P.BE-CMMP-CO-SW-DE - Speed controller Festo - Free user manual and instructions

Product Type	User Manual (PDF)
Brand	Festo
Model	P.BE-CMMP-CO-SW-DE
Language	English
Pages	210
File Format	PDF
Revision Index	0708NH
Date of Revision	24.04.2008
Target Device Series	CMMP Motor Controllers
Communication Protocol	CANopen (DS301, DSP402)
Key Topics	Activation, Cabling, SDO/PDO, NMT, Operating Modes
Safety Instructions	Included (electrical drives)
Parameter Management	Load/Save, Default/Application sets
Operating Modes	Homing, Profile Position, Velocity, Torque, Interpolated
Error Handling	EMCY messages, error codes table
Object Directory	Full index with descriptions
Diagrams	Cabling, state machine, access sequence
Intended Audience	Experienced users of CMMP series

Frequently Asked Questions - P.BE-CMMP-CO-SW-DE Festo

How do I activate CANopen on the CMMP motor controller?

Activate CANopen via the serial interface using the parameterisation software. Set the baud rate, node number, and select the CANopen protocol (DS301 with DSP402). Parameters are saved to the application parameter set.

What is the difference between SDO and PDO?

SDO (Service Data Object) is a confirmed access type for parameter setting (each request gets an acknowledgment). PDO (Process Data Object) is unconfirmed and used for fast, event-driven exchange of process data without acknowledgment.

How can I read or write an object via SDO?

Use the identifier 600h + node number for the request and 580h + node number for the reply. The command structure depends on data type (8, 16, or 32 bit). Example: to read object 6061h subindex 0, send 40 61 60 00.

How do I configure a Transmit PDO?

Deactivate the PDO (bit 31 in COB-ID), set number_of_mapped_objects to 0, then write the mapping parameters (index, subindex, length) for up to 4 objects. Then set the transmission type and inhibit time. Finally, activate by clearing bit 31.

What does the EMERGENCY message contain?

An EMERGENCY message (identifier 80h + node number) includes a 2-byte error code, a 1-byte error register (object 1001h), and five zero bytes. The error codes are listed in the manual for diagnostics.

How do I perform a homing run?

Set the operating mode to Homing Mode (object 6060h = 6). Configure homing method (6098h), speeds (6099h), acceleration (609Ah), and home offset (607Ch). Then send start homing command via the controlword.

What should I do if the motor controller shows error E 04 0?

Error E 04 0 indicates excess temperature in the power section. Check cooling, ambient temperature, and load. The motor controller may shut down to prevent damage. Allow it to cool and clear the error by acknowledging it.

How do I save parameters permanently?

Write the value 65766173h ('save') to object 1010h-01h (save_all_parameters). The current parameter set is stored in the nonvolatile flash memory. Use 1011h-01h with 'load' to restore defaults.

Can I use the motor controller without the parameterisation software?

Yes, if you parameterise via CANopen using SDOs. On startup, load the default parameter set (object 1011h), then write the necessary objects. This method works for unparameterised controllers and does not require the software.

What are the wiring rules for the CAN bus?

Use a shielded twisted-pair cable (impedance 100-120 Ω). Wire point-to-point with a 120 Ω terminating resistor at each end. Connect CAN-H, CAN-L, CAN-GND and shield. Avoid adapter plugs; if necessary, use metallic housings for shield continuity.

USER MANUAL P.BE-CMMP-CO-SW-DE Festo

CANopen for Motor Controller CMMP...

FESTO

Manual

CANopen

CMMP...

Front view of a FESTO industrial control unit with visible ports, connectors, and ventilation slots (no readable text or symbols beyond branding)

Manual

557 344

de 0708NH

[723 757]

Edition ____ ____ en 0708NH

Description ____ ____ P.BE-CMMP-CO-SW-EN

Order no. ____ ____ 557 344

© (Festo SE & Co. KG, D-73726 Esslingen, 2008)

Internet: http://www.festo.com

Mail: [e-mail]

The copying, distribution and utilization of this document as well as the communication of its contents to others without expressed authorization is prohibited. Offenders will be held liable for the payment of damages. All rights reserved, in particular the right to carry out patent, utility model or ornamental design registrations.

