values can either be stored in the FBUS.SAMPLEPERIOD parameter in the amplifier or configured in the startup phase. This happens via SDO mailbox access to objects 60C2 subindex 1 and 2.

Subindex 2, known as the interpolation time index, defines the power of ten of the time value

(e.g. -3 means 10-3 or milliseconds) while subindex 1, known as interpolation time units, gives the number of units (e.g. 4 means 4 units).

You can run a 2 ms cycle using various combinations. For example,

Index = -3, Units = 2 or

Index = -4, Units = 20 etc.

The FBUS.SAMPLEPERIOD parameter is counted in multiples of 62.5us microseconds within the device. This means, for example that 2 ms equates to FBUS.SAMPLEPERIOD

value of 32.


The minimum cycle time for the drive is largely dependent on the drive configuration (second actual position value encoder latch functionality enabled and so on)

Interface Cycle time AKD

Position ≥ 0.25 ms (≥ 250 µs)

Velocity ≥ 0.25 ms (≥ 250 µs)

Torque ≥ 0.25 ms (≥ 250 µs)




On all drives, the internal PLL is theoretically able to even out an average deviation of up to

4800 ppm in the cycle time provided by the master. The drive checks once per fieldbus cycle a counter within the drive internal FPGA, which is cleared by a Sync0 (Distributed clock) event. Depending of the counter value, the drive extends or decreases the 62.5 µs MTS signal within the drive by a maximum of 300 ns.

The theoretical maximum allowed deviation can be calculated by using the following formula:

The synchronization functionality within the drive can be enabled via setting bit 0 of the

FBUS.PARAM02 parameter to high. Therefore FBUS.PARAM02 must be set to the value of

1. Furthermore the distributed clock functionality must be enabled by the EtherCAT master in order to activate cyclic Sync0 events.

4.11.1 Synchronization behavior with distributed clocks (DC) enabled

When the EtherCAT master enables distributed clocks, a distributed clock (DC) event is created in the AKD once per fieldbus cycle. An assigned 62.5 µs real-time task in the AKD monitors the elapsed time between the DC events and the AKD System time and extends or reduces the 62.5 µs strobe to the CPU as necessary.

The following fieldbus parameters are used for the synchronization feature:

1. FBUS.SYNCDIST = Expected time delay of the AKD PLL-code to the DC event.

2. FBUS.SYNCACT = Actual time delay of the AKD PLL-code to the DC event.

3. FBUS.PLLTHRESH = Number of consecutive successful synchronized PLL cycles of the AKD before the Drive is considered as synchronized.

4. FBUS.SYNCWND = Synchronization window in which the AKD is considered to be synchronized. The Drive is considered synchronized as long as the following statement is true is true for FBUS.PLLTHRESH consecutive cycles:

FBUS.SYNCDIST-FBUS.SYNCWND < FBUS.SYNCACT < FBUS.SYN-

CDIST+FBUS.SYNCWND

Example with a 4kHz fieldbus sample rate:

Explanation: The red-marked 62.5[µs] real-time task displays the AKD 62.5 µs real-time task within one fieldbus cycle which is responsible for calling the AKD PLL-code. The time delay

(1) shows the actual delay to the previous DC event, which is ideally close to the adjusted

FBUS.SYNCDIST parameter. Depending on (1) the AKD slightly extends or reduce the 62.5

[µs] IRQ generation of the high-priority real-time task in order to either increase or decrease the measured time delay to the DC event (1) for the next PLL cycle. The time distance (2) shows the 62.5[µs] ± x[ms] realtime task of the AKD.

4.11.2 Synchronization behavior with distributed clocks (DC) disabled

The AKD fieldbus synchronization algorithm is similar to that used by Distributed Clocks.

The difference is that the AKD synchronizes to a SyncManager2 event instead of the DC event. A SyncManager2 event is created when the EtherCAT Master sends a new package of command values to the drive while the network is in the Operational state. This occurs once per fieldbus cycle.




Latch Control word (2 Byte)

Bit

0

Value (bin) Value

(hex)

Description

00000000 00000001 zz01 Enable extern latch 1 (positive rise)

1 00000000 00000010 zz02 Enable extern latch 1 (negative rise)

2

3

4

5-7

00000000 00000100

00000000 00001000 zz04 zz08

Enable extern latch 2 (positive rise)

Enable extern latch 2 (negative rise)

Reserve

8-12 00000001 00000000 01zz Read external latch 1 (positive rise)

00000010 00000000 02zz Read external latch 1 (negative rise)

13-15

00000011 00000000 03zz Read external latch 2 (positive rise)

00000100 00000000 04zz Read external latch 2 (negative rise)

Reserve

Latch Status word (2 Byte)

0

1

2

Bit Value (bin) Value

(hex)

Description

00000000 00000001 zz01 External latch 1 valid (positive rise)

00000000 00000010 zz02 External latch 1 valid (negative rise)


00000000 00001000 zz08 External latch 2 valid (negative rise) 3

4

5-7 Reserve

8-11 00000001 00000000 z1zz Acknowledge value external latch 1 (positive rise)

00000010 00000000 z2zz Acknowledge value external latch 1 (negative rise)

00000011 00000000 z3zz Acknowledge value external latch 2 (positive rise)


12-15 00010000 00000000 1zzz Zustand Digital Input 4

00100000 00000000 2zzz Zustand Digital Input 3






With EtherCAT, acyclical data traffic (object channel or SDO channel) is called mailbox.

Available SDO objects are listed in the ("Appendix" (➜ p. 54)).

This system is based around the master:

Mailbox Output:

The master (EtherCAT controller) sends data to the slave (drive). This is essentially a

(read/write) request from the master. Mailbox output operates via Sync Manager 0.

Mailbox Input:

The slave (drive) sends data to the master (EtherCAT controller). The master reads the slave's response. Mailbox input operates via Sync Manager 1.

Timing diagram

The timing diagram illustrates the mailbox access process:

1. The EtherCAT master writes the mailbox request to the mail-out buffer.

2. On the next interrupt, the EtherCAT interface activates a Sync Manager 0 event (mailbox output event) in the AL event register.

3. The drive reads 16 bytes from the mail-out buffer and copies them to the internal mailbox output array.

4. The drive identifies new data in the internal mailbox output array and performs an SDO access to the object requested by the EtherCAT interface. The response from the drive is written to an internal mailbox input array.

5. The drive deletes all data in the internal mailbox output array so that a new mailbox access attempt can be made.

6. The drive copies the response telegram from the internal mailbox input array to the mail-in buffer of the EtherCAT interface.



4.13.1 Mailbox Output

An interrupt by the EtherCAT-interface with a Sync Manager 0 - Event starts a Mailbox Output Process. A 1 in the Mail Out Event-Bit of the AL Event register signalizes the drive, that the EtherCAT-interface wants to send a Mailbox message and that it has already stored the required data in the Mail Out Buffer. Now 16 Byte data are read by the drive with the IRQ process. The bytes are defined as follows

0 1 2

Address 0x1800

3 4 5 6

CAN over EtherCAT specific data

(CoE Header)

7

Address 0x180F

8 9 10 11 12 13 14 15

CAN specific data

(standard CAN SDO)

Byte 0

Length of the data (Low Byte)

Byte 1

Length of the data (High Byte)

Byte 2

Address (Low Byte)

Byte 3

Address (High Byte)

Byte 4

Bit 0 to 5: Channel

Bit 6 to 7: Priority

Byte 5

Bit 0 to 3: Type 1 = Reserved: ADS over EtherCAT

2 = Reserved: Ethernet over EtherCAT

3 = Can over EtherCAT…)

Bit 4 to 7: Reserved

Byte 6

PDO Number (with PDO transmissions only, Bit 0 = LSB of the PDO number, see Byte 7 for MSB)

Byte 7

Bit 0: MSB of the PDO number, see Byte 6


Bit 4 to 7: CoE specific type 0: Reserved

1: Emergency message

2: SDO request

3: SDO answer

4: TXPDO

5: RxPDO

6: Remote transmission request of a TxPDO

7: Remote transmission request of a RxPDO

8…15: reserved

Byte 8

Control-Byte in the CAN telegram: write access: 0x23=4Byte, 0x27=3Byte, 0x2B=2Byte,

0x2F=1Byte read access: 0x40

Byte 9

Low Byte of the CAN object number (Index)

Byte 10 High Byte of the CAN object number (Index)

Byte 11 Subindex according to CANopen Specification for the drive

Byte 12 Data with a write access (Low Byte)

Byte 13 Data with a write access

Byte 14 Data with a write access

Byte 15 Data with a write access (High Byte)

The drive answers every telegram with an answer in the Mailbox Input buffer.



4.13.2 Mailbox Input

The drive answers every CoE telegram with a 16 byte answer telegram in the Mailbox Input buffer. The bytes are defined as follows:

0

Address 0x1C00

1 2 3 4 5 6

CAN over EtherCAT specific data

(CoE Header)

Address 0x1C0F

7 8 9 10 11 12 13 14 15

CAN specific data

(standard CAN SDO)

Byte 0

Length of the data (Low Byte)

Byte 1

Length of the data (High Byte)

Byte 2

Address (Low Byte)

Byte 3

Address (High Byte)

Byte 4

Bit 0 to 5: Channel

Bit 6 to 7: Priority

Byte 5

Bit 0 to 3: Type 1 = Reserved: ADS over EtherCAT

2 = Reserved: Ethernet over EtherCAT

3 = Can over EtherCAT…)


Byte 6

PDO Number (with PDO transmissions only, Bit 0 = LSB of the PDO number, see

Byte 7 for MSB)

Byte 7

Bit 0: MSB of the PDO number, see Byte 6


Bit 4 to 7: CoE specific type 0: Reserved

1: Emergency message

2: SDO request

3: SDO answer

4: TXPDO

5: RxPDO

6: Remote transmission request of a

TxPDO

7: Remote transmission request of a

RxPDO

8…15: reserved

Byte 8

Control-Byte in the CAN telegram: write access OK: 0x60 read access OK + length of answer: 0x43 (4 Byte), 0x47 (3 Byte), 0x4B (2Byte),

0x4F (1Byte) error with read- or write access: 0x80

Byte 9

Low Byte of the CAN object number (Index)

Byte 10 High Byte of the CAN object number (Index)

Byte 11 Subindex according to CANopen Specification for Kollmorgen drive

Byte 12 Data (Low Byte)

Byte 13 Data

Byte 14 Data error code Fehlercode according to CANopen Specification in case of an error data value of the object in case of successfull read access

Byte 15 Data (High Byte)



4.13.3 Example: Mailbox Access

In the example below, PDOs 0x1704 are mapped (see Chapter "Fixed PDO Mappings" (➜ p. 36) “Fixed PDO Mappings”):

The master sends this mailbox output message:

Byte 0

0x0A The next 10 Bytes contain data (Byte 2 to Byte 11)

Byte 1

0x00 The next 10 Bytes contain data (Byte 2 to Byte 11)

Byte 2

0x00 Address 0

Byte 3

0x00 Address 0

Byte 4

0x00 Channel 0 and Priority 0

Byte 5

0x03 CoE Object

Byte 6

0x00 PDO Number 0

Byte 7

0x20 PDO Number 0 and SDO-Request

Byte 8

0x2B 2 Byte write access

Byte 9

0x12 SDO-Object 0x1C12

Byte 10 0x1C SDO-Object 0x1C12

Byte 11 0x01 Subindex 1

Byte 12 0x04 Data value 0x00001704




The drive returns the following message:

Byte 0

0x0E The next 14 Bytes contain data (Byte 2 to Byte 15)

Byte 1

0x00 The next 14 Bytes contain data (Byte 2 to Byte 15)

Byte 2

0x00 Address 0

Byte 3

0x00 Address 0

Byte 4

0x00 Channel 0 and Priority 0

Byte 5

0x03 CoE Object

Byte 6

0x00 PDO Number 0

Byte 7

0x20 PDO Number 0 and SDO-Answer

Byte 8

0x60 Successful write access

Byte 9

0x12 SDO-Object 0x1C12

Byte 10 0x1C SDO-Object 0x1C12

Byte 11 0x01 Subindex 1








The AKD holds several fieldbus-specific, general purpose parameters. Some of them contain the following EtherCAT relevant data:

FBUS.PARAM02:

This parameter activates the synchronization feature of the AKD. The DC feature must be activated in order to allow the AKD to get synchronized with the master. A value of 1 enables the drive internal PLL functionality, a value of 0 deactivates this feature.

FBUS.PARAM03:

This parameter contains the Configured Station Alias address of the AKD. An EEPROM emulation write access to the Configured Station Alias address forces the AKD to store the drive parameters automatically using the DRV.NVSAVE command.

FBUS.PARAM04:

This parameter enables (1) or disables(0) the synchronization supervision of the CANOpen or

EtherCAT fieldbus.

Default values for this parameter are as follows:

CANopen drive: disabled (0)

EtherCAT drive: enabled (1)

Synchronization supervision is active when FBUS.PARAM 04 = 1 and the first CANOpen

Sync message or first EtherCAT frame is received. When more than three CANOpen sync messages or seven EtherCAT frames have not been received and the drive is enabled, fault

F125 (“Synchronization lost“), occurs.

FBUS.PARAM05

Bit 0 1 Faults can only be reset using DS402 control word bit 7.

0 The reset can also be done via telnet or digital input and the DS402 state machine reflects this condition.

Bit 1 1 The state of the hardware enable does not change the state machine state

Operation Enable.

0 If the state Operation Enable or Switched on is active it falls back to the state switched On Disabled, if the Hardware enable goes to 0.

Bit 2 1 WorkBench/Telnet can not software enable the drive, when CANopen/EtherCAT are Operational.

0 WorkBench/Telnet can software enable the drive.

NOTE: During commissioning this bit should be set to 1 to avoid influences to DS402 power stage state machine. The field bus should not be in operation as well to avoid influence to test functions of Workbench.

Bit 3 1 DS402-state machine is not influenced, if the software-enable is taken away via Telnet.

0 DS402-state machine is influenced, if the software-enable is taken away via Telnet.

Bit 4 1 Scaling is done via special DS402 - objects (independent on units)

0 Scaling for position, velocity and acceleration objects is done via UNIT parameters.



Bit 5 1 FBUS.PARAM03 defines the station alias address if not 0. If

FBUS.PARAM03 set to 0, the address will be taken from rotary switches instead, if they are not 0. The EtherCAT master has the ability to use the alias address, selected by the drive, or issue its own.

0 The rotary switches define the station alias address if not 0. If the rotary switches are set to 0, the address will be taken from FBUS.PARAM03

instead, if it is not 0.

Bit 6 1 Bit 0 of parameter MT.CNTL (object 35B9 sub 0) can be accessed.

0 Bit 0 of parameter MT.CNTL (object 35B9 sub 0) is exclusively used for

DS402 controlword.

Bit 7 reserved

Bit 8 1 DS402-state SWITCHED ON means power stage disabled.

0 DS402-state SWITCHED ON means power stage enabled.

Bit 9 1 SDO content of object 0x6063 is the same as PDO content.

Bit 10

0 SDO content of object 0x6063 depends on AKD unit parameters.

1 State “Switch On” can be reached without the high-level voltage being active.

(Bit 10 is active only, if Bit 8 is set)

0 State “Switch On” can only be reached when the high-level voltage is active; otherwise the drive will stay in “Ready to Switch On”.


AKD has a built-in emulated EEProm. This EEProm can be read by the EtherCAT master to get some information about drive properties, like PDO-information, drive name, serial numbers and communication-specific attributes.

They are organized in categories. There are two manufacturer-specific categories implemented in the AKD: l l

Category 0x0800: Holds a string with the model type in the format AKD-P00000-NxxC-

0000

Category 0x0801: Holds the firmware version in the format 0x_xx-xx-yyy


AKD EtherCAT | 5 Appendix

5 Appendix

5.1 CANopen Emergency Messages and Error Codes

Emergency messages are triggered by internal equipment errors. They have a high ID-priority to ensure quick access to the bus. An emergency message contains an error field with predefined error/fault numbers (2 bytes), an error register (1byte), the error category (1 byte), and additional information. Error numbers 0000h to 7FFFh are defined in the communication or drive profile. Error numbers FF00h to FFFFh have manufacturer-specific definitions.

Error

Code

0x0000

0x1080

Fault/

Warning

Description

0 Emergency error free.

General Warning.

0x1081 General Error.

0x3110 F523 DC Bus link over voltage FPGA.

0x3120 F247 DC Bus link voltage exceed allowed thresholds.

0x3130 F503 DC Bus link capacitor overload.

0x3180 n503 Warning: DC Bus link capacitor overload.

0x3210 F501 DC Bus link over-voltage.

0x3220 F502 DC Bus Link under-voltage.

0x3280 n502 Warning: DC Bus Link under-voltage.

0x3281 n521 Warning: Dynamic Braking I²T.

0x3282 F519 Regen short circuit.

0x3283 n501 Warning: DC Bus link over-voltage.

0x4210 F234 Excessive temperature, device (control board).

0x4310 F235 Excessive temperature, drive (heat sink).

0x4380 F236 Power temperature sensor 2 high.

0x4381 F237 Power temperature sensor 3 high.

0x4382 F535 Power board overtemperature.

0x4390 n234 Warning: Control temperature sensor 1 high.

0x4391 n235 Warning: Power temperature sensor 1 high.



0x4394 n240 Warning: Control temperature sensor 1 low.

0x4395 n241 Warning: Power temperature sensor 1 low.

0x4396 n242 Warning: Power temperature sensor 2 low.

0x4397 n243 Warning: Control temperature sensor 1 low.

0x4398 F240 Control temperature sensor 1 low.

0x4399 F241 Power temperature sensor 1 low.

0x439A F242 Power temperature sensor 2 low.

0x439B F243 Power temperature sensor 3 low.

0x5113 F512 5V0 under voltage.




0x5117 F514 +12V0 under voltage.

0x5118 F516 -12V0 under voltage.



Error

Code

Fault/

Warning

Description

0x5119 F518 Analog 3V3 under voltage.

0x5180 F504 1V2 over voltage.




0x5184 F513 +12V0 over voltage.

0x5185 F515 -12V0 over voltage.

0x5186 F517 Analog 3V3 over voltage.

0x5530 F105 Hardware memory, non-volatile memory stamp invalid.

0x5580 F106 Hardware memory, non-volatile memory data.

0x5590 F204 Control board EEPROM read failed.

0x5591 F205 Control board EEPROM corrupted serial num stamp.

0x5592 F206 Control board EEPROM corrupted serial num data.

0x5593 F207 Control board EEPROM corrupted parameter stamp.

0x5594 F208 Control board EEPROM corrupted parameter data.

0x5595 F219 Control board EEPROM write failed.

0x55A0 F209 Power board EEPROM read failed.

0x55A1 F210 Power board EEPROM corrupted serial num stamp.