Index of Revisions

Preparer:		Festo SE & Co. KG
Manual name:		CANopen for Motor controller CMMP
File name:
File location:
Serial No.	Manual		Revision index	Date of change
001	Creation		0708NH	24.04.2008

Trade names

Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.

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Contents

1. General information....9

1.1 Documentation....9
1.2 CANopen 10

2. Safety instructions for electrical drives and controllers 11

2.1 General Information 11
2.2 Hazards due to Incorrect Use.... 12
2.3 Safety instructions 13

2.3.1 General safety information 13
2.3.2 Safety Instructions for Installation and Maintenance....15
2.3.3 Protection against Contact with Electrical Parts.... 17
2.3.4 Protection against Electrical Shocks through Low-Voltage Protection (PELV) 19
2.3.5 Protection against Hazardous Movements 19
2.3.6 Protection against Contact with Hot Parts.... 20
2.3.7 Protection when Handling and Installing 20

3. Cabling and Plug Assignment....22

3.1 Pin Allocations....22
3.2 Cabling Note 23

4. Activation of CANopen....24

4.1 Overview 24

5. Access Procedure 25

5.1 Introduction.... 25
5.2 SDO Access 26

5.2.1 SDO Sequences for Reading and Writing 26
5.2.2 SDO Error Messages 28
5.2.3 Simulation of SDO Access via RS232 29

5.3 PDO Message 30

5.3.1 Description of the Objects 31
5.3.2 Objects for PDO Parameter Setting 34
5.3.3 Activation of PDOs 40

5.4 SYNC message....40
5.5 EMERGENCY Message 41

5.5.1 Overview....41
5.5.2 Structure of the EMERGENCY Message 42
5.5.3 Description of the Objects 45
5.6 Network Management (NMT Service) 47

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5.7 Bootup 49

5.7.1 Overview....49

5.7.2 Structure of the Bootup Message 49

5.8 Heartbeat (error control protocol) 49

5.8.1 Overview....49

5.8.2 Structure of the Heartbeat Message 49

5.8.3 Description of the Objects 50

5.9 Nodeguarding (error control protocol) 50

5.9.1 Overview....50

5.9.2 Structure of the Nodeguarding messages.... 51

5.9.3 Description of the Objects 51

5.9.4 Objekt 100D h: life_time_factor....52

1. Setting Parameters 54

6.1 Load and Save Parameter Sets....54

6.1.1 Overview....54

6.1.2 Description of the Objects 56

6.2 Compatibility settings....57

6.2.1 Overview....57

6.2.2 Description of the Objects 57

6.3 Conversion Factors (Factor Group) 59

6.3.1 Overview....59

6.3.2 Description of the Objects 60

6.4 Final stage parameters 68

6.4.1 Overview....68

6.4.2 Description of the Objects 69

6.5 Current Regulator and Motor Adjustment....76

6.5.1 Overview....76

6.5.2 Description of the Objects 77

6.6 Speed regulator....84

6.6.1 Overview....84

6.6.2 Description of the Objects 84

6.7 Position Controller (Position Control Function) 86

6.7.1 Overview....86

6.7.2 Description of the Objects 89

6.8 Nominal value limitation 98

6.8.1 Description of the Objects 98

6.9 Encoder adjustments.... 101

6.9.1 Overview.... 101

6.9.2 Description of the Objects 101

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6.10 Incremental encoder emulation.... 106

6.10.1 Overview.... 106
6.10.2 Description of the Objects 106

6.11 Command/feedback value activation.... 107

6.11.1 Overview.... 107
6.11.2 Description of the Objects 108

6.12 Analogue inputs 111

6.12.1 Overview.... 111
6.12.2 Description of the Objects 111

6.13 Digital inputs and outputs 113

6.13.1 Overview.... 113
6.13.2 Description of the Objects 113

6.14 Limit switch/homing switch.... 117

6.14.1 Overview.... 117
6.14.2 Description of the Objects 117

6.15 Sampling of positions.... 119

6.15.1 Overview.... 119
6.15.2 Description of the Objects 120

6.16 Brake triggering.... 123

6.16.1 Overview.... 123
6.16.2 Description of the Objects 123

6.17 Device Information 124

6.17.1 Description of the Objects 124

6.18 Error management.... 131

6.18.1 Overview.... 131
6.18.2 Description of the Objects 131

1. Device control 134

7.1 Condition diagram (state machine) 134

7.1.1 Overview.... 134
7.1.2 The Condition Diagram of the Motor Controller (State Machine) ..... 135
7.1.3 Controlword (control word).... 139
7.1.4 Read-Out of the Motor Controller Condition 142
7.1.5 Statuswords (status words) 143
7.1.6 Description of the other objects.... 151

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8. Operating modes 154

8.1 Setting the operating mode.... 154

8.1.1 Overview.... 154
8.1.2 Description of the Objects 154

8.2 Operating Mode Reference Travel (Homing Mode)....156

8.2.1 Overview.... 156
8.2.2 Description of the Objects 157
8.2.3 Reference Travel Processes 162
8.2.4 Control of Reference Travel.... 167

8.3 Positioning Operating Mode (Profile Position Mode).... 168

8.3.1 Overview.... 168
8.3.2 Description of the Objects 169
8.3.3 Functional description 172

8.4 Interpolated position mode 174

8.4.1 Overview.... 174
8.4.2 Description of the Objects 175
8.4.3 Functional description 182

8.5 RPM Regulation Operating Mode (Profile Velocity Mode)....184

8.5.1 Overview.... 184
8.5.2 Description of the Objects 186

8.6 Velocity ramps....192

8.7 Torque Regulation Operating Mode (Profile Torque Mode) 195

8.7.1 Overview.... 195
8.7.2 Description of the Objects 196

9. Index 201

1. General information

1. General information

1.1 Documentation

This manual describes how the motor controller of the CMMP series can be integrated into a CANopen network environment. It describes setting of the physical parameters, activation of CANopen protocol, integration into the CAN network and communication with the motor controller. It is directed at people who are already familiar with this motor controller series.

It contains safety instructions that must be observed.

You will find additional information in the following manuals for the CMMP product family:

- Start-up "CMMP motor controller":

Description of the device function and software functions of the firmware, including RS232 communication. Description of the parameterisation software with instructions for the initial start-up of a motor controller of the CMMP series.

- Description "CMMP motor controller":

Description of the technical data and device function as well as information on the installation and operation of the CMMP motor controller.

About the Version

The hardware version indicates the version status of the mechanical equipment and electronics. The firmware version indicates the version status of the operating system.

You can find the specifications on the version status as follows:

- Hardware version and firmware version in the parameterisation software for active device connection under "Device data".

Firmware	Hardware	Parameterisation software	Comment
	V1.0

1. General information

1.2 CANopen

CANopen is a standard worked out by the "CAN in Automation" association. A number of device manufacturers are organised in this association. This standard has largely replaced the current manufacturer-specific CAN protocols. As a result, the end user has a manufacturer-independent communication interface.

The following manuals, among others, can be obtained from this association:

CiA Draft Standard 201 ... 207

These documents cover the general principles and embedding of CANopen into the OSI layered architecture. The relevant points of this book are presented in this CANopen manual, so procurement of DS201 ... 207 is generally not necessary.

CiA Draft Standard 301

This book describes the fundamental design of the object directory of a CANopen device and access to it. The statements of DS201 ... 207 are also made concrete. The elements of the object directory needed for the CMMP motor controller families and the related access methods are described in this manual. Procurement of DS301 is recommended but not absolutely necessary.

CiA Draft Standard 402

This book covers concrete implementation of CANopen in drive regulators. Although all implemented objects are also briefly documented and described in this CANopen manual, the user should have this book available.

Source of supply:

CAN in Automation (CiA) International Headquarters

The CANopen implementation of the motor controller is based on the following standards:

[1] - ] CiA Draft Standard 301, Version 4.02, 13. February 2002

[2] - ] CiA Draft Standard Proposal 402, Version 2.0, 26. July 2002

1. Safety instructions for electrical drives and controllers

2. Safety instructions for electrical drives and controllers

2.1 General Information

Festo SE & Co.KG accepts no liability for damage due to failure to observe the warnings in these operating instructions.

Please note

Before start-up, read Safety instructions for electrical drives and controllers starting with page 11.

If the documentation in this language cannot be understood correctly, please ask and inform the supplier.