0x55A2 F212 Power board EEPROM corrupted serial num data.

0x55A3 F213 Power board EEPROM corrupted parameter stamp.

0x55A4 F214 Power board EEPROM corrupted parameter data.

0x55A5 F230 Power board EEPROM write failed.

0x55A6 F232 Power board EEPROM invalid data.

0x55B0 F248 Option board EEPROM corrupted.

0x55B1 F249 Option board upstream checksum.

0x55B2 F250 Option board upstream checksum.

0x55B3 F251 Option board watchdog.

0x55B8 F252 Firmware and option board FPGA types are not compatible.

0x55B9 F253 Firmware and option board FPGA versions are not compatible.

0x55C0 F621 Control Board CRC fault.

0x55C1 F623 Power Board CRC fault.

0x55C2 F624 Power Board Watchdog fault.

0x55C3 F625 Power Board Communication fault.

0x55C4 F626 Power Board FPGA not configured.

0x55C5 F627 Control Board Watchdog fault.

0x55C6 n103 Warning: Resident FPGA .

0x55C7 n104 Warning: Operational FPGA .

0x6380 F532 Drive motor parameters setup incomplete.

0x7180 F301 Motor overheat.

0x7182 F305 Motor Brake open circuit.

0x7183 F306 Motor Brake short circuit.

0x7184 F307 Motor Brake applied during enable state.

0x7185 F436 EnDAT overheated.

0x7186 n301 Warning: Motor overheated.

0x7187 F308 Voltage exceeds motor rating.


56


Error

Code

Fault/

Warning

Description

0x7188 F560 Regen near capacity, could not prevent over voltage.

0x7189 F312 Brake released when it should be applied.

0x7305 F417 Broken wire in primary feedback.

0x7380 F402 Feedback 1 Analog signal amplitudefault.

0x7381 F403 Feedback 1 EnDat communication fault.

0x7382 F404 Feedback 1 illegal hall state.

0x7383 F405 Feedback 1 BiSS watchdog.

0x7384 F406 Feedback 1 BiSS multi cycle.

0x7385 F407 Feedback 1 BiSS sensor.

0x7386 F408 Feedback 1 SFD configuration.

0x7387 F409 Feedback 1 SFD UART overrun.

0x7388 F410 Feedback 1 SFD UART frame.

0x7389 F412 Feedback 1 SFD UART parity.

0x738A F413 Feedback 1 SFD transfer timeout.

0x738C F415 Feedback 1 SFD mult. corrupt position.

0x738D F416 Feedback 1 SFD Transfer incomplete.

0x738E F418 Feedback 1 power supply fault.

0x738F F401 Feedback 1 failed to set feedback.

0x7390 n414 Warning: SFD single corrupted position.

0x7391 F419 Encoder init procedure failed.

0x7392 F534 Failed to read motor parameters from feedback device.

0x7393 F421 SFD position sensor fault.

0x7394 F463 Tamagawa encoder: overheat.

0x7395 n451 Warning: Tamagawa encoder battery.

0x7396 n423 Warning: Non volatile memory error, multiturn overflow.

0x7398 F135 Homing is needed.

0x7399 F468 FB2.Source not set.

0x739A F469 FB1.ENCRES is not power of two.

0x739B F423 Non volatile memory error, multiturn overflow.

0x739C F467 Hiperface DSL fault.

0x739D F452 Multiturn overflow not supported with this feedback.

0x739E F465 Excessive shock detected by feedback device.

0x73A0 F453 Tamagawa encoder: communication timeout.

0x73A1 F454 Tamagawa encoder: communication transfer incomplete.

0x73A2 F456 Tamagawa encoder: communication CRC.

0x73A3 F457 Tamagawa encoder: communication start timeout.

0x73A4 F458 Tamagawa encoder: communication UART overrun.

0x73A5 F459 Tamagawa encoder: communication UART framing.

0x73A6 F460 Tamagawa encoder: over speed.

0x73A7 F461 Tamagawa encoder: contouring error.

0x73A8 F462 Tamagawa encoder: counting overflow.

0x73A9 F464 Tamagawa encoder: multiturn error.

0x73AA F451 Tamagawa encoder: battery.

0x73B0 F486 Motor velocity exceeds emulated encoder maximum speed.



Error

Code

Fault/

Warning

Description

0x73B8 F420 FB3 EnDat communication fault.

0x73C0 F473 Wake and Shake. Insufficient movement.

0x73C1 F475 Wake and Shake. Excessive movement.

0x73C2 F476 Wake and Shake. Fine-coarse delta too large.

0x73C3 F478 Wake and Shake. Overspeed.

0x73C4 F479 Wake and Shake. Loop angle delta too large.

0x73C5 F482 Commutation not initialized.

0x73C6 F483 Motor U phase missing.

0x73C7 F484 Motor V phase missing.

0x73C8 F485 Motor W phase missing.

0x73C9 n478 Warning: Wake and Shake. Overspeed.

0x73D0 F487 Wake and Shake. Validating positive movement failed.

0x73D1 F489 Wake and Shake. Validating negative movement failed.

0x73D2 F490 Wake and Shake. Validating commutation angle time out.

0x73D3 F491 Wake and Shake. Validating commutation angle moved too far.

0x73D4 F492 Wake and Shake. Validating commutation angle required more than

MOTOR.ICONT.

0x73D5 F493 Invalid commutation detected, motor accelerates in wrong direction.

0x8130 F129 Life Guard Error or Heartbeat Error.

0x8180 n702 Warning: Fieldbus communication lost.

0x8280 n601 Warning: Modbus data rate is too high.

0x8311 F304 Motor foldback.

0x8331 F524 Drive foldback.

0x8380 n524 Warning: Drive foldback.

0x8381 n304 Warning: Motor foldback.

0x8382 n309 Warning: Motor I²t load.

0x8383 n580 Warning: Using derivate of position when using sensorless feedback type in position mode.

0x8384 n581 Warning: Zero velocity when using induction sensorless feedback type in position mode.

0x8480 F302 Over speed.

0x8481 F703 Emergency timeout occurred while axis should disable.

0x8482 F480 Fieldbus command velocity too high.

0x8483 F481 Fieldbus command velocity too low.

0x8582 n107 Warning: Positive software position limit is exceeded.

0x8583 n108 Warning: Negative software position limit is exceeded.

0x8584 n704 Warning: PVT buffer overflow.

0x8585 n705 Warning: PVT buffer underflow.

0x8586 n127 Warning: Scale factor of PVT velocity command over range.

0x8611 F439 Following error (user).

0x8685 F138 Instability during autotune.

0x8686 n151 Warning: Not enough distance to move; Motion Exception.

0x8687 n152 Warning: Not enough distance to move; Following Motion Exception.

0x8688 n153 Warning: Velocity Limit Violation, Exceeding Max Limit.

0x8689 n154 Warning: Following Motion Failed; Check Motion Parameters.

0x868A n156 Warning: Target Position crossed due to Stop command.



Error

Code

Fault/

Warning

Description

0x86A0 n157 Warning: Homing Index pulse not found.

0x86A1 n158 Warning: Homing Reference Switch not found.

0x86A2 n159 Warning: Failed to set motion task parameters.

0x86A3 n160 Warning: Motion Task Activation Failed.

0x86A4 n161 Warning: Homing Procedure Failed.

0x86A5 F139 Target Position Over Short due to invalid Motion task activation.

0x86A6 n163 Warning: MT.NUM exceeds limit.

0x86A7 n164 Warning: Motion task is not initialized.

0x86A8 n165 Warning: Motion task target position is out.

0x86A9 n167 Warning: Software limit switch traversed.

0x86AA n168 Warning: Invalid bit combination in the motion task control word.

0x86AB n169 Warning: 1:1 profile cannot be triggered on the fly.

0x86AC n170 Warning: Customer profile table is not initialized.

0x86AD n171 Warning: Motion task activation is currently pending

0x86AE n135 Warning: Homing is needed.

0x86AF n174 Warning: Homing maximum distance exceeded

0x86B0 F438 Following error (numeric).

0x8780 F125 Fieldbus synchronization lost.

0x8781 n125 Warning: Fieldbus synchronization lost.

0x8AF0 n137 Warning: Homing and feedback mismatch.

0xFF00 F701 Fieldbus runtime.

0xFF01 F702 Fieldbus communication lost.

0xFF02 F529 Iu current offset limit exceeded.

0xFF03 F530 Iv current offset limit exceeded.

0xFF04 F521 Regen over power.

0xFF07 F525 Output over current.

0xFF08 F526 Current sensor short circuit.

0xFF09 F128 MPOLES/FPOLES not an integer.

0xFF0A F531 Power stage fault.

0xFF0B F602 Safe torque off.

0xFF0C F131 Secondary feedback A/B line break.

0xFF0D F130 Secondary feedback supply over current.

0xFF0E F134 Secondary feedback illegal state.

0xFF0F F245 External fault.

0xFF10 F136 Firmware and FPGA versions are not compatible.

0xFF11 F101 Firmware type mismatch.

0xFF12 n439 Warning: Following error (user).

0xFF13 n438 Warning: Following error (numeric).

0xFF14 n102 Warning: Operational FPGA is not a default FPGA.

0xFF15 n101 Warning: The FPGA is a laboratory FPGA.

0xFF16 n602 Warning: Safe torque off.

0xFF17 F132 Secondary feedback Z line break.

0xFF18 n603 Warning: OPMODE incompatible with CMDSOURCE.

0xFF19 n604 Warning: EMUEMODE incompatible with DRV.HANDWHEELSRC.



5.2 Object Dictionary

The following tables describe all objects reachable via SDO or PDO. (i.p. = in preparation).

Abbreviations:

U = UNSIGNED

INT = INTEGER

VisStr = Visible String

RO = Read only

RW = Read and Write

WO = Write only const = Constant

5.2.1 Float Scaling

The scaling applied to objects which match floating-point parameters in WorkBench/Telnet are listed in the column "Float Scaling."

For example, index 607Ah is listed as 1:1 - this means that commanding a value of 1000 in

SDO 607Ah is equivalent to entering MT.P 1000.000 in WorkBench. On the other hand, index 3598h is listed as 1000:1 - this means that commanding a value of 1000 in SDO 3598h is equivalent to entering IL.KP 1.000 in WorkBench.

A few parameters are listed as variable (var), because the scaling depends on other settings.

5.2.2 Communication SDOs

1011h

1011h

1011h

1012h

1014h

1016h

1016h

1016h

1017h

Index Sub-

1000h

1001h

index

0

0

Data Type Access PDO map.

U32 RO

Description

no Device type

U8 RO no Error register

RO

1002h

1003h

0 U32

ARRAY

1003h

0 U8

1003h

1 to 10 U32

1005h

1006h

1008h

1009h

100Ah

100Ch

100Dh

1010h

0

0

0

0

0

0

0

U32

U32

VisStr

VisStr

VisStr

U16

U8

ARRAY

RW

RO

RW

RW const const const

RW

RW yes Manufacturer-specific status register

Pre-defined error field no Number of errors no standard error field no no no no no no no

COB—ID SYNC message

Communication cycle period

Manufacturer device name

Manufacturer hardware version

Manufacturer software version

Guard time

Lifetime factor

Save parameters

1010h

1010h

0

1

U8

U32

RO

RW

0

1

0

0

0

1

0

ARRAY

U8

U32

U32

U32

RECORD

U8

U32

U16

RO

RW

RW

RW

RO

RW

RW no Number of entries no Saves the drive parameters from the RAM to the NV.

Load parameters no Number of entries no Loads default parameters to the RAM.

no COB—ID for the Time Stamp no COB—ID for the Emergency Object

Consumer heartbeat time no Number of entries no Consumer heartbeat time no Producer heartbeat time

ASCII object

—

—

—

—

—

DRV.RSTVAR

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

DRV.NVSAVE



1026h

1026h

1026h

1400h

1400h

1400h

1400h

1401h

Index Subindex

1018h

1018h

1018h

0

1

1018h

1018h

1018h

1026h

2

3

4

0

1

2

0

1

2

1401h

1401h

1401h

1402h

1402h

1402h

1402h

1403h

0

1

2

0

1

2

U8

U32

U8

RECORD

U8

U32

U8

RECORD

1403h

1403h

1403h

1600h

0

1

2

U8

U32

U8

RECORD

1600h

0 U8

1600h

1 to 8 U32

1601h

1601h

0

RECORD

U8


RECORD

U8

U32

RO

RO no no

Description

Identity Object

Number of entries

Vendor ID

U32

U32

U32

ARRAY

RO

RO

RO no no no

Product Code

Revision number

Serial number

OS prompt

U8

U8

U8

RECORD

U8

U32

U8

RECORD

RO

WO

RO

RO

RW

RW no no no no no no

Number of entries

StdIn

StdOut

RXPDO1 communication parameter

Number of entries

RXPDO1 COB — ID

Transmission type RXPDO1

RXPDO2 communication parameter

RO

RW

RW

RO

RW

RW

RO

RW

RW

RO

RW

RO

RW no Number of entries no RXPDO2 COB—ID no Transmission type RXPDO2

RXPDO3 communication parameter no Number of entries no RXPDO3 COB—ID no Transmission type RXPDO3

RXPDO4 communication parameter no Number of entries no RXPDO4 COB—ID no Transmission type RXPDO4

RXPDO1 mapping parameter no Number of entries no Mapping for n—th application object

RXPDO2 mapping parameter no Number of entries

1601h

1 to 8 U32

1602h

RECORD

1602h

0 U8

1602h

1 to 8 U32

1603h

1603h

0

RECORD

U8

1603h

1 to 8 U32

1800h

RECORD

1800h

1800h

1800h

1800h

1800h

2

3

0

1

4

U8

U32

U8

U16

U8

RO

RW

RO

RW

RO

RW

RW

RW const no Mapping for n—th application object



TXPDO1 communication parameter no Number of entries no TXPDO1 COB—ID no Transmission type TXPDO1 no Inhibit time no reserved

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

ASCII object

—

—

—

—

—



1803h

1803h

1803h

1803h

1803h

1803h

1803h

1A00h

Index Subindex

1800h

5

1801h

1801h

0

1801h

1801h

1801h

1801h

3

4

1

2

5

1801h

1802h

1802h

1802h

1802h

1802h

1802h

1802h

0

1

2

3

4

5

3

4

5

0

1

2

1A00h

0 U8

1A00h

1 to 8 U32

1A01h

1A01h

0

RECORD

U8

1A01h

1 to 8 U32

1A02h

RECORD

1A02h

0 U8

1A02h

1 to 8 U32

1A03h

1A03h

0

RECORD

U8

1A03h

1 to 8 U32


U16 RW

Description

no Event timer

RECORD

U8 RO no

TXPDO2 communication parameter

Number of entries

U32

U8

U16

U8

RW

RW

RW const

RW no no no no

TXPDO2 COB—ID

Transmission type TXPDO2

Inhibit time reserved

U16

RECORD

U8

U32

U8

U16

U8

U16

RO

RW

RW

RW const

RW no Event timer

TXPDO3 communication parameter no Number of entries no TXPDO3 COB—ID no no no no



Event timer

RECORD

U8

U32

U8

U16

U8

U16

RECORD

RO

RW

RW

RW const

RW no no no no no no

TXPDO4 communication parameter

Number of entries

TXPDO4 COB—ID



Event timer

Mapping parameter TXPDO1

RO

RW

RO

RW

RO

RW

RO

RW no Number of entries no Mapping for n—th application object no no

Mapping parameter TXPDO2 no Number of entries no Mapping for n—th application object

Mapping parameter TXPDO3 no Number of entries no Mapping for n—th application object

Mapping parameter TXPDO4

Number of entries

Mapping for n—the application object

ASCII object

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—



5.2.3 Manufacturer specific SDOs

Objects 2000h to 3999h

2001h

2001h

2001h

2001h

2001h

2001h

2001h

2001h

Index Subindex

Data

Type

2000h ARRAY

2000h 0 U8

2000h

2000h

2000h

2001h

1

2

3

U32

U32

U32

ARRAY

2001h

2001h

2001h

2002h

0

1

2

3

4

5

6

7

8

9

A

U8

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

ARRAY

2002h

2002h

2002h

2002h

2002h

2014h

2014h

2014h

2015h

2015h

2015h

2016h

2016h

2016h

2017h

2017h

0

1

2

3

4

1

U8

U8

U8

U8

U8

ARRAY

U32

2 U32

1

2

1

2

1

ARRAY

U32

U32

ARRAY

U32

U32

ARRAY

U32

Float

Scale

RO

RO

RO

RO

RO

RO

RO

Access PDO map.

RO

Description

System Warnings no Number of entries

RO

RO

RO no no no

System Warning 1

System Warning 2

System Warning 3

System Faults

RO

RO

RO

RO no no no no

Number of entries

System Fault 1

System Fault 2

System Fault 3 no no no no no no

System Fault 4

System Fault 5

System Fault 6

System Fault 7

System Fault 8

System Fault 9 no System Fault 10

Manufacturer status bytes

RO no Number of entries

RO yes Manufacturer status bytes 1




RW

RW

RW

RW

RW

RW

RW

Mask TxPDO Channel

1 no Mask (Byte 0..3) no Mask (Byte 4..7)

Mask TxPDO Channel


Mask TxPDO Channel


Mask TxPDO Channel

4 no Mask (Byte 0..3)

ASCII object

—

—

DRV.WARNING1

DRV.WARNING2

DRV.WARNING3

—

—

DRV.FAULT1

DRV.FAULT2

DRV.FAULT3

DRV.FAULT4

DRV.FAULT5

DRV.FAULT6

DRV.FAULT7

DRV.FAULT8

DRV.FAULT9

DRV.FAULT10

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—



Index Subindex

2017h

Data

Type

2 U32

2018h

2018h

0

ARRAY

U16

2018h

2018h

2018h

2018h

1

2

3

4

U16

U16

U16

U16

204Ch

204Ch

204Ch

ARRAY

0 U8

1 INT32

204Ch

2050h

2071h

2077h

20A0h

20A1h

20A2h

20A3h

20A4h

20A5h

20A6h

20A7h

20B8h

3405h

3405h

3405h

3405h

3405h

3405h

3406h

3406h

2

0

0

0

0

0

0

0

0 U16

0 U16

0 INT32

0

0

INT32

INT32

INT32

ARRAY

0 U8

1 U8

2

3

4

INT32

INT32

INT32

INT32

INT32

INT32

U16

U8

U8

U8

ARRAY

0 U8

Float

Scale

1:1 var var var var var var

Access PDO map.

RW

Description

no Mask (Byte 4..7)

Firmware version const no Number of entries const no Major version const no Minor version const no Revision const no Branch version

RO

RW

RW

ASCII object

—

—

—

—

—

—

— pv scaling factor no Number of entries

—

— no pv scaling factor numerator

— no pv scaling factor denom— inator

RO

RW

RO no Position, secondary feedback yes Target current yes Current actual value

DRV.HANDWHEEL

RO yes Latch position 1, positive edge

RO yes Latch position 1, negative edge

CAP0.PLFB , CAP0.T

RO yes Latch position 2, positive edge

RO yes Latch position 2, negative edge

CAP1.PLFB , CAP1.T

CAP1.PLFB , CAP1.T

RW yes Latch control register —

—

CAP0.PLFB

RW yes Latch status register

RO yes Gets captured position value

RO yes Gets captured position value

RW yes Clear changed digital input information

-

-

CAP0.PLFB , CAP0.T

CAP1.PLFB

—

RO

RW

—

—

VL.ARTYPE1

RW

RW

RW

RO

VL.ARTYPE

no Number of entries no Calculation method for

BiQuad filter 1 no Calculation method for



BiQuad filter 4

VL BiQuad no Number of entries

VL.ARTYPE2

VL.ARTYPE3

VL.ARTYPE4

—

—



Index Sub-

3406h

3406h

3406h

3406h

3406h

3406h

3406h

3406h

3406h

3406h

3406h

3406h

3406h

3406h

3406h

3406h

3407h

3407h

3407h

3407h

3407h

3407h

index

Data

Type

1 U32

2

3

4

5

6

7

8

9

A

B

C

D

E

F

10

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

STRUCT

0 U8

1 INT32

2 U32

3

4

U32

U32

Float

Scale

Access PDO

1000:1 RW

map.

Description

no Natural frequency of pole of anti-resonance

(AR) filter 1

1000:1 RW no Natural frequency of pole of anti-resonance

(AR) filter 2

1000:1 RW

1000:1

1000:1

1000:1

1000:1

1000:1

RW

RW

RW

RW

RW no Natural frequency of pole of anti-resonance

(AR) filter 3 no Natural frequency of pole of anti-resonance

(AR) filter 4 no Q of pole of anti-resonance (AR) filter 1 no Q of pole of anti-resonance (AR) filter 2 no Q of pole of anti-resonance (AR) filter 3 no Q of pole of anti-resonance (AR) filter 4

1000:1 RW

1000:1

1000:1

1000:1

1000:1

1000:1

1000:1

RW

RW

RW

RW

RW

RW no Natural frequency of zero of anti-resonance

(AR)filter 1 no Natural frequency of zero of anti-resonance



(AR)filter 4 no Q of zero of anti-resonance filter 1 no Q of zero of anti-resonance filter 2 no Q of zero of anti-resonance filter 3

1000:1 RW

1000:1

1000:1

1:1

RO

RW

RW

RW

RW

ASCII object

VL.ARPF1

VL.ARPF2

VL.ARPF3

VL.ARPF4

VL.ARPQ1

VL.ARPQ2

VL.ARPQ3

VL.ARPQ4

VL.ARZF1

VL.ARZF2

VL.ARZF3

VL.ARZF4

VL.ARZQ1

VL.ARZQ2

VL.ARZQ3

no Q of zero of anti-resonance filter 4

Velocity Filter no no

Number of entries

10 Hz filtered VL.FB

VL.ARZQ4

—

—

VL.FBFILTER

VL.KVFF

no Gain for the velocity feedforward no Gain for the acceleration feedforward

VL.KBUSFF

no Sets the velocity error VL.ERR



Index Subindex

3412h

3414h

3415h

3416h

3417h

3420h

3421h

3422h

3423h

3424h

3425h

3426h

3427h

3427h

3427h

3427h

3427h

3430h

3431h

3440h

3440h

3440h

3440h

3440h

0

0

0

0

0

0

0

0

0

1

2

3

Data

Type

0 INT8

0 U8

U32

U32

U32

U16

U32

U32

INT32

U16

Float

Scale

1000:1

Access PDO map.

RW

Description ASCII object

no Type of regen resistor REGEN.TYPE

RW REGEN.WATTEXT

RO

RO

Returns and sets the regen resistor fault level temperature.

no Thermal regen resistor time constant no Gets regen resistor's calculated power

REGEN.TEXT

REGEN.POWER

RO REGEN.POWERFILTERED

1000:1

1000:1

RW

RW no Returns a filtered version of 3416h no Sets the foldback fault level.

no Sets the user value for the foldback fault level.

IL.FOLDFTHRESH

IL.FOLDFTHRESHU

1000:1

1000:1 no Sets friction compensation value.

IL.FRICTION

no A constant current command added to compensate for gravity.

IL.OFFSET

no Enables/disables the integrator part of the PI loop.

IL.INTEN (Password Protected)

0

0

0

1

2

3

0

0

U32

U32

RECORD

U8

U8

U8

U32

U8

U16

1000:1

1000:1

RO

RW no Reads the overall foldback current limit

IL.IFOLD

no Sets current loop acceleration feedforward gain value

IL.KACCFF

Motor protection parameters

—

RO

RW

RW no

RW yes

RW no Number of entries no

RW no Sets the direction for absolute motion tasks.

no Sets the motion task in the drive

—

IL.MIMODE

IL.MI2TWTHRESH

IL.MI2T

PL.MODPDIR

MT.SET

ARRAY

U8

U32

U32

U32

1:1

1:1

RO

RW

RW

RW

Controlled stop parameters no Number of entries no Sets the deceleration value for a controlled stop.

—

—

CS.DEC

no Sets the velocity threshold for a controlled stop.

CS.VTHRESH

CS.TO

no Sets the time value for the drive velocity to be within CS.VTHRESH.



Index Subindex

3441h

3443h

3444h

3445h

3450h

3451h

3452h

3453h

3454h

3455h

3456h

3457h

3457h

3457h

3457h

3457h

345Ah

345Ah

345Ah

345Ah

3460h

3460h

3460h

0

0

0

0

0

0

0

0

0

0

1

2

3

ARRAY

0 U8

1 U16

2

0

1

Data

Type

0 U8

0 U16

U16

U32

U8

U8

U16

U32

U32

U32

U32

RECORD

U8

INT32

U16

U16

U16

RECORD

U8

U8

Float

Scale

1000:1

Access PDO map.

RO

Description

no Controlled stop state

RO

RO

RO no Returns the possible reason for a drive disable no Maximum current for dynamic braking no Emergency timeout for braking

WO

RW

RW no no

ASCII object

CS.STATE

DRV.DIS

DRV.DBILIMIT

DRV.DISTO

Release or enable brake MOTOR.BRAKERLS

Determines which drive parameters are calculated automatically.

no Sets the motor maximum voltage

MOTOR.AUTOSET

MOTOR.VOLTMAX

1000:1

1000:1

1000:1

RW

RW

RW

RW

RO

RW no Sets the motor temperature warning level no Sets the thermal constant of the motor coil

MOTOR.TEMPWARN

MOTOR.CTF0

no Sets the line-to-line motor Lq

MOTOR.LQLL

no Sets the stator winding resistance phase-phase in ohms

MOTOR.R

Induction Motor parameter

—

1000:1

RO

RW

RW no Number of entries no Configuration of induction motor's rated voltage.

— no Configuration of induction motor's rated velocity.

MOTOR.VRATED

MOTOR.VOLTRATED

MOTOR.VOLTMIN

RW no Sets the minimum voltage for V/f Control.

Brake Control

RO no Number of entries

RW yes Brake Control Command

RO yes Brake Status

Response.

—

—

—

—

Capture engines parameters

— no Number of entries — no Specifies the trigger source for the position capture.

CAP0.TRIGGER



Index Sub-

3460h

3460h

3460h

3460h

3460h

3460h

3460h

3460h

3460h

3460h

3460h

3470h

3470h

3470h

3470h

index

3

4

5

6

7

8

9

A

Data

Type

2 U8

U8

U8

U8

U8

U8

U8

U8

U8

Float

Scale

Access PDO map.

RW

Description

no Specifies the trigger source for the position capture.

RW no Selects the captured value.

RW

RW

RW

RW

RW

RW

RW

ASCII object

CAP1.TRIGGER

CAP0.MODE

no Selects the captured value.

no Controls the precondition logic.

no Controls the precondition logic.

no Selects the capture precondition edge.

no Selects the capture precondition edge.

no Sets the precondition trigger.

no Sets the precondition trigger.

CAP1.MODE

CAP0.EVENT

CAP1.EVENT

CAP0.PREEDGE

CAP1.PREEDGE

CAP0.PRESELECT

CAP1.PRESELECT

CAP0.FBSOURCE

B

C

U8

U8

RW

RW no Selects the feedback source for the capture engine 0.

no Selects the feedback source for the capture engine 1.

RECORD

0 U8

1 INT8

2 INT16

RO

RW no Number of entries no Sets the analog output mode.

1000:1 RW yes Reads the analog output value.

CAP1.FBSOURCE

—

—

AOUT.MODE

AOUT.VALUE

3470h

3470h

3470h

3471h

3472h

3474h

3474h

3474h

3474h

3 INT16

4

5

0

0

0

1

2

INT16

U32

U32

U32

ARRAY

U8

U32

U32

1000:1 RW yes Reads and writes the analog output value.

1000:1 RO yes Reads the value of the analog input signal.

1000:1 RW no Sets velocity scale factor for analog output

1:1 RW

1:1 RW

RO

RW

RW

AOUT.VALUEU

AIN.VALUE

AOUT.VSCALE

no Sets the analog position scale factor

AOUT.PSCALE

no Sets analog pscale factor

AIN.PSCALE

no

DINx.PARAM

Number of entries no Lower 32-bit part of input parameter 1 no Lower 32-bit part of input parameter 2

—

—

DIN1.PARAM

DIN2.PARAM



Index Sub-

3474h

3474h

3474h

3474h

3474h

3474h

3474h

3474h

3474h

3474h

3474h

3474h

3475h

3475h

3475h

3475h

3475h

3475h

3480h

3481h

3481h

3481h

3481h

3482h

3483h

3484h

index

Data

Type

3 U32

4

5

6

7

8

9

A

B

C

D

E

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

ARRAY

0 U8

1 U32

2

3

4

0

U32

U32

U32

U32

ARRAY

0 U8

1 U32

2 U32

0 INT32

0

0

INT32

INT32

Float

Scale

1000:1

1:1

1:1

1:1

1:1

1:1

Access PDO map.

RW no

Description

Lower 32-bit part of input parameter 3

RW

RW

RW no Lower 32-bit part of input parameter 4 no Lower 32-bit part of input parameter 5 no Lower 32-bit part of input parameter 6

RW

RW

RW no Lower 32-bit part of input parameter 7 no Higher 32-bit part of input parameter 1 no Higher 32-bit part of input parameter 2

RW

RW

RW

RW

RW

RO

RW

RW

RW

ASCII object

DIN3.PARAM

DIN4.PARAM

DIN5.PARAM

DIN6.PARAM

DIN7.PARAM

DIN1.PARAM

DIN2.PARAM

no Higher 32-bit part of input parameter 3 no Higher 32-bit part of input parameter 4 no Higher 32-bit part of input parameter 5 no Higher 32-bit part of input parameter 6 no Higher 32-bit part of input parameter 7

DIN3.PARAM

DIN4.PARAM

DIN5.PARAM

DIN6.PARAM

DIN7.PARAM

DOUTx.PARAM

no Number of entries no Lower 32-bit part of output parameter 1 no Lower 32-bit part of output parameter 2

—

—

DOUT1.PARAM

DOUT2.PARAM

no Higher 32-bit part of output parameter 1

DOUT1.PARAM

RW

RW

RO

RW

RW

RO

RW

RW no Hogher 32-bit part of outDOUT2.PARAM

put parameter 2 no Integral gain of position regulator PID loop

PL.KI

PL.INTMAX

no Number of entries no Input saturation no Output saturation

—

—

PL.INTINMAX

PL.INTOUTMAX

no Maximum value of following error in homing no Sets the position error warning level

HOME.PERRTHRESH

PL.ERRWTHRESH

no Specification of an additional movement after homing is completed.

HOME.DIST



Index Sub-

3490h

3491h

3492h

3493h

3494h

3494h

3494h

3494h

3494h

index

0

0

0

2

3

Data

Type

0 INT32

U32

U32

U8

RECORD

0 U8

1 INT16

INT32

U16

Float

Scale

1:1

1000:1

1:1

Access PDO map.

RO no

Description

Position feedback offset

RO

RO

RO no Location of index pulse on EEO no Motion status of the drive no Direction of EEO (emulated encoder output)

RO

RW

RW

RW

WS parameters no Number of entries no Sets maximum current used for wake and shake no Sets the maximum movement required for wake and shake no Sets the delay for wake and shake between loops in mode 0

3494h

3494h

3494h

3495h

3496h

3496h

3496h

3496h

3496h

3496h

4 INT32

5

6

0

0

1

2

3

4

U8

U8

U16

ARRAY

U8

U32

U32

U32

U32

1:1

1000:1

RW

RO

RW

RW

RO

RW

RW

RW

RW no Defines the maximum allowed velocity for

Wake & Shake no Reads wake and shake status no Arm Wake and Shake to start no Voltage level for undervoltage warning.

FBUS synchronization parameters no Number of entries no expected time distance between clearing the

PLL counter and calling the PLL function no actual time distance between clearing the

PLL counter and calling the PLL function no Time window, which is used in order to consider the drive as being synchronized no Time, which is used for extending or lowering the sample rate of the internal 16[kHz] IRQ

ASCII object

FB1.POFFSET

DRV.EMUEMTURN

DRV.MOTIONSTAT

DRV.EMUEDIR

—

—

WS.IMAX

WS.DISTMAX

WS.TDELAY3

WS.VTHRESH

WS.STATE

WS.ARM

VBUS.UVWTHRESH

—

—

FBUS.SYNCDIST

FBUS.SYNCACT

FBUS.SYNCWND

—


70


Index Sub-

3498h

3499h

34A0h

34A0h

34A0h

34A0h

34A0h

34A0h

34A0h

34A0h

34A0h

34A0h

34A1h

34A1h

34A1h

34A1h

34A1h

34A1h

34A1h

34A1h

34A1h

34A1h

34A2h

34A2h

34A2h

34A2h

index

Data

Type

0 U8

0 INT32

ARRAY

0 U8

1 INT32

2

3

4

5

6

7

8

ARRAY

0 U8

1 INT32

2

3

4

5

6

7

8

INT32

INT32

INT32

INT32

INT32

INT32

INT32

INT32

INT32

INT32

INT32

INT32

INT32

INT32

ARRAY

0 U8

1 U16

2 U16

Float

Scale

1:1

1:1

1:1

1:1

1:1

1:1

1:1

1:1

1:1

1:1

1:1

1:1

1:1

1:1

1:1

1:1

Access PDO map.

RW

Description

no Protection level of fieldbus against other communication channels

(Telnet, Modbus..)

RW yes Set-point for stepper motor output through the emulated encoder output (EEO)

RO

RW

PLS Position no Number of entries no Limit switch 1 compare value

RW

RW

RW

RW

RW

RW

RW

RO

RW no Limit switch 2 compare value no Limit switch 3 compare value no Limit switch 4 compare value no Limit switch 5 compare value no Limit switch 6 compare value no Limit switch 7 compare value no Limit switch 8 compare value

PLS Width no Number of entries no Sets Limit Switch1

Width

RW

RW

RW

RW

RW

RW

RW

RO

RW

RW

ASCII object

FBUS.PROTECTION

DRV.EMUSTEPCMD

—

PLS.P1

PLS.P2

PLS.P3

PLS.P4

PLS.P5

PLS.P6

PLS.P7

PLS.P8

—

—

PLS.WIDTH1

no Sets Limit Switch 2

Width no Sets Limit Switch 3






Width

PLS.WIDTH2

PLS.WIDTH3

PLS.WIDTH4

PLS.WIDTH5

PLS.WIDTH6

PLS.WIDTH7

PLS.WIDTH8

PLS Time no Number of entries

—

— no Sets limit switch 1 time PLS.T1

no Sets limit switch 2 time PLS.T2



34A3h

34A3h

34A3h

34A4h

34B0h

34B0h

34B0h

34B0h

34B1h

34B1h

34B1h

34B1h

34B1h

34B1h

34B2h

34B2h

34B2h

34B2h

34B2h

34B2h

34B2h

34B2h

34B2h

34B2h

3501h

Index Subindex

34A2h

Data

Type

3 U16

34A2h

34A2h

4

5

U16

U16

34A2h

34A2h

34A2h

34A3h

34A3h

34A3h

6

7

8

0

1

U16

U16

U16

ARRAY

U8

U16

3502h

2

3

4 U16

0 U8

ARRAY

0 U8

1 U32

2 U32

ARRAY

0 U8

1 U16

2 U16

3 U16

4 U16

ARRAY

0

7

8

0

0

U16

U16

U8

1 U8

2 U8

3 U8

4 U8

5 U8

6 U8

U8

U8

INT32

INT32

Float

Scale

1:1

1:1

RO

RW

RW

RW

RW

RW

RW

RW

RW

RW

Access PDO map.

RW


no Sets limit switch 3 time PLS.T3

RW

RW no no

Sets limit switch 4 time PLS.T4


RW

RW

RW no no no




PLS Configuration —

RO

RW

RW

RW

RW no Number of entries no Enables the limit switches

—

PLS.EN

no Resets limit switches PLS.RESET

no Selects limit switch mode

PLS.MODE

no Reads the limit switch state

PLS.STATE

RW

RO

RW

RW

RO

RW

RW

RW

RW no Sets limit switch units PLS.UNITS

USER.DWORDS for writing of feedback memory

— no Number of entries — no FB1.USERDWORD1

FB1.USERDWORD1

no FB1.USERDWORD2

FB1.USERDWORD2

USER.WORDS for writ— ing of feedback memory no Number of entries no FB1.USERWORD1

no FB1.USERWORD2

no FB1.USERWORD3

—

FB1.USERWORD1

FB1.USERWORD2

FB1.USERWORD3

no FB1.USERWORD4

USER.BYTES for writing of feedback memory no Number of entries

FB1.USERWORD4

—

—

RW no no no no no no no no no no

FB1.USERBYTE1

FB1.USERBYTE2

FB1.USERBYTE3

FB1.USERBYTE4

FB1.USERBYTE5

FB1.USERBYTE6

FB1.USERBYTE7

FB1.USERBYTE8

Acceleration ramp

Acceleration ramp for homing/jog modes

FB1.USERBYTE1

FB1.USERBYTE2

FB1.USERBYTE3

FB1.USERBYTE4

FB1.USERBYTE5

FB1.USERBYTE6

FB1.USERBYTE7

FB1.USERBYTE8

DRV.ACC, also see "6083h"

(➜ p. 80)

HOME.ACC



Index Subindex

3506h

Data

Type

0 INT32

3509h

3522h

3524h

352Ah

3533h

3534h

3535h

3537h

353Bh

3542h

3548h

354Bh

356Eh

356Fh

3586h

3587h

358Eh

354Dh

3558h

3559h

355Ah

3562h

3565h

3568h

356Bh

0

0

0

INT32

INT32

INT32

0 INT32

0 U32

0 U32

0 U32

0 U32

0 INT32

0 U32

0 U32

0 INT32

0

0

0

INT32

0 INT32

0 INT32

0 INT32

0 INT32

0 INT32

0 INT32

0 INT32

0 INT32

0 INT32

0 U32

INT32

U32

Float

Scale

Access PDO map.