Correct and safe operation of the motor controller requires appropriate and correct transportation, storage, mounting and installation as well as careful operation and maintenance.

Please note

Only trained and qualified personnel may work with electrical equipment:

Trained and Qualified Personnel

as defined by this product manual or the warnings on the product itself are people who are sufficiently familiar with the set-up, mounting, start-up and operation of the product as well as with all warnings and protective measures in accordance with these operating instructions and have the qualifications corresponding to their work:

• Training and instruction or authorisation to switch devices/system on and off, earth and properly mark them in accordance with the standards of safety technology.
• Training or instruction in accordance with the standards of safety technology in the maintenance and use of suitable safety equipment.
• Training in first aid.

The following remarks must be read before the system is placed in operation for the first time to avoid bodily injury or property damage:

Always comply with these safety instructions.

2. Safety instructions for electrical drives and controllers

Do not try to install the motor controller or place it into operation before you have carefully read all safety instructions for electrical drives and controls in this document.

These safety instructions and all other user instructions must be read before each work with the motor controller.

If no user instructions are available for the motor controller, please contact your sales representative.

- Demand the immediate sending of these documents to the person or persons responsible for safe operation of the motor controller.

If the motor controller is sold, rented or lent or passed on to a third party in any other way, these safety instructions must also be passed on.

The operator is not permitted to open the motor controller for safety and guarantee reasons.

The requirement for proper functioning of the motor controller is correct project planning!

Warning

DANGER!

Incorrect handling of the motor controller and failure to observe the warnings specified here as well as improper tampering with the safety equipment may result in property damage, bodily injury, electric shock or, in extreme cases, death.

2.2 Hazards due to Incorrect Use

Warning

DANGER!

High electrical voltage and high load current!

Danger of death or severe bodily injury from electric shock!

2. Safety instructions for electrical drives and controllers

Warning

DANGER!

High electrical voltage due to incorrect connection!

Danger of death or bodily injury from electric shock!

Warning

DANGER!

Device housing surfaces may be hot!

Danger of injury! Danger of burns!

Warning

DANGER!

Dangerous movements!

Danger of death, severe bodily injury or property damage from unintended movements of the motors!

2.3 Safety instructions

2.3.1 General safety information

Warning

The motor controller corresponds to protective class IP20 and contamination class 1.

- Care must be taken that the environment corresponds to this protection and contamination class.

Warning

Use only accessories and replacement parts permitted by the manufacturer.

Warning

In accordance with EN standards and VDE regulations, the motor controllers must be connected in such a way that they can be disconnected from the mains network with suitable isolation means (e.g. main switch, fuse, circuit breaker).

2. Safety instructions for electrical drives and controllers

The motor controller can be protected with an AC/DC-sensitive RCD circuit breaker (RCD = Residual Current protective Device) of 300 mA.

Warning

For switching the control contacts, gold contacts or contacts with high contact pressure should be used.

As a precautionary measure, fault-elimination measures for switching systems must be taken, such as wiring fuses and relays with RC filters or diodes.

Observe the safety regulations and stipulations of the country in which the device is used.

Warning

The environmental conditions specified in the product documentation must be complied with.

Safety-critical applications are not permitted unless expressly approved by the manufacturer.

The instructions for an EMC-suitable installation should be taken from the product manual of the CMMP family.

Compliance with the limit values required by the national regulations is the responsibility of the manufacturer of the system or machine.

Warning

The technical data, connection and installation requirements for the motor controller must be taken from this product manual and must absolutely be complied with.

Warning

DANGER!

The general construction and safety regulations for work on high-voltage power installations (e.g. DIN, VDE, EN, IEC or other national and international regulations) must be observed.

Failure to do so can result in death, bodily injury or significant property damage.

The following precautionary measures also apply without claim to completeness:

• VDE 0100 Stipulation for construction of power installations of up to 1000 volts
• EN 60204 Electrical equipment of machines
• EN 50178 Equipping high-voltage systems with electronic operating media

2.3.2 Safety Instructions for Installation and Maintenance

For installation and maintenance of the system, the relevant DIN, VDE, EN and IEC regulations as well as all governmental and local safety and accident protection regulations apply. The system builder or operator must ensure compliance with these regulations:

Warning

Operation, maintenance and/or repair of the motor controller may only be performed by personnel trained and qualified for the work or for work with electrical devices.