Description

no Action that hardware enable digital input will perform.

1000:1 RO

1:1 RW no no

Analog input voltage

Deceleration rate

1:1 RW

RW

RO

ASCII object

DRV.HWENMODE

AIN.VALUE

DRV.DEC, also see "6084h"

(➜ p. 80)

HOME.DEC

no Deceleration ramp for homing/jog modes no Direction of movements DRV.DIR

no Resolution of motor encoder

FB1.ENCRES

1000:1

RO

RO

RO

RO

RW no no

Mode of EEO connector DRV.EMUEMODE

Resolution of EEO no Location of EEO index pulse no Selection of the feedback type no Position Control Loop:

Proportional Gain

DRV.EMUERES

DRV.EMUEZOFFSET

FB1.SELECT

PL.KP

1000:1 RW

1000:1

1000:1

1000:1

1000:1

1000:1

RW

RW

RO

RO

RW

RW no Velocity Control Loop:

Proportional Gain no Sets the velocity loop velocity feedforward gain value

VL.KP

VL.KVFF

no Velocity Control Loop: I-

Integration Time

VL.KI

no no no

Current Monitor

Drive Ifold

I2T Warning no Function of Digital Input

1

IL.FB

IL.DIFOLD

IL.FOLDWTHRESH

DIN1.MODE

1000:1

1000:1

1000:1

RW

RW

RW

RW

RW

RW

RW

RW no Function of Digital Input

2 no Function of Digital Input


4

DIN2.MODE

DIN3.MODE

DIN4.MODE

IL.LIMITP

no Application Peak Current, positive direction no Application Peak Current, negative direction no Sets the motor temperature fault level no Select Motor Holding

Brake no Motor Continuous Current Rating

IL.LIMITN

MOTOR.TEMPFAULT

MOTOR.BRAKE

MOTOR.ICONT



Index Subindex

358Fh

3593h

3596h

Data

Type

0 U32

0

0

U32

U32

0 INT32

0 INT32

0 INT32

0 INT32

0 INT32

0 INT32

0 INT32

0 INT32

0 INT32

0 U32

0 U32

0 INT32

0 U32

0 U32

0 U32

0 INT32

0 U32

0 U32

0 U32

35B4h

35B9h

35BCh

35C2h

35C5h

35C6h

35C7h

35CAh

35CBh

35D2h

35E2h

3598h

359Ch

359Dh

35A3h

35A4h

35ABh

35AFh

35B2h

35EBh

35F0h

35FEh

35FFh

0 INT32

0 INT32

0 INT32

0 U32

3610h

3611h

0

0

INT32

INT32

Float

Scale

Access PDO

1000:1 RW

map.

no

Description

Motor Peak Current Rating

ASCII object

MOTOR.IPEAK

1000:1 RW

1000:1

1000:1

RO

RW no Sets the torque constant of the motor

MOTOR.KT

no Sets the proportional gain of the d-component current PI-regulator as a percentage of IL.KP

IL.KPDRATIO

no Absolute Gain of Current Control loop

IL.KP

RW

RW

RW no Sets the motor phase.

MOTOR.PHASE

no Sets the number of motor poles

MOTOR.POLES

no Sets the maximum motor speed

MOTOR.VMAX

1000:1 RW

1000:1 RW

RW

RW

RW

RW

RW no Maximum motor current IL.MIFOLD

no Sets the motor inertia MOTOR.INERTIA

DOUT1.MODE

no Sets the digital output 1 mode no Sets the digital output 2 mode

DOUT2.MODE

no Operating Mode no Control for Motion Task

0 no Next Task Number for

Motion Task 0

DRV.OPMODE

MT.CNTL

MT.MTNEXT

1:1

1:1

1:1

RW

RO

RW

RW

RW

1:1

RW

RO

RW

WO

WO

WO

RW

RO

RO no Select regen resistor REGEN.REXT

no Actual Following Error PL.ERR

no In-Position Window no Max. Following Error

MT.TPOSWND

PL.ERRFTHRESH

no Position Resolution

(Numerator) no Position Resolution

(Denominator)

UNIT.PIN

UNIT.POUT

no Mechanical Position no Sets the current limit during homing procedure to a mechanical stop

FB1.MECHPOS

HOME.IPEAK

no Save Data in EEPROM DRV.NVSAVE

no Set Reference Point no Stop Motion Task no Selects between disable immediately or stop and then disable

HOME.SET

DRV.STOP

DRV.DISMODE

no Ambient Temperature DRV.TEMPERATURES

no Heat Sink Temperature DRV.TEMPERATURES



36D1h

36D7h

36E2h

36E5h

36E6h

36E7h

36E8h

36E9h

36EAh

365Fh

3660h

366Eh

366Fh

3683h

3685h

36D0h

Index Subindex

3612h

Data

Type

0 INT32

3617h

3618h

0

0

U32

INT32

361Ah

361Dh

0 INT32

0 U32

3622h

3623h

3627h

3629h

0 INT32

0 INT32

0 INT32

0 INT32

3656h

3659h

365Bh

0 U64

0 INT32

0 INT32

0

0

0

0 INT32

0 U16

0 U16

0 U16

0

0

0

0

INT32

INT32

INT32

U32

U32

U8

U32

0 U32

0 U32

0 U32

0 U32

0 U32

Float

Scale

1:1

1:1

Access PDO map.

RO

Description

no Motor Temperature

RW

RO

RO

1000:1 RW no no no

Undervoltage mode

Actual Velocity

DC-bus voltage no Voltage level for undervoltage fault

1:1

1:1

RW

RW

1:1 RW

1000:1 RW no Max. Velocity

ASCII object

MOTOR.TEMP

VBUS.UVMODE

VL.FB

VBUS.VALUE

VBUS.UVFTHRESH

no Max. Negative Velocity VL.LIMITN

no Overspeed no SW1 Velocity Scaling

Factor

VL.LIMITP

VL.THRESH

AIN.VSCALE

1:1 RW

RW

RW

RW

RW

RW

RW

RW

RW no Initial feedback position FB1.ORIGIN

no Type of acceleration setUNIT.ACCROTARY

point for the system no Presetting for motion task that is processed later

MT.NUM

no Systemwide Definition of Velocity/Speed no Set Resolution of the

Position no Disable Delaytime with

Holding Brake

UNIT.VROTARY

UNIT.PROTARY

MOTOR.TBRAKEAPP

no Enable Delaytime with

Holding Brake no Delay for wake and shake timing

MOTOR.TBRAKERLS

WS.TDELAY1

no Sets delay for wake and shake timing

WS.TDELAY2

1:1

1000:1

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW no Sets wake and shake current-vector appliance time

WS.T

WS.DISTMIN

no Sets the minimum movement required for wake and shake no Sets homing auto move flag

HOME.AUTOMOVE

no Sets the number of repeWS.NUMLOOPS

titions for wake and shake no CAN baud rate selection

FBUS.PARAM01

no pll synchronization FBUS.PARAM02

no no SYNC surveillance no no -

FBUS.PARAM03

FBUS.PARAM04

FBUS.PARAM05

FBUS.PARAM06



Index Subindex

36EBh

36ECh

36EDh

36EEh

36F6h

36F9h

36FCh

3856h

0 U32

0

0

Data

Type

U32

U32

0 U32

0 INT32

0

0

0

INT32

U32

INT32

Float

Scale

1:1

Access PDO map.

RW

Description

no -

RW

RW no no

-

-

RW

RW no no Function of Digital Input

5

ASCII object

FBUS.PARAM07

FBUS.PARAM08

FBUS.PARAM09

FBUS.PARAM10

DIN5.MODE

RW

RW

RW no Function of Digital Input


7 no velocity window for profile position mode

DIN6.MODE

DIN7.MODE

MT.TVELWND

Index Subindex

5000h

Data

Type

0 UINT32

5001h

5002h

5003h

5009h

500Bh

5013h

5015h

5016h

5019h

5060h

5080h

5083h

5084h

5085h

0

0

0

0

0

0

0

0

0

0

0

0

0

0

Objects 5000h to 5999h

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

Float

Scale

Access PDO map.

RW

Description

no Analog input low-pass filter cutoff frequency.

RW

RW

ASCII object

AIN.CUTOFF

no Analog input signal deadband.

no Analog current scale factor.

AIN.DEADBAND

AIN.ISCALE

RW

RW no Analog input offset.

no Analog current scale factor.

AIN.OFFSET

AOUT.ISCALE

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW no Analog output offset.

no Controls how often the excitation is updated.

AOUT.OFFSET

BODE.EXCITEGAP

no Current command value used during the Bode procedure.

BODE.IAMP

BODE.INJECTPOINT

no Sets whether the excitation uses current or velocity excitation type.

no Length of the PRB signal before it repeats.

no Sets the fault relay mode.

BODE.PRBDEPTH

DOUT.RELAYMODE

no Default state of the software enable.

no Continuous rated current value.

DRV.ENDEFAULT

DRV.ICONT

no Peak rated current value. DRV.IPEAK

no Current that will be used during the DRV.ZERO

procedure.

DRV.IZERO


76


Index Subindex

508Ch

Data

Type

0 UINT32

508Fh

5096h

5097h

5099h

509Ah

509Ch

50B1h

50BBh

50BCh

50BEh

50C5h

50CBh

50E2h

50FBh

50FEh

5104h

510Eh

5121h

5128h

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

Float

Scale

Access PDO map.

RW

Description

no Number of Biss Sensor

(Position) Bits for the

BiSS Mode C encoder in use.

RW no Initial feedback value as signed or unsigned.

RW

RW

RW

RW

RW

ASCII object

FB1.BISSBITS

FB1.INITSIGNED

no Current value used during the phase finding procedure (PFB.PFIND=1) no Number of feedback poles.

no Resolver nominal transformation ratio.

no Electrical degrees of phase lag in the resolver.

no Controls tracking calibration algorithm.

FB1.PFINDCMDU

FB1.POLES

FB1.RESKTR

FB1.RESREFPHASE

FB1.TRACKINGCAL

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW no Number of successful synchronized cycles needed to lock the PLL.

no Denominator of the electronic gearing ratio; active in opmode 2 (position) only.

FBUS.PLLTHRESH

GEAR.IN

no Electronic gearing mode; active in opmode 2 (position) only.

no Numerator of the electronic gearing ratio; active in opmode 2 (position) only.

no Homing direction

GEAR.MODE

GEAR.OUT

HOME.DIR

HOME.MODE

IL.KBUSFF

no Homing mode no Current loops fieldbus injected feed-forward gain no Motor pitch.

no Type of thermal resistor inside the motor.

no Motor type.

MOTOR.PITCH

MOTOR.RTYPE

MOTOR.TYPE

MT.EMERGMT

no Motion task to be triggered after an emergency stop procedure; active in opmode 2 (position) only.

no Type of following error warning and fault usage.

no Feedback source for the position loop.

PL.ERRMODE

PL.FBSOURCE



Index Subindex

5175h

Data

Type

0 UINT32

5176h

5177h

5179h

517Ah

517Eh

5184h

5187h

518Ah

518Eh

51AEh

51B0h

51B3h

51B8h

51BAh

51BBh

51CBh

51CCh

51CDh

51CEh

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

Float

Scale

Access PDO map.

RW

Description

no Service motion current 1; active in opmode 0

(torque) only.

ASCII object

SM.I1

RW no Service motion current 2; active in opmode 0

(torque) only.

SM.I2

RW

RW

RW

RW

RW no Service motion mode.

SM.MODE

no Service motion time 1.

SM.T1

no Service motion time 2.

SM.T2

no Enables and disables software travel limit switches.

SWLS.EN

no Linear acceleration/deceleration units.

UNIT.ACCLINEAR

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW no Linear position units.

no Linear velocity units.

UNIT.PLINEAR

UNIT.VLINEAR

no Voltage level for over voltVBUS.OVWTHRESH

age warning.

VL.FBSOURCE

no Feedback source for the velocity loop; active in opmodes 1 (velocity) and

2 (position) only.

no Mode of velocity generation (Observer, d/dt); active in opmodes 1

(velocity) and 2 (position) only.

VL.GENMODE

no Scales the observer velocity signal; active in opmodes 1 (velocity) and

2 (position) only.

VL.KO

no Ratio of the estimated load moment of inertia rel-

VL.LMJR

ative to the motor moment of inertia; active in opmodes 1 and 2 only.

no Bandwidth of the observer in Hz.

VL.OBSBW

VL.OBSMODE

no Observer operating mode.

no Filter mode for Digital In

1.


2.

DIN1.FILTER

DIN2.FILTER


3.


4.

DIN3.FILTER

DIN4.FILTER



Index Subindex

51CFh

Data

Type

0 UINT32

51D0h

51D1h

51E7h

51E8h

51E9h

51ECh

51EDh

51EEh

51EFh

51F0h

520Ch

520Dh

520Eh

5251h

5252h

5253h

5254h

5255h

5256h

5257h

5258h

5259h

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

Float

Scale

Access PDO map.

RW no

Description

Filter mode for Digital In

5.

RW

RW

RW

ASCII object

DIN5.FILTER


6.


7.

DIN6.FILTER

DIN7.FILTER

no Modbus User Units Input parameter

MODBUS.PIN

RW MODBUS.POUT

RW

RW no Modbus User Units Output parameter.

no Feedback Resolution

(per rev) over Modbus.

no Secondary feedback

(FB2) resolution.

MODBUS.PSCALE

FB2.ENCRES

RW

RW

RW

RW

RW no Mode for the second feedFB2.MODE

back inputs and high speed digital inputs.

no Source for the second feedback input.

FB2.SOURCE

MOTOR.TBRAKETO

no Brake apply timeout for vertical axis.

no i.p.

no Scaling mode for Modbus values.

MODBUS.MSGLOG

MODBUS.SCALING

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW no Encoder output pulse width for modes 6 to 7.

no Enable/disable motor velocity vs. maximum emulated encoder velocity monitoring function.

no Analog input deadband mode.

DRV.EMUEPULSEWIDTH

DRV.EMUECHECKSPEED

AIN.DEADBANDMODE

no Analog input mode AIN.MODE

no Direction of IOs from X9. DIO10.DIR

no Inverting the output voltage of the IO, when in the output direction.

DIO10.INV



DIO11.INV



DIO9.INV

no Fault Action for Fault

130.

FAULT130.ACTION



Index Subindex

525Ah

Data

Type

0 UINT32

525Bh

525Ch

525Dh

525Eh

525Fh

5260h

5261h

5262h

5263h

5264h

5265h

5266h

5267h

5268h

5352h

535Ch

535Dh

5360h

5361h

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT32

0 UINT16

0 UINT16

0 UINT16

0 UINT16

0 UINT8

Float

Scale

Access PDO map.

RW no

Description

Fault Action for Fault

131.

RW

RW

RW no Fault Action for Fault

132.


133.


702.

RW

RW

RW

RW

RW

RW

ASCII object

FAULT131.ACTION

FAULT132.ACTION

FAULT134.ACTION

FAULT702.ACTION

no Method of acquiring IP

Address.

no Load inertia.

no Feedback for handwheel operation.

IP.MODE

LOAD.INERTIA

no Motor back EMF constant.

no Changing voltage thresholds for HV and MV

Drives no Direction for the second feedback input (X9 and

X7).

MOTOR.KE

VBUS.HALFVOLT

FB2.DIR

DRV.HANDWHEELSRC

RW

RW

RW

RW

RW no Delay time between inactive Hardware Enable input and drive disable.

DRV.HWENDELAY

IL.KPLOOKUPINDEX

no Index into the Current

Loop Gain Scheduling

Table.

no Value of the current loop gain scheduling index.

IL.KPLOOKUPVALUE


451.

no Brake Immediately in the case of a drive disable.

FAULT451.ACTION

MOTOR.BRAKEIMM

RW

RW

RW

RW

RW no Amount of time a communication error must be present before an W&Sfault is thrown.

no Sets the calming time of the motor for Wake &

Shake mode 1.

WS.CHECKT

WS.TSTANDSTILL

no Time for the ramp up current in Wake & Shake mode 1.

no Rotor time constant.

WS.TIRAMP

MOTOR.IMTR

no Sets the feedback source for the current loop for MOTOR.TYPE4.

IL.FBSOURCE



80

Index Subindex

5362h

Data

Type

0 UINT32

538Bh

538Ch

538Dh

0 UINT16

0 UINT16

0 UINT16

Float

Scale

Access PDO map.

RW

Description

no The direct-axis current set point used for induction machine closed-loop control.

RW no tbd

RW

RW no tbd no tbd

ASCII object

MOTOR.IMID

DRV.EMUESTEPMODE

DRV.EMUESTEPSTATUS

DRV.EMUESTEPVMAX

606Dh

606Eh

6071h

6072h

6073h

6077h

607Ah

607Ch

607Dh

607Dh

607Dh

607Dh

6081h

6083h

5.2.4 Profile specific SDOs

Index

6040h

6041h

6060h

6061h

6063h

6064h

6065h

606Bh

606Ch

0

0

0

0

0

0

0

0

2

0

0

1

0

Subindex

0

0

0

0

0

0

0

0

0

Data Type Float

Scale

U16

U16

INT8

INT8

INT32

INT32

U32

INT32

INT32

U16

U16

INT16

U16

U16

INT16

INT32

INT32

ARRAY

U8

INT32

1:1

1:1

1:1

1:1

1:1

Access PDO map.

WO

Description

yes Control word

RO

RW yes yes

Status word

Modes of Operation

RO

RO

RO

RW

RO

1000:1 RO

RW

RW

RW

RW

RW

RO

RW

RW yes Modes of Operation Display — yes Position actual value (increments)

—

PL.FB

yes Position actual value (position units) no Following error window no Velocity demand value

PL.

ERRFTHRESH

VL.CMD

yes Velocity actual value (PDO in

RPM) yes Velocity window

VL.FB

yes yes yes no Max current yes yes no

Velocity window time

Target torque

Max torque

Torque actual value

Target position

Reference offset

Software position limit

ASCII object

—

—

—

—

—

—

MT.P

HOME.P

INT32

U32

U32

1:1

1:1

1:1

1:1

RO

RW

RW

RW

RW no Number of entries no Software position limit 1 no Software position limit 2 yes Profile Velocity yes Profile Acceleration

SWLS.LIMIT0

SWLS.LIMIT1

MT.V

MT.ACC , DRV.ACC

6084h

0 U32 1:1 RW yes Profile Deceleration MT.DEC , DRV.DEC

608Fh

608Fh

608Fh

608Fh

6091h

0

1

2

ARRAY

U8

U32

U32

ARRAY

RO

RW

RW

Position encoder resolution — no Number of entries — no Encoder increments no Motor revolutions

—

Gear ratio —



Index

6091h

6091h

6091h

6092h

6092h

6092h

6092h

6098h

6099h

6099h

6099h

6099h

609Ah

60B1h

60B2h

60B8h

60B9h

60BAh

60BBh

60BCh

60BDh

60C0h

60C1h

60C1h

60C1h

60C1h

60C1h

60C2h

60C2h

60C2h

60C2h

60C4h

60C4h

60C4h

60C4h

60C4h

60C4h

60C4h

60C4h

0

1

2

0

0

1

2

3

0

0

0

0

0

0

0

0

0

4

5

6

2

3

0

1

Subindex

0

1

2

0

1

2

0

0

1

2

U8

U32

U32

U8

U16

U8

U8

INT32

INT16

U16

U16

INT32

INT32

INT32

INT32

INT16

ARRAY

U8

INT32

U32

INT32

RECORD

U8

Data Type Float

Scale

U8

U32

U32

ARRAY

U8

U32

U32

INT8

ARRAY

U8

U32

U32

U32

U8

INT16

RECORD

1:1

1:1

1:1

RO

RO

RO

RW

RW

WO

WO

RW

RW

RW

RW

RW

RW

RW

RW

RW

Access PDO map.

RO

Description

no Number of entries

RW

RW no no

Motor revolution

Shaft revolutions

RO

RW

RW

RW

RO

RW

RW

RW no no no no

Feed constant

Number of entries

Feed

Shaft revolutions

Homing type

Homing velocity no Number of entries no Speed while searching for limit switch

ASCII object

—

—

—

UNIT.PIN

—

HOME.MODE ,

HOME.DIR

—

—

HOME.V

no Speed while searching for zero mark no Homing acceleration

HOME.

FEEDRATE yes Velocity offset yes Torque offset (PDO only) yes Touch probe function — yes Touch probe status — yes Touch probe 1 positive edge —

HOME.ACC ,

HOME.DEC

VL.BUSFF

yes Touch probe 1 negative edge — yes Touch probe 2 positive edge — yes Touch probe 2 negative edge — no Interpolation submode select —

RO

RW

RW

RW

RO

RW

RW

Interpolation data record no Number of entries

—

— yes Interpolation target position — yes Interpolation time — yes Interpolation target velocity —

Interpolation time period — no Number of entries no Interpolation time units

FBUS.

SAMPLEPERIOD

— no Interpolation time index

Interpolation data configuration

—

— no Number of entries no Maximum buffer size yes Actual buffer size no Buffer organization no Buffer position no Siza of data record no Buffer clear

—

—

—

—

—

—

—



Index

60D0h

60D0h

60D0h

60D0h

60F4h

60FDh

60FEh

60FEh

60FEh

60FEh

60FFh

6502h

2

0

0

1

0

2

0

0

1

0

Subindex

Data Type Float

Scale

ARRAY

U8

INT16

INT16

INT32

U32

ARRAY

U8

U32

U32

INT32

U32

Access PDO map.

RO

RW


Touch probe source — no Highest sub-index supported no Touch probe 1 source —

RW

RO

RO no yes yes

Touch probe 2 source


Digital inputs

Digital outputs

—

PL.ERR

DIN1.MODE TO

DIN6.MODE

RO

RW

RW

1000:1 RW

RO no Number of entries yes Physical outputs no Bit mask yes Target velocity no Supported drive modes

VL.CMDU

—

5.3 Object descriptions

The objects in this section are sorted by object number.

5.3.1 Object 1000h: Device Type (DS301)

This object describes the device type (servo drive) and device functionality (DS402 drive profile). Definition:

MSB LSB

31

Additional information

Mode bits Type

24 23 16 15

Device profile number

402d=192h

0

The device profile number is DS402, the type is 2 for drives, the mode bits 28 to 31 are manufacturer specific and may be changed from its actual value of 0. A read access delivers

0x00020192 at the moment.

Index

Name

Object code

Data type

Category

1000h device type

VAR

UNSIGNED32 mandatory

Access

PDO mapping

Value range

Default value

R/O not possible

UNSIGNED32 no



5.3.2 Object 1001h: Error register (DS301)

This object is an error register for the device. The device can map internal errors into this byte. It is a part of an Emergency object.

Index

Name

Object code

Data type

Category

1001h

Error register

VAR

UNSIGNED8 mandatory

Access

PDO mapping

Value range

Default value

R/O not possible

UNSIGNED8 no

Error reasons to be signaled:If a bit is set to 1 the specified error has occurred. The generic error is signaled at any error situation.

Bit Description

0 generic error

1 current

2 voltage

3 temperature

Bit Description

4 communication error (overrun, error state)

5 device profile specific

6 reserved (always 0)

7 manufacturer specific



5.3.3 Object 1002h: Manufacturer Status Register (DS301)

The manufacturer status register contains important drive informations.

Index

Name

Object code

Data type

Category

1002h

Manufacturer Status Register

VAR

UNSIGNED32 optional

Access

PDO mapping

Value range

Default value

R/O possible

UNSIGNED32 no

The following table shows the bit assignment for the status register:

Bit Description Bit Description

0 1 = Movement (positioning, homing) active 16 1 = Homing move active

1 reference position set 17 reserved

2 1 = reference switch high (home-position) 18 reserved

3 1 = In Position

4 reserved

5 reserved

6 reserved

19 1 = Emergency stop active

20 reserved

21 reserved

22 reserved

7 Active Disabel activated

8 Warning active

23 1 = Homing move finished

24 Power stage deactivating

9 1 = target velocity reached (pp- or pv-Mode) 25 1 = digital input 1 set

10 reserved 26 1 = digital input 2 set

11 1 = Homing error

12 reserved

13 1 = Safe Torque Off selected

14 1 = Power stage enabled

15 1 = Error state

27 1 = digital input 3 set

28 1 = digital input 4 set

29 1 = digital input hardware enable set

30 1 = Wake and Shake action is required

31 Braking, 1 = set points not accepted



5.3.4 Object 1003h: Predefined Error Field (DS301)

The object 1003h provides an error history with a maximum size of 10 entries.

Subindex 0 contains the number of errors which have occured since the last reset of the error history, either by startup of the drive or resetting the error history by writing 0 to subindex 0.

A new Emergency-message is written into subindex 1 shifting the old entries one subindex higher. The old content of subindex 8 is lost.

The UNSIGNED32-information written to the subindizes is defined in the field Error Code in

the description of the Emergency Messages (➜ p. 54).

Index

Name

Object code

Data type

Category

1003h pre-defined Error Field

ARRAY

UNSIGNED32 optional

Subindex

Description

Data type

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

0

Number of entries

UNSIGNED8 mandatory

R/W not possible

0 to 10

0

1 to 10

Standard error field (➜ p. 54)

optional

R/O not possible

UNSIGNED32 no



5.3.5 Object 1005h: COB-ID of the SYNC Message (DS301)

This object defines the COB-Id of the synchronisation object (SYNC).

Index

Name

Object code

Data type

Category

1005h

COB-ID for the SYNC message

VAR

UNSIGNED32 conditional

Access

PDO mapping

Value range

Default value

Bit coded information:

R/W not possible

UNSIGNED32

0x80

Bit

31 (MSB)

30

Value Meaning

X —

0 Device not generate SYNC message

1 Device generates SYNC message

29

28 to 11

0 11 Bit ID (CAN 2.0A)

1 29 Bit ID (CAN 2.0B)

X —

0 if Bit 29=0

10 to 0 (LSB) X Bit 0 to 10 of SYNC COB-ID

The device does not support the generation of SYNC-messages and only the 11-bit IDs. So the bits 11 to 30 are always 0.

5.3.6 Object 1006h: Communication Cycle Period (DS301)

This object can be used to define the period (in µs) for the transmission of the SYNC telegram.

Index

Name

Object code

Data type

Category

1006h

Period of the communication cycle

VAR

UNSIGNED32

O

Access

PDO mapping

Value range

Default value

R/W not possible

UNSIGNED32

00h



5.3.7 Object 1008h: Manufacturer Device Name (DS301)

The device name consists of four ASCII characters in the form Yzzz, whereby Y stands for the mains voltage (L, M, H or U, e.g. H for High Voltage) zzz stands for the power stage current.

Index

Name

Object code

Data type

Category

1008h

Manufacturer Device Name

VAR

Visible String

Optional

Access

PDO mapping

Value range

Default value

const not possible no

5.3.8 Object 1009h: Manufacturer Hardware Version

This object will be supported in the future.

Index

Name

Object code

Data type

Category

1009h manufacturer hardware version

VAR

Visible String

Optional

Access

PDO mapping

Value range

Default value

const not possible

no

5.3.9 Object 100Ah: Manufacturer Software Version (DS301)

The object contains the manufacturer software version (here: the CANopen-part of the drive firmware).

Index

Name

Object code

Data type

Category

100Ah

Manufacturer Software Version

VAR

Visible String

Optional

Access

PDO mapping

Value range

Default value

const not possible

0.01 to 9.99

no



5.3.10 Object 100Ch: Guard Time (DS301)Response monitoring

The arithmetical product of the Objects 100Ch Guard Time and 100Dh Lifetime Factor is the response monitoring time. The Guard Time is given in milliseconds. The response monitoring is activated with the first Nodeguard object. If the value of the object Guard Time is set to zero, then the response monitoring is inactive.

Index

Name

Object code

Data type

Category

100Ch

Guard Time

VAR

UNSIGNED16 conditional; mandatory, if heartbeat not supported

Access

PDO mapping

Value range

Default value

R/W not possible

UNSIGNED16

0

5.3.11 Object 100Dh: Lifetime Factor (DS301)

The product of Guard Time and Life Time Factor gives the life time for the nodeguarding protocol. If it’s 0, the protocol is not used.

Index

Name

Object code

Data type

Category

100Dh

Lifetime Factor

VAR

UNSIGNED8 conditional; (mandatory, if heartbeat not supported)

Access

PDO mapping

Value range

Default value

R/W not possible

UNSIGNED8

0



5.3.12 Object 1010h: Store Parameters (DS301)

This object supports the saving of parameters to a flash EEPROM. Only the subindex 1 for saving of all parameters, which can also be saved in the parameter files via the GUI, is supported.

Index

Name

Object code

Data type

Category

1010h

store parameters (DRV.NVSAVE)

ARRAY

UNSIGNED32 optional

Subindex

Name

Object code

Data type

Category

Access

PDO Mapping

Value range

Default value

0

number of entries

VAR

UNSIGNED8 mandatory

R/O not possible

1

1

Subindex

Name

Object code

Data type

Category

Access

PDO Mapping

Value range

Default value

Data definition:

1

save all parameters

VAR


R/W not possible

UNSIGNED32

1

Bit Value Meaning

31 to 2 0 reserved (=0)

1 0 Device does not save parameters autonomously

1 Device does save parameters autonomously

0 0 Device does not save parameters on command

1 Device does save parameters on command

By read access to subindex 1 the drive provides information about its storage functionality.

This drive provides a constant value of 1 by read access, i.e. all parameters can be saved by writing to Object 1010 sub 1. In general the drive does not save parameters autonomously with the exception of e.g. the special treatment of the homing of multiturn absolute encoders.

Storing of parameters is only done if a special signature ("save") is written to subindex 1.

"save" is equivalent to the unsigned32 - number 65766173h.



5.3.13 Object 1011h: Restore Default Parameters DS301

With this object the default values of parameters according to the communication or device profile are restored. The AKD gives the possibility to restore all default values.

Index

Name

Object code

Data type

Category

1011h

restore default parameters

ARRAY

UNSIGNED32 optional

Subindex

Name

Object code

Data type

Category

Access

PDO Mapping

Value range

Default value

0

number of entries

VAR

UNSIGNED8 mandatory

R/O not possible

1

1

Subindex

Name

Object code

Data type

Category

Access

PDO Mapping

Value range

Default value

1

restore all default parameters (DRV.RSTVAR)

VAR


R/W not possible

UNSIGNED32

1 (device restores parameter)

Restoring default parameters to the RAM will be done, if a special signature ("load”) is written to subindex 1. "load” has to be transmitted as unsigned32 - number 64616F6Ch.



5.3.14 Object 1012h: COB-ID of the Time Stamp (DS301)

This object defines the COB-Id of the time stamp.

Index

Name

Object code

Data type

Category

1012h

COB-ID for thetime stamp

VAR

UNSIGNED32 optional

Access

PDO mapping

Value range

Default value

R/W not possible

UNSIGNED32

100h

Bit coded information:

Bit Content

31 (MSB) consume

30

29

28 to 11 produce frame reserved

10 to 0 (LSB) CAN-ID

Value

0

1

0

1

0

_

Meaning

Drive does not consume time message

Drive does consume time message

Drive does not produce time message

Drive does produce time message

Value fixed to 0 reserved

0h - 800h COB-ID of the time stamp

5.3.15 Object 1014h: COB-ID for Emergency Message (DS301)

This object defines the COB-ID of the Emergency message.

Index

Name

Object code

Data type

Category

1014h

COB-ID emergency message

VAR

UNSIGNED32 conditional; mandatory, if Emergency is supported

Access

PDO mapping

Value range

Default value

R/O not possible

UNSIGNED32

80h + Node - ID



5.3.16 Object 1016h: Consumer Heartbeat Time

The consumer heartbeat time defines the expected heartbeat cycle time (ms) and must be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat. Monitoring starts after the reception of the first heartbeat. If the consumer heartbeat time is 0 ms the corresponding entry is not used.

Index

Name

Object code

Data type

Category

1016h

consumer heartbeat time

ARRAY

UNSIGNED32 optional

Subindex

Description

Data type

Category

Access

PDO Mapping

Value range

Default value

0

number of entries

UNSIGNED8 mandatory

1

1

R/O not possible

Subindex

Description

Category

Access

PDO Mapping

Value range

Default value

1

Consumer heartbeat time mandatory

R/W not possible unsigned 32

0

Definition of the entry value of Subindex 1

Value

Encoded as

Bit

MSB reserved (value: 00)

31

-

Node-ID

UNSIGNED8

24 23 16 15 heartbeat time

UNSIGNED16

LSB

0



5.3.17 Object 1017h: Producer Heartbeat Time

The producer heartbeat time defines the cycle time of the heartbeat in ms. If it’s 0, it is not used.

Index

Name

Object code

Data type

Category

1017h

Producer heartbeat time

VAR

UNSIGNED16 conditional; mandatory, if guarding is not supported

Access

PDO mapping

Value range

Default value

R/W not possible

UNSIGNED16

0

5.3.18 Object 1018h: Identity Object (DS301)

The Identity Object contains general device information.

Index

Name

Object code

Data type

Category

1018h

Identity Object

RECORD

Identity mandatory

Subindex

Description

Data type

Category

Access

PDO mapping

Value range

Default value

0

Number of entries

UNSIGNED8 mandatory

R/O not possible

1 to 4

4

Subindex 1 is a unique number for a device manufacturer.

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

1

Vendor ID mandatory

R/O not possible

UNSIGNED32

0x6Ah (Kollmorgen)



Subindex 2 contains four ASCII - characters, which determine the voltage range and current class of the device. The voltage range is one character L, M or H for low, medium and high voltage. The next three characters are showing the continuos current of the drive.

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

2

Product Code optional

R/O not possible e.g. M006 for an MV6 drive no

Subindex 3 consists of two revision numbers: l l the major revision number in the upper word containing the CAN-version the minor revision number is not used in the AKD. The firmware version can be retrieved as a string via object 0x100A or as numbers voa object 0x2018 subindex 1 to 4.

E.g. a value of 0x0014 0000 means CAN-version 0.20.

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

3

Revision Number optional

R/O not possible

UNSIGNED32 no

Subindex 4 gives the serial number of the drive. This number contains the following information in it: l l l l bits 0..14: Board serial number (production in week of year) bits 15..20: week of production bits 21..24: year of production - 2009 bits 25..31: ASCII-code of MFR-ID

Subindex

Description

4

Serial Number

Category

Access

PDO mapping

Value range

Default value

optional

R/O not possible

UNSIGNED32 no



5.3.19 Object 1026h: OS Prompt

The OS prompt is used to build up an ASCII - communication channel to the drive.

Index

Name

Object code

Data type

Category

1026h

OS Prompt

ARRAY

UNSIGNED8 optional

Subindex

Description

Data type

Category

Access

PDO mapping

Value range

Default value

0

Number of entries

UNSIGNED8 mandatory

R/O not possible

2

2

Subindex 1 is used to send one character to the drive.

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

1

StdIn mandatory

W not possible

UNSIGNED8

—

Subindex 2 is used to receive one character from the drive.

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

2

StdOut mandatory

R/O not possible

UNSIGNED8

0



5.3.20 Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301)

1400h to 1403h for RXPDO 1 to 4

Index

Name

Object code

Data type

Category

Defined sub-indices

1400h

1401h

1402h

1403h

receive PDO parameter

RECORD

PDO CommPar mandatory

Subindex

Name

Data type

Category

Access

PDO Mapping

Value Range

Default Value

0

number of entries

UNSIGNED8 mandatory

2

2

R/O not possible

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

1

COB-ID used by PDO mandatory

R/W not possible

UNSIGNED32

Index 1400h: 200h + Node-ID




Subindex 1 contains the COB-Id of the PDO as a bit coded information:

Bit Value Meaning

31 0 PDO exists/is valid

30

1 PDO does not exist/is not valid

0 RTR allowed on this PDO, not to be used (Can in Automation organisation)

29

1 RTR not allowed on this PDO

0 11 bit-ID (CAN 2.0A)

1 29 bit-ID (CAN 2.0B), not supported

28 to 11 X Identifier-bits with 29 bit-ID, not relevant

10 to 0 X Bits 10-0 of COB-ID



Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

2

transmission type mandatory

R/W not possible

UNSIGNED8

FFh

Subindex 2 contains the transmission type of the PDO. There are two ways of setting: l l the value FFh or 255 for event-triggered PDO, which is directly interpreted by reception and taken into actions, values from 0 to 240, which cause a SYNC-telegram-controlled interpretation of the PDO contents. Values of 1 to 240 mean, that 0 to 239 SYNC-telegrams are ignored, before one is interpreted. The value 0 means, that only the next SYNC-telegram is interpreted.

5.3.21 Objects 1600-1603h: 1st - 4th RXPDO mapping parameter (DS301)

1600h to 1603h for RXPDO 1 to 4.