Avoidance of accidents, bodily injury and/or property damage:

Warning

The standard-delivery motor brake or an external motor brake controlled by the drive control device is not adequate by itself for personal protection!

- Additionally secure vertical axes against falling or dropping after the motor is switched off, such as by:

• mechanical locking of the vertical axis,
• external brake/catch/clamping device or
• adequate counterbalancing of the axis.

2. Safety instructions for electrical drives and controllers

Warning

During operation and up to about 5 minutes after the motor controller is switched off, the external or internal braking resistance can create dangerous intermediate circuit voltage, which can cause death or severe bodily injury on contact.

• Before performing maintenance work, make sure that the power supply is switched off, interlocked and the intermediate circuit discharged.
• Switch off power to the electrical equipment via the main switch and secure it against being switched back on. Wait until the intermediate circuit is discharged for:
• maintenance work and repair
• cleaning
• long interruptions in operation.

Warning

Care must be taken during installation. During both installation and later operation of the drive, make sure that no shavings, metal dust or installation parts (screws, nuts, sections of pipe) fall into the motor controller.

Also make sure that the external power supply of the control section (24 V) is switched off.

Power to the power section must always be switched off before switching off the 24 V power supply to the control section.

Warning

Perform work in the machine area Tonly with the AC or DC power supply switched off and locked out.

Switched-off final stages or controller enable are not appropriate lockouts. In case of malfunction, this can result in unintended running of the drive.

Warning

- Perform start-up with the motor running at idle to avoid mechanical damage, such as through incorrect direction of rotation.

2. Safety instructions for electrical drives and controllers

Warning

Electronic devices are not fail-safe.

- The user is responsible for returning the system to a safe condition if the electrical device fails.

Warning

DANGER!

The motor controller and, in particular, the brake resistance, external or internal, can take on high temperatures, which can cause severe bodily burns on contact.

2.3.3 Protection against Contact with Electrical Parts

This section refers only to devices and drive components with voltages above 50 volts. Parts with voltages above 50 volts can be hazardous to people and result in electric shock if touched. When electrical devices are operated, certain parts of these devices are by necessity under hazardous voltage.

Warning

Potentially fatal voltage!

High electrical voltage!

Danger of death or severe bodily injury from electric shock!

For installation and maintenance of the system, the relevant DIN, VDE, EN and IEC regulations as well as all governmental and local safety and accident protection regulations apply. The system builder or operator must ensure compliance with these regulations:

Warning

Before switching on devices, attach intended covers and protective equipment for protection against contact.

For installed devices, ensure protection against direct touching of electrical parts by means of a control cabinet, for example.

The VGB4 regulations must be followed!

Warning

Always firmly connect the earthed conductor of the electrical equipment and devices to the mains power supply.

Due to the integrated net filter, leakage current is greater than 3.5 mA!

2. Safety instructions for electrical drives and controllers

Warning

In accordance with standard EN 60617, pay attention to the minimum copper diameter for the protective conductor connection in its entire length!

Warning

Prior to start-up, also for short-time measurement and testing purposes, always connect the protective conductor to all electrical devices in accordance with the connection plan or with the earthing conductor.

Otherwise, high voltages may occur on the housing, which can cause electric shock.

Warning

Do not touch the components' electrical connection points in the switched-on state.

Warning

• Before access to electrical parts with voltages greater than 50 volts, separate the device from the mains network or the voltage source.
• Secure to prevent switching back on.

Warning

During installation, pay attention to the level of intermediate circuit voltage especially with regard to insulation and protective measures.

Ensure proper earthing, conductor dimensioning and appropriate protection against short circuiting.

Warning

The device has an intermediate fast discharge circuit in accordance with EN 60204 section 6.2.4. In certain device constellations, particularly where several motor controllers are switched parallel in the intermediate circuit or with a non-connected braking resistance, the fast discharge may not have any effect. The motor controllers can remain under dangerous voltage for up to 5 minutes after they are switched off (residual condensor charge).