Index

Name

Object Code

Data Type

Category

1600h

1601h

1602h

1603h

receive PDO mapping

RECORD

PDO Mapping mandatory

Subindex

Name

Data type

Category

Access

PDO Mapping

Value Range

Default Value

0

number of entries

UNSIGNED8 mandatory

R/W not possible

0: PDO is not active

1 - 8: PDO activated, mappings are taken only byte-wise

PDO1: 1

PDO2: 2

PDO3: 2

PDO4: 2

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

1 - 8

PDO - mapping for the n-th application object

Conditional, depends on number and size of object be mapped

R/W not possible

UNSIGNED32

See below



5.3.22 Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301)

1800h to 1803h for TXPDO 1 to 4.

Index

Name

Object code

Data type

Category

1800h

1801h

1802h

1803h

transmit PDO parameter

RECORD

PDO CommPar mandatory

Subindex

Name

Data type

Category

Access

PDO Mapping

Value Range

Default Value

0

number of entries

UNSIGNED8 mandatory

5

5

R/O not possible

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

1

COB-ID used by PDO mandatory

R/W not possible

UNSIGNED32

Index 1800h: 180h + Node-IDIndex 1801h: 280h + Node-ID

Index 1802h: 380h + Node-ID Index 1803h: 480h + Node-ID

2

transmission type mandatory

R/W not possible

UNSIGNED8

FFh

3

inhibit time optional

R/W not possible

UNSIGNED16 (n*1/10ms)

0h



Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

4

reserved optional

R/W not possible

0

0

5

event timer optional

R/W not possible

UNSIGNED16 (0=not used, ms)

0h

Subindex 1 contains the COB-Id of the PDO as a bit coded information:

Bit-Number Value Meaning

31 0 PDO exists/is valid

30

1

0

PDO does not exist/is not valid

RTR allowed on this PDO, not supported

29

28 to 11

10 to 0

1

X

1

0

X

RTR not allowed on this PDO, not supported

11 bit-ID (CAN 2.0A)

29 bit-ID (CAN 2.0B), not supported

Identifier-bits with 29 bit-ID, not relevant

Bits 10-0 of COB-ID

Subindex 2 contains the transmission type of the PDO. There are two ways of setting: l l

A value of FFh or 255d for an event-triggered PDO, which is sent immediately after a change in the mapped application objects. Setting of Subindex 3 or 5 has an influence on the sending of a PDO. With Subindex 3 you can configure, in which minimal time the so configured Transmit-PDOs are sent, if PDO-data contents change (reduction of busload). With Subindex 5 (event time) a timer is used, which is reset with every event-triggered sending of this PDO. If there is no change of the PDO-content in this time, the PDO is sent caused by this timer event.

Values from 0 to 240 cause a SYNC-Telegram controlled sending of the PDO.

Values from 1 to 240 define how often the SYNC-telegram leads to a sending of a PDO.

The value 0 means, that only the next SYNC-telegram leads to a sending of the so configured PDOs.



5.3.23 Objects 1A00-1A03h: 1st - 4th TXPDO mapping parameter (DS301)

1A00h to 1A03h for TXPDO 1 to 4.

Index

Name

Object Code

Data Type

Category

1A00h

1A01h

1A02h

1A03h

transmit PDO mapping

RECORD

PDO Mapping mandatory

Subindex

Name

Data type

Category

Access

PDO Mapping

Value Range

Default Value

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

0

number of mapped application objects in PDO

UNSIGNED8 mandatory

R/W not possible

0: PDO is not active

1 - 8: PDO activated, mappings are taken only byte-wise

PDO1: 1

PDO2: 2

PDO3: 2

PDO4: 2

1 - 8

PDO - mapping for the n-th application object

Conditional, depends on number and size of object be mapped

R/W not possible

UNSIGNED32

See below



5.3.24 Object 2000h: System Warnings

This object is used to show up to three actual warnings with their AKD- specific warning number.

Index

Name

Object code

Data type

2000h

System Warnings

ARRAY

UNSIGNED32

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Mode

Access

PDO mapping

Unit

Value range

Default value

0

number of entries mandatory

3

3

R/O not possible

1 to 3

DRV.WARNING1 to DRV.WARNINGS3

independent

R/O not possible

—

0 to 999

0

5.3.25 Object 2001h: System Faults

This object is used to show up to ten actual faults with their AKD- specific fault number.

Index

Name

Object code

Data type

2001h

System Faults

ARRAY

UNSIGNED32

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Mode

Access

PDO mapping

Unit

Value range

Default value

0


R/O not possible

0xA

0xA

1 to A

DRV.FAULT1 to DRV.FAULT10

independent

R/O not possible

—

0 to 999

0



5.3.26 Object 2002h: Manufacturer status bytes

This objects delivers the information of the manufacturer status (object 0x1002 sub 0) as four separate, mappable, bytes.

Index

Name

Object code

Data type

2002h

Manufacturer status bytes

ARRAY

UNSIGNED8

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Mode

Access

PDO mapping

Unit

Value range

Default value

0


R/O not possible

0x4

0x4

1 to 4

Manufacturer status byte 1 to Manufacturer status byte 4 independent

R/O possible

—

0 to 0xFF

-



5.3.27 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO

In order to reduce the bus loading with event-triggered PDOs, masking can be used to switch off the monitoring for individual bits in the PDO. In this way it can be arranged, for instance, that actual position values are only signaled once per turn.

This Object masks the PDO-channels 1 to 4. If only two bytes have been defined in a PDO, then it masks just two bytes, although 4 bytes of mask information have been transmitted.

An activated bit in the mask means that monitoring is active for the corresponding bit in the

PDO.

Index

Name

Object code

Data type

2014h

2015h

2016h

2017h

tx_mask 1 to 4

ARRAY

UNSIGNED32

Subindex

Description

Mode

Access

PDO mapping

Unit

Value range

Default value

Subindex

Description

Mode

Access

PDO mapping

Unit

Value range

Default value

1

tx_mask1 to 4_low independent

R/W not possible

—

UNSIGNED32

FFFFFFFFh

2

tx_mask1 to 4_high independent

R/W not possible

—

UNSIGNED32

FFFFFFFFh



5.3.28 Object 2018h: Firmware Version

This object gives all information regarding the firmware version.

Example: Firmware version M_01_00_01_005 would show the numbers 1, 0, 1, 5 in the subindices 1 to 4.

Index

Name

Object code

Data type

2018h

firmware version

ARRAY

UNSIGNED16

Subindex

Description

Mode

Access

PDO mapping

Unit

Value range

Default value

Subindex

Description

Mode

Access

PDO mapping

Unit

Value range

Default value

1

major version independent

R/O not possible

—

UNSIGNED16

0

2

minor version independent

R/O not possible

—

UNSIGNED16

0

Subindex

Description

Mode

Access

PDO mapping

Unit

Value range

Default value

Subindex

Description

Mode

Access

PDO mapping

Unit

Value range

Default value

3

revision independent

R/O not possible

—

UNSIGNED16

0

4

branch revision independent

R/O not possible

—

UNSIGNED16

0



5.3.29 Object 2026h: ASCII Channel

This object is used to build up an ASCII - communication channel to the drive with 4-byte

ASCII-strings.

Index

Name

Object code

Data type

Category

2026h

ASCII Channel

ARRAY

Visible String optional

Subindex

Description

Data type

Category

Access

PDO mapping

Value range

Default value

0

Number of entries

UNSIGNED8 mandatory

R/O not possible

2

2

Subindex 1 is used to send four ASCII-characters to the drive.

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

1

Command mandatory wo no

Visible String

—

Subindex 2 is used to receive four characters from the drive.

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

2

Response mandatory

R/O no

Visible String

-



5.3.30 Object 204Ch: PV Scaling Factor

This object shall indicate the configured numerator and denominator of the pv scaling factor.

The pv scaling factor serves to modify the resolution or directing range of the specified setpoint. It is aso included in calculation of the vl velocity demand, and vl velocity actual value.

It does not influence the velocity limit function and the ramp function. The value shall have no physical unit and shall be given in the range from -32 768 to +32 767, but the value of 0 shall not be used.

The velocity scaling factor is only active, when bit 4 of FBUS.PARAM05 is set to 1. Otherwise velocities are scaled as 1/1000 rpm.

Index

Name

Object code

Data type

Category

204Ch

pv scaling factor

ARRAY

INTEGER32 optional

Subindex

Description

Data type

Category

Access

PDO mapping

Value range

Default value

0

number of entries

UNSIGNED8 mandatory

R/O not possible

2 no

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

1

pv scaling factor numerator optional

R/W not possible

INTEGER32

+1

2

pv scaling factor denominator optional

R/W not possible

INTEGER32

+1



5.3.31 Object 2071h: Target Current

This parameter can be used alternatively to the DS402 parameter 6071h and is the input to

the torque controller. The value is scaled in mA (milli Amperes).

Index

Name

Object code

Data type

Category

2071h

Target current

VAR

INTEGER 32 optional

Access

PDO mapping

Value range

Default value

RW possible depends on DRV.IPEAK and MOTOR.IPEAK

0

5.3.32 Object 2077h: Current Actual Value

This parameter can be used alternatively to the DS402 parameter 6077h. The value is scaled

in mA (milli Amperes).

Index

Name

Object code

Data type

Category

2077h

Current actual value

VAR

INTEGER 32 optional

Access

PDO mapping

Value range

Default value

RO possible depends on DRV.IPEAK and MOTOR.IPEAK

0

5.3.33 Object 20A0h: Latch position 1, positive edge

This object is used to output the position or a time, depending on CAP0.MODE, at which the first positive edge occurred on a signal, which can be configured with CAP0.TRIGGER. The latch enable must be active for that purpose(see object 20A4 and 20A5). With CAP0.MODE

= 3 the latched position of the encoder index pulse is transferred via this object.

Index

Name

Object code

Data type

Category

20A0h

Latch position 1 positive edge CAP0.PLFB, Time capture CAP0.T

VAR

INTEGER32 optional

Access

PDO mapping

Value range

Float scaling

Default value

R/O possible

INTEGER32 var

0



5.3.34 Object 20A1h: Latch position 1, negative edge

This object is used to output the position or a time, depending on CAP0.MODE, at which the first negative edge occurred on a signal, which can be configured with CAP0.TRIGGER. The latch enable must be active for that purpose(see object 20A4 and 20A5).

Index

Name

Object code

Data type

Category

20A1h

Latch position 1 negative edge CAP0.PLFB, Time capture CAP0.T

VAR

INTEGER32 optional

Access

PDO mapping

Value range

Float scaling

Default value

R/O possible

INTEGER32 var

0

5.3.35 Object 20A2h: Latch position 2, positive edge

This object is used to output the position or a time, depending on CAP1.MODE, at which the first positive edge occurred on a signal, which can be configured with CAP1.TRIGGER. The latch enable must be active for that purpose(see object 20A4 and 20A5).

Index

Name

Object code

Data type

Category

20A2h

Latch position 2 positive edge CAP1.PLFB, Time capture CAP1.T

VAR

INTEGER32 optional

Access

PDO mapping

Value range

Float scaling

Default value

R/O possible

INTEGER32 var

0



5.3.36 Object 20A3h: Latch position 2, negative edge

This object is used to output the position or a time, depending on CAP1.MODE, at which the first negative edge occurred on a signal, which can be configured with CAP1.TRIGGER. The latch enable must be active for that purpose(see object 20A4 and 20A5).

Index

Name

Object code

Data type

Category

20A3h

Latch position 2 negative edge CAP1.PLFB, Time capture CAP1.T

VAR

INTEGER32 optional

Access

PDO mapping

Value range

Float scaling

Default value

R/O possible

INTEGER32 var

0

5.3.37 Object 20A4h: Latch Control Register

The latch control register is used to enable the latch monitoring of the capture engines 0 and

1. The latch is enabled with a 1 signal and disabled with a 0 signal. Whether or not a latch event has occurred can be recognised by the latch status register (object 20A5).

Index

Name

Object code

Data type

Category

20A4h

Latch Control Register

VAR

UNSIGNED16 optional

Access

PDO mapping

Value range

Default value

rww possible

0 to 15

0

Bit Value (bin)

0

1

00000000 00000001

00000000 00000010

Value (hex) Description xx01 xx02



2

3

4

5 to 7

00000000 00000100 xx04

00000000 00001000 xx08

00000000 00010000 xx10



Enable latch of encoder index pulse

Reserve

8

9

10

11

12

13 to 15

00000001 00000000 01xx

00000010 00000000 02xx

00000011 00000000 03xx

00000100 00000000 04xx

00000101 00000000 05xx

Read external latch 1 (positive rise)

Read external latch 1 (negative rise)

Read external latch 2 (positive rise)

Read external latch 2 (negative rise)

Read latched position of encoder index pulse

Reserve



5.3.38 Object 20A5h: Latch Status Register

The latch status register is used to look for the states of the capture engines 0 and 1.

Index

Name

Object code

Data type

Category

20A5h

Latch Status Register

VAR

UNSIGNED16 optional

Access

PDO mapping

Value range

Default value

rwr possible

-

0

Bit Value

(bin)

0

Value

(hex)

Description


1 00000000 00000010 zz02 External latch 1 valid (negative rise)

2

3

4


00000000 00001000 zz08 External latch 2 valid (negative rise)

00000000 00010000 z10 Latched position of encoder index pulse valid (positive rise)

Reserve 5 to 7

8 to 11 00000001 00000000 z1zz Acknowledge value external latch 1 (positive rise)


00000011 00000000 z3zz Acknowledge value external latch 2 (positive rise)


00000101 00000000 z5zz Acknowledge value of latched position of encoder index pulse (positive rise)

12 to 15 00010000 00000000 1zzz State Digital Input 4

00100000 00000000 2zzz State Digital Input 3



5.3.39 Object 20A6h: Latch position 1, positive or negative edge

This object is used to output the position or a time, depending on CAP0.MODE, at which the first positive or negative edge occurred on a signal, that can be configured with

CAP0.TRIGGER. Latch enable must be active for that purpose (see object 20A4 and 20A5).

Index

Name

Object code

Data type

Category

20A6h

Latch position 1 positive or negative CAP0.PLFB

VAR

INTEGER32 optional

Access

PDO mapping

Value range

Float scaling

Default value

ro possible

INTEGER32 var

0



5.3.40 Object 20A7h: Latch position 2, positive or negative edge

This object is used to output the position or a time, depending on CAP1.MODE, at which the first positive or negative edge occurred on a signal, that can be configured with

CAP1.TRIGGER. Latch enable must be active for that purpose (see object 20A4 and 20A5).

Index

Name

Object code

Data type

Category

20A7h

Latch position 2 positive or negative CAP1.PLFB

VAR

INTEGER32 optional

Access

PDO mapping

Value range

Float scaling

Default value

ro possible

INTEGER32 var

0

5.3.41 Object 20B8h: Reset of changed input information

This object is used in PDOs to reset the state change information for the digital inputs shown in the Bits 24 to 30 in the object 60FD. Bit 0 to 6 are used to reset the information of the digital input 1 to 7.

Index

Name

Object code

Data type

Category

20B8h

Reset of changed input information

VAR

UNSIGNED16 optional

Access

PDO mapping

Value range

Default value

rw possible

UNSIGNED16

0



5.3.42 Object 345Ah: Brake Control

These objects implement the possibility to control the brake directly, overriding the drive logic. When the brake state is controlled by the fieldbus, the drive state (enabled, disabled, faulted) will have no effect on the brake - the fieldbus will be in control.

Applying or releasing the brake at the wrong time can be a safety hazard and can destroy your mechanic as well as drive or motor. Unexpected behaviour might be possible. It is the responsibility of the customer using this mode to use this function appropriately.

When fieldbus control is disabled, the drive will control the brake as defined by existing AKD brake related parameters. As soon as fieldbus control is enabled, the Brake Command received over the field bus will take effect. So, if the Brake Command is set to APPLY and the current state is RELEASE, the brake will begin to apply .

The default value of the fieldbus control will be disabled, so that the drive is always in control until the fieldbus is operational. It is recommended that this bit remain 0 except for special operating conditions where the fieldbus will control the brake. When fieldbus communication is lost, the drive will regain control of the brake if the fieldbus had previously taken control.

1*

1* x

Enable Fieldbus Control

0

Serious Failur econdition present

x no no yes

Brake ComFieldbus ConControlled mand

x

0

1 any

trol Status

0

1

1

0

by...

Drive

Fieldbus

Fieldbus

Drive

Final

Brake

State

Drive

Applied

Released

Drive

1* indicates that a rising edge was seen since the last time the drive applied the brake

Index

Name

Object code

Data type

Category

Defined sub-indices

345Ah

Brake Control

ARRAY

UNSIGNED16 optional

Subindex

Name

Data type

Category

Access

PDO Mapping

Value Range

Default Value

0

number of entries

UNSIGNED8 mandatory

R/O not possible

2

2



Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

1

Brake Control Command optional

R/W possible

UNSIGNED16

0

With subindex 1 the brake is controlled. Bit definition:

Bit

0

1

Name

Enable fieldbus control

Description

0 - brake is not controlled via this object

1 - enable fieldbus control via this object. This function works edge triggered, i.e. this bit has to have a 0 -> 1 transition to activate the brake control functionality. After a fault the functionality is reset and has to be activated again. The activation can be controlled by subindex 2 bit 0.

Brake Command This command bit is only active, if the functionality was activated via bit 0. The function is as follows:

0 - apply the brake

1 - release the brake

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

2

Brake Status Response optional

R/O possible

UNSIGNED16

0

With subindex 2 the brake status can be checked. Bit definition:

Bit

0

1

2

3

Name

Fieldbus control

Status

Description

0 - brake control via 0x345A is disabled or not possible due to drive failure.

1 - enable fieldbus control via this object. This function works edge triggered, i.e. this bit has to have a 0 -> 1 transition to activate the brake control functionality. After a fault the functionality is reset and has to be activated again. The activation can be controlled by subindex 2 bit 0.

Brake Status 0 - apply the brake

1 - release the brake

Note: When the brake is applied or released, there is a time delay MOTOR.TBRAKEAPP or MOTOR.TBRAKEREL, after the receipt of the command before this status bit changes. The status is always reported: it is not affected by fieldbus control.

STO Status 0 - STO is not active (drive may be enabled)

1 - STO is active (drive can not be enabled)

HW Enable Status 0 - HW enable is disabled, drive function can not be enabled

1 - HW enable is enabled, drive function can be enabled



5.3.43 Object 3474h: Parameters for digital inputs

This set of objects is used to set extended parameters for some digital input functions. The parameters can be used for different DINx.MODEs. Therefore the scaling might be different or no scaling is used at all.

Two subindices build an access object to one of these parameters, because they are 64-bit numbers internally, e.g. object 3474 sub 1 gives access to the low 32 bits of DIN1.PARAM

whereas 3474 sub 8 gives access to the high 32 bits.

If access to the whole 64 bit number is needed the higher bits must be written first. The access to the lower 32 bits then writes the parameter. If the to be written value fits into 32 bit, only the lower part needs to be written. The most-significant bit is then taken as sign-bit for the number.

Index

Name

Object code

Data type

Category

3474h

DINx.PARAM

Array

UNSIGNED32 optional

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

0


R/O not possible

0xE

0xE

1 to 7

DINx.PARAM low 32 bits, x = 1 .. 7 optional

R/W not possible

UNSIGNED32

0

8 to 0xE

DINx.PARAM high 32 bits, x = 1 .. 7 optional

R/W not possible

UNSIGNED32

0



5.3.44 Object 3475h: Parameters for digital outputs

This set of objects is used to set extended parameters for some digital output functions. The parameters can be used for different DOUTx.MODEs. Therefore the scaling might be different or no scaling is used at all.

Two subindices build an access object to one of these parameters, because they are 64-bit numbers internally, e.g. object 3475 sub 1 gives access to the low 32 bits of

DOUT1.PARAM whereas 3475 sub 3 gives access to the high 32 bits.

If access to the whole 64 bit number is needed the higher bits must be written first. The access to the lower 32 bits then writes the parameter. If the to be written value fits into 32 bit, only the lower part needs to be written. The most-significant bit is then taken as sign-bit for the number.

Index

Name

Object code

Data type

Category

3475h

DOUTx.PARAM

Array

UNSIGNED32 optional

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

0


R/O not possible

0x4

0x4

1 to 2

DOUTx.PARAM low 32 bits, x = 1 .. 2 optional

R/W not possible

UNSIGNED32

0

3 to 4

DOUTx.PARAM high 32 bits, x = 1 .. 2 optional

R/W not possible

UNSIGNED32

0



5.3.45 Object 3496h: Fieldbus synchronization parameters

This set of objects is used to set or read parameters for the fieldbus synchronization used in the interpolated position mode (7) and the cyclic-modes 8 etc. The synchronization between a fieldbus master and the AKD is similar in all the supported fieldbus systems.

The AKD internal 16[kHz] interrupt function is responsible for calling the PLL function. This

PLL function is called once per fieldbus cycle (set by object 60C2 sub 1 and 2).If the fieldbus sample period is for example 1[ms], the PLL code is called every 16th time of the 16[kHz]

IRQ of the AKD.

Once in a fieldbus sample the SYNC-telegram must arrive, which resets a PLL counter in the

Drive. After some time the already mentioned PLL function is called and reads back the time from that PLL counter.

Depending on the measured time the PLL function extends (in case that the measured time is too low) or lowers (in case that the measured time is too high) the sample time of the upcoming 16[kHz] tasks for one fieldbus sample by a selectable value (object 3496 sub 4) in order to move the PLL function closer to the expected distance (object 3496 sub 1).

Beside the objects mentioned here the parameter FBUS.SAMPLEPERIOD is important, which is set by object 60C2 sub 1 and 2.This setting is required in order to share the fieldbus sample time with the slave. This information is e.g. needed for being able to call the AKD internal PLL function once per fieldbus sample.

Index

Name

Object code

Data type

Category

3496h

FBUS synchronization parameters

Array

UNSIGNED32 optional

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

0


R/O not possible

0x4

0x4

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

1

FBUS.SYNCDIST

optional

R/W not possible

UNSIGNED32

320000 [ns]

Sub 1 is the expected time distance in nano seconds between clearing the PLL counter and calling the PLL function.



Subindex

Description

Category

Access

PDO mapping

Value range

Default value

2

FBUS.SYNCACT

optional

R/W not possible

UNSIGNED32

320000 [ns]

Sub 2 is the actual time distance in nano seconds between clearing the PLL counter and calling the PLL function.

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

3

FBUS.SYNCWND

optional

R/W not possible

UNSIGNED32

70000 [ns]

Sub 3 is a window, which is used in order to consider the drive as being synchronized. The

AKD is considered as synchronized in the following case:

FBUS.SYNCDIST – FBUS.SYNCWND < FBUS.SYNCACT < FBUS.SYNCDIST +

FBUS.SYNCWND

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

4

FBUS.COMPTIME

optional

R/W not possible

UNSIGNED32

150 [ns]

Sub 4 value indicates the time, which is used for extending or lowering the sample rate of the

AKD internal 16[kHz] IRQ, which is responsible for calling the PLL function. The default sample time is 32 * 1/16[kHz] = 2[ms].

The sample time of the AKD high prior interrupt is determined by

62.5[µs] – FBUS.COMPTIME if FBUS.SYNCACT > FBUS.SYNCDIST.

The sample time of the AKD high prior interrupt is determined by

62.5[µs] + FBUS.COMPTIME if FBUS.SYNCACT < FBUS.SYNCDIST.



5.3.46 Object 6040h: Control word (DS402)

The control commands are built up from the logical combination of the bits in the control word and external signals (e.g enable output stage). The definitions of the bits are shown below:

Index

Name

Object code

Data type

6040h

control word

VAR

UNSIGNED16

Access

PDO mapping

Unit

Value range

EEPROM

Default value

R/W possible

—

0 to 65535 no

0

Bit assignment im control word

Bit Name

0 Switch on

1 Disable Voltage

2 Quick Stop

3 Enable Operation

4 Operation mode specific



7 Reset Fault (only effective for faults)

Commands in the control word

Command

Shutdown

Switch on

Disable Voltage

Quick Stop

Disable Operation

Enable Operation

Fault Reset

Bit 7

Fault

Reset

X

X

X

X

X

X

1

Bit 3

Enable

Operation

X

X

0

X

X

1

X

Bits marked by an X are irrelevant.

Bit Name

8

9

Pause/halt reserved

10 reserved

11 reserved

12 reserved




Bit 2

Quick

Stop

1

0

1

1

X

1

X

Bit 1

Disable

Voltage

1

1

1

1

0

1

X

Bit 0

Switch on

0

Transitions

1

X

X

1

1

X

2, 6, 8

3

7, 9, 10, 12

7, 10, 11

5

4, 16

15



Mode-dependent bits in the control word

The following table shows the mode-dependent bits in the control word. Only manufacturerspecific modes are supported at present. The individual modes are set by Object 6060 h

Modes of operation.

Operation mode

Profile Position Mode (pp)

Profile Velocity Mode (pv)

Profile Torque Mode (tq)

Homing Mode (hm)

No. Bit 4

01h new_setpoint

03h reserved

04h reserved

06h homing_operation_start reserved

Interpolated Position Mode (ip)

07h Enable Interpolation

Cyclic sync position Mode (csp) 08h reserved

Bit 5

change_set_ immediately

Bit 6

absolute/ relative reserved reserved reserved reserved reserved reserved reserved reserved reserved

Description of the remaining bits in the control word

The remaining bits in the control word are described below.

Bit 8 Pause If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed for homing or jogging, motion task number, setpoints for digital mode) for the individual modes are retained.

Bit 9,10 These bits are reserved for the drive profile (DS402).

Bit 13, 14, 15 These bits are manufacturer-specific, and reserved at present.

5.3.47 Object 6041h: Status word (DS402)

The momentary state of the status machine can be read out with the aid of the status word.

Index

Name

Object code

Data type

6041h

Status word

VAR

UNSIGNED16

Access

PDO mapping

Unit

Value range

EEPROM

Default value

R/W possible

—

0 to 65535 yes

0

Bit assignment in the status word

Bit Name

0 Ready to switch on

1 Switched on

2 Operation enabled

3 Fault

4 Voltage enabled

5 Quick stop

6 Switch on disabled

7 Warning

Bit Name


9 Remote

10 Target reached

11 Internal limit active







States of the status machine

State

Not ready to switch on

Switch on disabled

Ready to switch on

Switched on

Operation enabled

Fault

Fault reaction active

Quick stop active

Mode of operation all

0x1 (PP), 0x88

Bit 6 switch on disabled

0

0

0

1

0

0

0

0

Bit 5 quick stop

X

X

1

1

0

X

X

1

Warnings which set Bit 11 n04, n06, n07, n10, n11, n14 n03, n08, n09, n20

Bit 3 fault

0

0

0

0

0

1

1

0

Bit 2 operation enabled

0

0

1

0

0

0

1

1

Bit 1 switched on

0

1

1

0

0

0

1

1

Bits marked by X are irrelevant

Description of the remaining bits in the status word

Bit 4: voltage_enabled The DC-link voltage is present if this bit is set.

Bit 7: warning There are several possible reasons for Bit 7 being set and this warning being produced. The reason of a warning can be seen by the Error code of the Emergency message, which is sent on the bus caused by this warning.

Bit 9:The remote-bit is set by the telnet command FBUS.REMOTE. The default state is 1 indicating that the power stage shall be only controlled by the DS402 control word. For special actions via telnet like tuning or commutation finding, FBUS.REMOTEshall be set to 0 via telnet to inform the fieldbus master.

Bit 10: target_reached This is set when the drive has reached the target position.

Bit 11: internal_limit_active This bit specifies that a movement was or is limited. In different modes, different warnings cause the bit to be set. The following assignments exist:

Bit 0 ready to switch on

0

1

1

0

1

0

1

1



5.3.48 Object 6060h: Modes of Operation (DS402)

This object is used to set the mode, which can be read out by Object 6061h. Two types of operating mode are used: l l manufacturer-specific operating modes operating modes as per CANopen drive profile DS402

These operating modes are defined in the CANopen drive profile DS402. After the mode has been changed, the corresponding setpoint must be set once more (for instance, the homing velocity in the mode homing_setpoint). If the position or jogging mode is stored, then the

Homing mode is set after a RESET of the drive.

An operating mode only becomes valid when it can be read by Object 6061h.

Never change the mode while the motor is running! The drive could move unexpectedly. When the drive is enabled, a mode change is only permissible at zero speed. Set the speed setpoint to 0 before changing over.

Index

Name

Object code

Data type

6060h

mode of operation

VAR

INTEGER8

Category

Access

PDO mapping

Value range

Default value

mandatory

R/W possible

1, 3, 4, 6, 7, 8

—

Supported modes (negative values are manufacturer specific modes):

Value (hex) Mode

1 Profile position mode

3

4

Profile velocity mode

Profile torque mode

6

7

8

Homing mode

Interpolated position mode

Cyclic synchronous position mode



5.3.49 Object 6061h: Modes of Operation Display (DS402)

This object can be used to read the mode that is set by Object 6060h. An operating mode only becomes valid when it can be read by Object 6061h (see also Object 6060h).

Index

Name

Object code

Data type

6061h

mode of operation display

VAR

INTEGER8

Category

Access

PDO mapping

Value range

Default value

mandatory

R/O possible

1, 3, 4, 6, 7, 8

—

5.3.50 Object 6063h: position actual value* (DS402)

The object position actual value provides the momentary actual position in increments.

The resolution is defined with Object 608F as power-of-two number.

Index

Name

Object code

Data type

Mode

6063h

position actual value

VAR

INTEGER32 pc, pp

Access

PDO mapping

Unit

Value range

Default value

EEPROM

R/W possible increments (1 turn = 2

PRBASE

)

(-2

31

) to (2

31

-1)

2

20 no

5.3.51 Object 6064h: position actual value (DS402)

The object position actual value provides the actual position. The resolution can be altered by the gearing factors of the position controller (Object 6091/6092).

Index

Name

Object code

Data type

Mode

6064h

position actual value, PL.FB

VAR

INTEGER32 pp, csp

Access

PDO mapping

Unit

Value range

Default value

EEPROM

R/W possible position units

(-2

31

) to (2

31

-1)

— no



5.3.52 Object 6065h: Following error window

The following error window defines a range of tolerated position values symmetrically to the position demand value. A following error might occur when a drive is blocked, unreachable profile velocity occurs, or at wrong closed loop coefficients. If the value of the following error window is 0, the following control is switched off.

Index

Name

Object code

Data type

Category

6065h

Following error window

VAR

UNSIGNED32 optional

Access

PDO mapping

Value range

Default value

R/W not possible

UNSIGNED32

0

5.3.53 Object 606Ch: Velocity actual value (DS402)

The object velocity actual value represents the actual speed.

Index

Name

Object code

Data type

Mode

606Ch

velocity actual value, VL.FB

VAR

INTEGER32 pv

Access

PDO mapping

Unit

Value range

Default value

Float scaling

EEPROM

R/O possible velocity units (SDO is in user units and the PDO is in RPM

(-2

31

) to (2

31

-1)

—

1000:1 no



5.3.54 Object 6071h: Target torque (DS402)

This parameter is the input value for the torque controller in profile torque mode and the value is given per thousand (1‰) of rated torque.

Index

Name

Object code

Data type

Category

6071h

Target torque

VAR

INTEGER16 conditional; mandatory, if tq supported

Access

PDO mapping

Value range

Default value

R/W possible

INTEGER16

0

5.3.55 Object 6073h: Max current (DS402)

This value represents the maximum permissible torque creating current in the motor and is given per thousand (1‰) of rated current.

Index

Name

Object code

Data type

Category

6073h

Max current

VAR

UNSIGNED16 optional

Access

PDO mapping

Value range

Default value

R/W not possible

UNSIGNED16

0

5.3.56 Object 6077h: Torque actual value (DS402)

The torque actual value corresponds to the instantaneous torque in the drive motor. The value is given per thousand (1‰) of rated torque.

Index

Name

Object code

Data type

Category

6077h

Torque actual value

VAR

INTEGER16 optional

Access

PDO mapping

Value range

Default value

R/O possible

INTEGER16

0



5.3.57 Object 607Ah: Target position (DS402)

The object target position defines the target position for the drive. The target position is interpreted as a relative distance or an absolute position, depending on Bit 6 of the control word.

The type of relative movement can be further defined by the manufacturer-specific parameter

35B9h Subindex 0. Other properties like following motion tasks can be set with this object as well. The mechanical resolution is set via the scaling objects 6091h and 6092h.

Index

Name

Object code

Data type

Mode

607Ah

target position, MT.P

VAR

INTEGER32 pp, csp

Access

PDO mapping

Unit

Value range

Default value

R/W possible user-defined

-(2

31

-1) to (2

31

-1)

—

5.3.58 Object 607Ch: Homing offset (DS402)

The reference offset (home offset) is the difference between the zero position for the application and the zero point of the machine. All subsequent absolute motion tasks take account of the reference offset.

Index

Name

Object code

Data type

Mode

607Ch

home offset, HOME.P

VAR

INTEGER32 hm

Access

PDO mapping

Unit

Value range

Default value

R/W not possible user-defined

(-2

31

) to (2

31

-1)

0



5.3.59 Object 607Dh: Software position limit (DS402)

Software position limit contains the sub-parameters min position limit and max position limit.

New target positions are checked against these limits. The limits are relative to the machine home position, which is the result of homing (including the home offset (Object 607Ch)). As default the software position limits are switched off. Changed values must be saved and the drive must be restarted to take enable the new the software limits.

Index

Name

Object code

Data type

Category

607Dh

Software position limit, SWLS.LIMIT0

ARRAY

INTEGER32 optional

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

0


R/O not possible

2

2

1

min position limit 1, SWLS.LIMIT0

mandatory

R/W not possible

INTEGER32

0 (switched off)

2

Min Position Limit 2, SWLS.LIMIT1

mandatory

R/W not possible

INTEGER32

0 (switched off)



5.3.60 Object 6081h: Profile velocity (DS402)

The profile velocity is the final velocity that should be reached after the acceleration phase of a motion task.

Index

Name

Object code

Data type

Mode

6081h

profile velocity, MT.V

VAR

UNSIGNED32 pp

Access

PDO mapping

Unit

Value range

Default value

R/W possible speed units

0 to (2

32

-1)

10

5.3.61 Object 6083h: Profile acceleration (DS402)

The acceleration ramp (profile acceleration) is given in units that are defined by the user

(position units per s²).The position units are scaled via the objects 6091 and 6092. This object is connected to the AKD-parameter DRV.ACC in the Profile Velocity Mode and to the motion task parameter MT.ACC in all other modes.

Index

Name

Object code

Data type

Mode

6083h

profile acceleration, MT.ACC (DRV.ACC in Profile Velocity Mode)

VAR

UNSIGNED32 pp, pv

Access

PDO mapping

Unit

Value range

Default value

R/W possible acceleration units

0 to (2

32

-1)

0

5.3.62 Object 6084h: Profile deceleration (DS402)

The braking/deceleration ramp is handled in the same way as the acceleration ramp (" Object

6083h: Profile acceleration (DS402)" (➜ p. 127)).

Index

Name

Object code

Data type

Mode

6084h

profile deceleration, MT.DEC (DRV.DEC in Profile Velocity Mode)

VAR

UNSIGNED32 pp, pv

Access

PDO mapping

Unit

Value range

Default value

R/W possible deceleration units

0 to (2

32

-1)

0



5.3.63 Object 608Fh: Position encoder resolution (DS402)

The position encoder resolution defines the ratio of encoder increments per motor revolution on the CANopen end. Encoder increments are set either directly by subindex 1 (only powers of 2 available) or implicit by writing to the parameter FB1.PSCALE.

Index

Name

Object Code

Data Type

Category

608Fh

Position encoder resolution

ARRAY

UNSIGNED 32 optional

Subindex

Name

Data type

Category

Access

PDO Mapping

Value Range

Default Value

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

0

number of entries

UNSIGNED8 mandatory

2

2

R/O not possible

1

Encoder increments mandatory

R/W not possible

UNSIGNED 32

2^20

2

Motor revolutions mandatory

R/W not possible

UNSIGNED 32

1



5.3.64 Object 6091h: Gear Ratio (DS402)

The gear ratio defines the ratio of feed in position units per driving shaft revolutions. This includes the gear if present.

gear ratio = motor shaft revolutions / driving shaft revolutions

Index

Name

Object Code

Data Type

Category

Subindex

Name

Data type

Category

Access

PDO Mapping

Value Range

Default Value

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

6091h

Gear Ratio

ARRAY


0

number of entries

UNSIGNED8 mandatory

2

2

R/O not possible

1

Motor revolution mandatory

R/W not possible

UNSIGNED 32

1

2

Shaft revolutions mandatory

R/W not possible

UNSIGNED 32

1



5.3.65 Object 6092h: Feed constant (DS402)

The feed constant defines the ratio of feed in position units per driving shaft revolutions.

This includes the gear if present.

Index

Name

Object Code

Data Type

Category

6092h

Feed constant

ARRAY


Subindex

Name

Data type

Category

Access

PDO Mapping

Value Range

Default Value

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

Subindex

Name

Category

Access

PDO Mapping

Value Range

Default Value

0

number of entries

UNSIGNED8 mandatory

2

2

R/O not possible

1

Feed mandatory

R/W not possible

UNSIGNED 32

1

2

Shaft revolutions mandatory

R/W not possible

UNSIGNED 32

1



5.3.66 Object 6098h: Homing method (DS402)

Index

Name

Object code

Data type

Mode

6098h

homing method, HOME.MODE, HOME.DIR

VAR

INTEGER8 hm

Access

PDO mapping

Unit

Value range

Default value

R/W not possible position units

-128 to 127

0

Description of the homing methods

Choosing a homing method by writing a value to homing method (Object 6098h) will clearly establish: l l the homing signal (P-Stop, N-Stop, reference switch) the direction of actuation and where appropriate l the position of the index pulse.