2.3.4 Protection against Electrical Shocks through Low-Voltage Protection (PELV)

All connections and terminals with voltages from 5 to 50 volts on the motor controller are of the low-voltage protection type, which are designed to be shock-proof in accordance with the following standards:

• International: IEC 60364-4-41
• European countries in the EU: EN 50178/1998, section 5.2.8.1

Warning

DANGER!

High electrical voltage due to incorrect connection!

Danger of death or injury from electric shock!

Only devices, electrical components and lines with low-voltage protection (PELV = Protective Extra Low Voltage) can be connected to any connections and terminals with voltages from 0 to 50 volts.

Connect only voltages and circuits with safe separation from dangerous voltages.

Safe separation is achieved through isolating transformers, secure optocouplers or mains-free battery operation.

2.3.5 Protection against Hazardous Movements

Hazardous movements can also be caused by faulty triggering of connected motors. The causes can be of the most varied of kinds:

• dirty or defective wiring or cabling
• errors in operating components
• faults in the measurement and signal transmitters
• defects or components that are not EMC-suitable
• faults in the software in the higher-level control system.

These malfunctions can occur immediately after switch-on or after an indefinite time in operation.

Monitoring in the drive components exclude malfunctions in the connected drives as much as possible. But this alone cannot be relied on when protection of people and especially the danger of bodily injury and/or property damage are considered. Until the installed monitoring takes effect, a defective drive movement must definitely be expected, the amount of which depends on the type of control and the operating state.

Warning

DANGER!

Dangerous movements!

Danger of death or injury, severe bodily injury or property damage!

For the above reasons, personal protection must be ensured through monitoring or higher-level system measures. These are planned according to the specific circumstances of the system by the system builder based on a hazard and error analysis. These hereby include the safety regulations applicable for the system. Through switching off or bypassing of safety equipment or due to its failure to activate, unpredictable movements of the machine or other malfunctions may occur.

2.3.6 Protection against Contact with Hot Parts

Warning

DANGER!

Device housing surfaces may be hot!

Danger of injury! Danger of burns!

Warning

Danger of burns!

• Do not touch housing surfaces in the proximity of heat sources!
• Before touching them, let devices cool off 10 minutes after being switched off.

Touching hot parts of the equipment, such as device housings containing heatsinks and resistances, can result in burns!

2.3.7 Protection when Handling and Installing

Handling and installation of specific parts and components in an inappropriate way can result in burns.

Warning

DANGER!

Danger of injury from incorrect handling!

Bodily injury due to squeezing, shearing, cutting, hitting!

2. Safety instructions for electrical drives and controllers

For this, the general safety notes apply:

Warning

• Observe the general set-up and safety regulations on handling and installation.
• Use appropriate installation and transport equipment.
• Take appropriate precautions to prevent being caught and pinched.
• Use only appropriate tools. If required, use special tools.
• Use lifting devices and tools properly.
• If required, use appropriate protective equipment (such as safety goggles, safety shoes, protective gloves).
• Do not stand under suspended loads.

• Immediately clean leaked fluids on the floor due to slipping hazards.

• Cabling and Plug Assignment

3. Cabling and Plug Assignment

3.1 Pin Allocations

For the CMMP family of devices, the CAN interface is already integrated into the motor controller and thus is always available.

The CAN bus connection is designed as a 9-pole D-SUB plug (on the controller side) in accordance with standards.

Fig. 3.1: CAN plug connector for CMMP

Caution

CAN bus cabling

When cabling the motor controller via the CAN bus, you should always comply with the following information and remarks to obtain a stable, malfunction-free system. If cabling is improperly done, malfunctions can occur on the CAN bus during operation. These can cause the motor controller to shut off with an error for safety reasons.

120 Ω end resistor

No end resistor is integrated into the devices of the CMMP series.