The reference position is give by the reference offset (Object 607Ch).

A detailed description of the types of homing movement can be found in the description of

WorkBench.

The following homing methods are supported:

Method as per DS402

Brief description: Homing

-128 to -1 reserved

0 reserved

command

—

—

1

2 homing to negative limit switch, with zeroing, negative count direction

HOME.MODE=2,

HOME.DIR=0 homing to positive limit switch, with zeroing, positive count direction not supported

HOME.MODE=2,

HOME.DIR=1

— 3 to 7

8 homing to reference switch, with zeroing, positive count direction

9 to 11 not supported

HOME.MODE=5,

HOME.DIR=1

—

12

25 to 27 homing to reference switch, with zeroing, negative count direction


15 to 16 reserved

17 homing to negative limit switch, without zeroing, negative count direction

18 homing to negative limit switch, without zeroing, positive count direction


24 homing to reference switch, without zeroing, positive count direction not supported

HOME.MODE=5,

HOME.DIR=0

—

—

HOME.MODE=1,

HOME.DIR=0

HOME.MODE=1,

HOME.DIR=1

—

HOME.MODE=4,

HOME.DIR=1

—



Method as per DS402

28

Brief description: Homing

homing to reference switch, without zeroing, negative count direction


31 to 32 reserved

command

HOME.MODE=4,

HOME.DIR=0

—

—

33

34

35

36 to 127 homing within a single turn, negative count direction. If the feedback has an index pulse, HOME.MODE 11 will be used.

HOME.MODE=7,11

HOME.DIR=0 homing within a single turn, positive count direction. If the feedback has an index pulse, HOME.MODE 11 will be used.

set reference point at present position

HOME.MODE=7,11

HOME.DIR=1 reserved

HOME.MODE=0,

HOME.DIR=0

—

5.3.67 Object 6099h: Homing speeds (DS402)

Index

Name

Object code

Data type

6099h

homing speeds

ARRAY

UNSIGNED32

Subindex

Description

Mode

Access

PDO mapping

Unit

Value range

Default value

Subindex

Description

Mode

Access

PDO mapping

Unit

Value range

Default value

1

speed during search for switch, HOME.V

hm

R/W not possible velocity units

0 to (2

32

-1) equivalent 60 rpm

2

speed during search for zero, HOME.FEEDRATE

hm

R/W not possible velocity units

0 to (2

32

-1)

1/8 * Object 6099 sub 1



5.3.68 Object 609Ah: Homing acceleration (DS402)

Index

Name

Object code

Data type

Mode

609Ah

homing acceleration

VAR

UNSIGNED32 hm

Access

PDO mapping

Unit

Value range

Default value

R/W not possible acceleration units

0 to (2

32

-1)

0

5.3.69 Object 60B1h: Velocity Offset

This object provides the offset of the velocity value in cyclic synchronous position mode. It is scaled via the object 204Ch.

Index

Name

Object code

Data type

Category

60B1h

Velocity Offset

VAR

INTEGER32 optional

Access

PDO mapping

Value range

Default value

R/W possible

INTEGER32

0

5.3.70 Object 60B2h: Torque Offset

This object provides the offset of the commanded torque value in cyclic synchronous position mode.Scaling is 1/1000 of rated torque.

Index

Name

Object code

Data type

Category

60B2h

Torque Offset

VAR

INTEGER16 optional

Access

PDO mapping

Value range

Default value

R/O possible

INTEGER16

0



5.3.71 Object 60B8h: Touch probe function

This object indicates the configured function of the touch probe.

Index

Name

Object code

Data type

Category

Access

PDO Mapping

Value range

Default value

60B8h

Touch probe function

Variable

UNSIGNED16 optional

R/W yes

UNSIGNED16

0

Definition of the possible functions:

Bit Value Meaning

0 0 Switch off touch probe 1

1

1 Enable touch probe 1

0 Trigger first event

1 Continuous

3, 2 00b* Trigger with touch probe 1 input

01b Trigger with zero impulse signal or position encoder

10b Touch probe source as defined in object 60D0h, sub-index 01h

4

5

6, 7

8

11b reserved

0 Switch off sampling at positive edge of touch probe 1

1 Enable sampling at positive edge of touch probe 1

0 Switch off sampling at negative edge of touch probe 1

1 Enable sampling at negative edge of touch probe 1

User-defined (e.g. for testing)

0 Switch off touch probe 2

1 Enable touch probe 2

9 0 Trigger first event

1 continuous

11, 10 00b Trigger with touch probe 2 input

01b Trigger with zero impulse signal or position encoder

12

10b Touch probe source as defined in object 60D0h, sub-index 02h

11b reserved

0 Switch off sampling at positive edge of touch probe 2

1 Enable sampling at positive edge of touch probe 2

13

14, 15

0 Switch off sampling at negative edge of touch probe 2

1 Enable sampling at negative edge of touch probe 2


* b = binary

If both edges are selected at the same time (bit 4=1 and bit 5=1 for probe 1 or bit 12=1 and bit

13=1 for probe 2), the first edge (positive or negative) triggers the probe function. The position, latched at this edge, is taken over for both edges (positive and negative).


5.3.72 Object 60B9h: Touch probe status

This object indicates the status of the touch probe.

Index

Name

Object code

Data type

Category

Access

PDO Mapping

Value range

Default value

Definition of the status:

60B9h

Touch probe status

Variable

UNSIGNED16 optional

R/O yes

UNSIGNED16

0

Bit Value Meaning

0 0 Touch probe 1 is switched off

1 Touch probe 1 is enabled

1

2

0 Touch probe 1 no positive edge value stored

1 Touch probe 1 positive edge position stored

0 Touch probe 1 no negative edge value stored

1 Touch probe 1 negative edge position stored

3 to 5

6, 7

8

9

10

0 reserved


0 Touch probe 2 is switched off

1 Touch probe 2 is enabled

0 Touch probe 2 no positive edge value stored

1 Touch probe 2 positive edge position stored

0 Touch probe 2 no negative edge value stored

1 Touch probe2 negative edge position stored

11 to 13 0 reserved

14, 15 User-defined (e.g. for testing)




5.3.73 Object 60BAh: Touch probe 1 positive edge

This object provides the position value of the touch probe 1 at positive edge.

Index

Name

Object code

Data type

Category

Access

PDO Mapping

Value range

Default value

60BAh

Touch probe 1 positive edge

Variable

INTEGER32 optional

R/O yes

INTEGER32 no

5.3.74 Object 60BBh: Touch probe 1 negative edge

This object provides the position value of the touch probe 1 at negative edge.

Index

Name

Object code

Data type

Category

Access

PDO Mapping

Value range

Default value

60BBh

Touch probe 1 negative edge

Variable

INTEGER32 optional

R/O yes

INTEGER32 no

5.3.75 Object 60BCh: Touch probe 2 positive edge

This object provides the position value of the touch probe 2 at positive edge.

Index

Name

Object code

Data type

Category

Access

PDO Mapping

Value range

Default value

60BCh

Touch probe 2 positive edge

Variable

INTEGER32 optional

R/O yes

INTEGER32 no



5.3.76 Object 60BDh: Touch probe 2 negative edge

This object provides the position value of the touch probe 2 at negative edge.

Index

Name

Object code

Data type

Category

Access

PDO Mapping

Value range

Default value

60BDh

Touch probe 2 negative edge

Variable

INTEGER32 optional

R/O yes

INTEGER32 no

5.3.77 Object 60C0h: Interpolation sub mode select

In the AKD, linear interpolation between position setpoints is supported.

Index

Name

Object code

Data type

Category

60C0h

Interpolation sub mode select

VAR

INTEGER16 optional

Access

PDO mapping

Value range

Default value

0

0

R/W not possible

Value description

Value(decimal) Description

0 Linear interpolation with a constant time.



5.3.78 Object 60C1h: Interpolation data record

In the AKD, a single setpoint (target position, Subindex 1) is supported for the linear interpolation. After the last item of an interpolation data record is written to the devices input buffer, the pointer of the buffer is automatically incremented to the next buffer.

Index

Name

Object code

Data type

Category

60C1h

Interpolation data record

ARRAY

INTEGER32 optional

Subindex

Description

Data type

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

0

number of entries

UNSIGNED8 mandatory

1

1

R/O not possible

1

Interpolation target position in counts, the first parameter of interpolation function mandatory

R/W possible

INTEGER32 no



5.3.79 Object 60C2h: Interpolation time period

The interpolation time period is used for the PLL (phase locked loop) synchronized position modes. The unit (subindex 1) of the time is given in 10 interpolation time index seconds.

Only multiples of 1 ms are allowed. The two values define the internal ASCII - parameter

PTBASE (given in multiples of 250 Mikroseconds). Both values must be written to fix a new interpolation time period. PTBASE will only be updated then.

Index

Name

Object code

Data type

Category

60C2h

Interpolation time period

RECORD

Interpolation time period record (0080h) optional

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

0

number of entries, FBUS.SAMPLEPERIOD

mandatory

R/O not possible

2

2

1

Interpolation time units mandatory

R/W not possible

UNSIGNED8

1

2

Interpolation time index mandatory

R/W not possible

INTEGER16

1



5.3.80 Object 60C4h: Interpolation data configuration

In the AKD, for linear interpolation, only the value 1 in Subindex 5 is possible.

Index

Name

Object code

Data type

Category

60C4h

Interpolation data configuration

RECORD

Interpolation data configuration record (0081h) optional

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

0


6

6

R/O not possible

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

1

Maximum buffer size mandatory

R/O not possible

UNSIGNED32

10

2

Actual buffer size mandatory

R/O possible

0 to 9

9

3

Buffer organization mandatory

R/W not possible

UNSIGND8

0


Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

4

Buffer position mandatory

R/W not possible

UNSIGNED16

0

5

Size of data record mandatory

W not possible

1 to 254

1

6

Buffer clear mandatory

W not possible

UNSIGNED8

0




5.3.81 Object 60D0h: Touch probe source

This object provides the source of the touch probe function, when the dedicated bits 2/3 or

10/11 of the touch probe function (object 60B8h) are set accordingly.

Index

Name

Object code

Data type

Category

60D0h

Touch probe source

Array

Integer 16 optional

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

0

Highest sub-index supported mandatory

R/O not possible

2

2

1

Touch probe 1 source mandatory

R/W not possible

-11 to -1, 1 to 5

1

2

Touch probe 2 source mandatory

R/W not possible

-11 to -1, 1 to 5

1

5.3.82 Object 60F4h: Following error actual value (DS402)

This object returns the current value of the following error in units defined by the user.

Index

Name

Object code

Data type

Category

60F4h


VAR

Integer32 optional

Access

PDO mapping

Value range

Default value

R/O possible

INTEGER32

0



5.3.83 Object 60FDh: Digital inputs (DS402)

This index defines simple digital inputs for drives. The manufacturer bits 16 to 22 are used to mirror the digital inputs 1 to 7. The manufacturer bits 24 to 30 are used to show the change of the state of the digital inputs 1 to 7.

Index

Name

Object code

Data type

Category

60FDh

digital inputs

VAR

UNSIGNED32 optional

Access

PDO mapping

Value range

Default value

R/O possible

UNSIGNED32

0

31 16 15 manufacturer specific reserved

4

3 interlock

MSB

2 home switch

1 pos. limit switch

0 neg. limit switch

LSB



5.3.84 Object 60FEh: Digital outputs (DS402)

This index defines simple digital outputs for drives. The manufacturer bits 16 and 17 are used to mirror the digital outputs 1 and 2.

Index

Name

Object code

Data type

Category

60FEh

digital outputs

Array

UNSIGNED32 optional

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

Subindex

Description

Category

Access

PDO mapping

Value range

Default value

0


R/O not possible

2

2

1

physical outputs mandatory

R/W possible

UNSIGNED32

0

2

bit mask optional

R/W not possible

UNSIGNED32

0


MSB

18 17 16

DOUT2 DOUT1

15 reserved

1 0 set brake

LSB



5.3.85 Object 60FFh: Target velocity (DS402)

The speed setpoint (target velocity) represents the setpoint for the ramp generator.

Index

Name

Object code

Data type

Mode

60FFh

target velocity, VL.CMDU

VAR

INTEGER32 pv

Access

PDO mapping

Unit

Value range

Default value

Float scaling

EEPROM

R/W possible increments

(-2

31

) to (2

31

-1)

—

1000:1 no

5.3.86 Object 6502h: Supported drive modes (DS402)

A drive can support more then one and several distinct modes of operation. This object gives an overview of the implemented operating modes in the device. This object is read only.

Index

Name

Object code

Data type

Category

6502h

supported drive modes

VAR

UNSIGNED32 optional

Access

PDO mapping

Value range

Default value

R/O not possible

UNSIGNED32

0xE5 (csp ip hm pv pp)


MSB

16 15 11

10 9 8 7 6 5 4 3 2 1 0 reserved cstca cst csv csp ip hm reserved tq pv vl pp

LSB


AKD EtherCAT | 6 Record of Document Revisions

6 Record of Document Revisions

Revision Remarks

-, 11/2009 Beta launch version

-, 12/2009 Minor formatting changes

A, 07/2010 FBUS.PARAM04 added, part number added, page format, release information

B, 10/2010 Setup for KAS added

C, 01/2011 HW Rev. C

D, 04/2011 WoE, corrections

E, 10/2011 Flexible mapping, cover page layout

F, 03/2012 Minor corrections

G, 11/2012 New chapter EEProm content

H, 05/2013 Fixed mapping, supported cyclic values, FBUS.PARAM05 added, several updates, formatting according to 82079

J, 05/2014 Appendix with object dictionaries and object descriptions


7 Index

2

2000h

2001h

2002h

2014-2017h

2018h

2026h

204Ch

2071h

2077h

20A0h

20A1h

20A2h

20A3h

20A4h

20A5h

20A6h

20A7h

20B8h

3

345Ah

3474h

3475h

3496h

1

1000h

1001h

1002h

1003h

1005h

1006h

1008h

1009h

100Ah

100Ch

100Dh

1010h

1011h

1012h

1014h

1016h

1017h

1018h

1026h

1400-1403h

1600-1603h

1800-1803h

1A00-1A03h

AKD EtherCAT | 7 Index

107

107

108

108

109

109

110

110

111

111

101

101

102

103

104

105

106

107

90

91

91

92

87

88

88

89

86

86

87

87

82

83

84

85

93

93

95

96

97

98

100

112

114

115

116

6

6084h

608Fh

6091h

6092h

6098h

6099h

609Ah

60B1h

60B2h

60B8h

60B9h

60BAh

60BBh

60BCh

60BDh

60C0h

60C1h

60C2h

60C4h

60D0h

60F4h

60FDh

60FEh

60FFh

6502h

6040h

6041h

6060h

6061h

6063h

6064h

6065h

606Ch

6071h

6073h

6077h

607Ah

607Ch

607Dh

6081h

6083h

A

Abbreviations

AL Event

C

CANopen over EtherCAT

Control word

Control Word Commands

Cycle Time

Adjust

Max.Values

10

29


133

134

135

136

136

136

137

137

127

128

129

130

131

132

133

133

138

139

140

142

142

143

144

145

145

124

124

124

125

125

126

127

127

118

119

121

122

122

122

123

123

33

118

34

45

45

AKD EtherCAT | 7 Index

Cyclical Values

D

Document Revisions

E

EEProm Content

Emergency Messages

EtherCAT onboard AKD-P/M

EtherCAT Proflie

F

Fieldbus

Fieldbus Parameters

I

Interrupt Event

K

KAS IDE

L

Latch Words

M

Mailbox

O

Object Dictionary

Objects sorted

Operating mode

Operation Modes

P

PDO Fixed Mapping

PDO Flexible Mapping

Phase run-up

R

Response monitoring

S

Setup

Slave Register

Status Machine

Status word

Status Word


26

59

82

121

45

47

48

52

52

29

36

38

31

88

15

28

33

119

35

43

146

53

54

13

27

Symbols used

Synchronization

T

Target group

TwinCAT

W

Workbench over TwinCAT

9

46

8

15

19

AKD EtherCAT |

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About KOLLMORGEN

Kollmorgen is a leading provider of motion systems and components for machine builders. Through worldclass knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage.

For assistance with your application needs, visit www.kollmorgen.com or contact us at:

North America

KOLLMORGEN

203A West Rock Road

Radford, VA 24141 USA

Europe

KOLLMORGEN Europe GmbH

Pempelfurtstraße 1

40880 Ratingen, Germany

Asia

KOLLMORGEN

Rm 2205, Scitech Tower, China

22 Jianguomen Wai Street

Web:

www.kollmorgen.com

Mail:

[email protected]

Tel.: +1 - 540 - 633 - 3545

Fax: +1 - 540 - 639 - 4162

Web:

www.kollmorgen.com

Mail:

[email protected]

Tel.: +49 - 2102 - 9394 - 0

Fax: +49 - 2102 - 9394 - 3155

Web:

www.kollmorgen.com

Mail:

[email protected]

Tel.: +86 - 400 666 1802

Fax: +86 - 10 6515 0263

Kollmorgen AKD EtherCat Communications Manual EN Rev J FW 1

®

EtherCAT Communication

1 Table of Contents

2 General

2.1 About this Manual

2.2 Target Group

2.3 Symbols Used

2.4 Abbreviations Used

3 Installation and Setup

3.1 Important Instructions

3.2 EtherCAT Onboard

3.3 EtherCAT activation with AKD-CC models

3.4 Guide to Setup

3.5 Setup via TwinCAT NC/PTP System Manager

3.6 Setup WorkBench over TwinCAT

3.7 Setup via KAS IDE

4 EtherCAT Profile

4.1 Slave Register

4.2 AL Event (Interrupt Event) and Interrupt Enable

4.3 Phase Run-Up

4.4 CANopen over EtherCAT (CoE) Status Machine

4.5 Fixed PDO Mappings

4.6 Flexible PDO Mappings

4.7 Supported Cyclical Setpoint and Actual Values

4.8 Supported Operation Modes

4.9 Adjusting EtherCAT Cycle Time

4.10 Maximum Cycle Times depending on operation mode

4.11 Synchronization

4.12 Latch Control Word and Latch Status Word

4.13 Mailbox Handling

4.14 Fieldbus Parameters

4.15 EEProm Content

5 Appendix

5.1 CANopen Emergency Messages and Error Codes

5.2 Object Dictionary

5.3 Object descriptions

6 Record of Document Revisions

7 Index

Related manuals

Kollmorgen

AKD-CC

Kollmorgen

AKD series

Kollmorgen

AKD EtherCAT