3. Cabling and Plug Assignment

3.2 Cabling Note

The CAN bus offers a simple and fail-safe possibility to link all components of a system with each other. But the prerequisite for this is that all subsequent cabling instructions are observed.

graph LR
    A["120Ω"] --> B["CAN-SHIELD"]
    B --> C["CAN-GND"]
    C --> D["CAN-L"]
    D --> E["CAN-H"]
    E --> F["CAN-SHIELD"]
    F --> G["CAN-GND"]
    G --> H["CAN-L"]
    H --> I["CAN-H"]
    I --> J["CAN-SHIELD"]
    J --> K["CAN-GND"]
    K --> L["CAN-L"]
    L --> M["CAN-H"]
    M --> N["120Ω"]

Fig. 3.2: Cabling example

• The individual nodes of the network are connected point-to-point to each other, so the CAN cable is looped from controller to controller (see Fig. 3.2).
• At both ends of the CAN cable, there must be an end resistor of exactly 120 ± 5 % . Frequently, such an end resistor is already built into CAN cards or a PLC and must be taken into account accordingly.
• For cabling, a shielded cable with exactly two twisted lead pairs must be used. A twisted lead pair is used to connect CAN-H and CAN-L. The cores of the other pair are used together for CAN-GND. The screen of the cable is guided onto the CAN Shield connections for all nodes

A table with the technical data of usable cables is located at the end of this chapter.

• Use of adapter plugs is not recommended for CAN bus cabling. But if this is still necessary, make sure that metallic plug housings are used to connect the cable shield.
• To keep disturbance as low as possible, motor cable should not be laid parallel to signal lines, motor cable designed in accordance with the specification, motor cable properly shielded and earthed.
• For additional information on the design of a disturbance-free CAN bus cabling, we refer you to the Controller Area Network protocol specification, version 2.0, from Robert Bosch GmbH, 1991.
• Technical data, CAN bus cable:

2 pairs of 2 twisted leads, d ≥0.22 mm ^2

Loop resistance < 0.2 Φm

Screened

Impedance 100 ... 120 Ω

1. Activation of CANopen

4. Activation of CANopen

4.1 Overview

The CAN interface with the CANopen protocol is activated one time via the serial interface of the motor controller. The CAN protocol is activated via the CAN bus window of the parameterisation software.

A total of 3 different parameters must be set:

- Baud rate

This parameter determines the baud rate in Kbaud used on the CAN bus. Note that high baud rates require a low maximum cable length.

- Node number

A node number, which may occur only once in the network, must be assigned to each participant for unambiguous identification. The device is addressed via this node number.

- Protocols

The following profiles for communication via the CAN bus are available for selection:

• CANopen protocol in accordance with DS301 with application profile DSP402 or
• the positioning profile from Festo FHPP.

Note that the named parameters can only be changed if the protocol is deactivated.

Note that the parameter setting of the CANopen function remains intact after a reset if the parameter set of the motor controller was saved.

5. Access Procedure

5.1 Introduction

CANopen provides a simple and standardised possibility to access the parameters of the motor controller (e.g. the maximum motor current). To achieve this, a unique number (index and subindex) is assigned to each parameter (CAN object). The totality of all adjustable parameters is designated an object directory.

Essentially two methods are available for accessing CAN objects via the CAN bus: A confirmed access type, in which the motor controller acknowledges each parameter access (via so-called SDOs), and an unconfirmed access type, in which no acknowledgement is made (via so-called PDOs).

graph LR
    A["Control unit"] -->|Access form control unit| B["CMMP"]
    B -->|SDO\nAcknowledge from motor controller| A

graph LR
    A["Control unit"] -->|PDO (Transmit-PDO) Confirmation from motor controller| B["CMMP"]

graph LR
    A["Control unit"] -->|PDO (Receive- PDO) Process data from control unit| B["CMMP"]

Fig. 5.1: Access Procedure

As a rule, the motor controller is parameterised and also controlled via SDO access. In addition, other types of messages (so-called communication objects), which are sent either by the motor controller or the higher-level controller, are defined for special application cases:

SDO Service Data Object Are used for normal parameter setting of the motor controller.

PDO Process Data Object Fast exchange of process data (e.g. actual speed) possible.

SYNC Synchronisation message Synchronisation of multiple CAN nodes

EMCY Emergency message Transmission of error messages.

NMT Network Management Network service: All CAN nodes can be worked on simultaneously, for example.

HEARTBEAT Error Control Protocol Monitoring of the communications participants through regular messages.

Every message sent on the CAN bus contains a type of address which is used to determine the bus participant for which the message is meant. This number is designated the identifier.

5. Access Procedure

The lower the identifier, the greater the priority of the message. Identifiers are established for the above-named communication objects. The following sketch shows the basic design of a CANopen message:

5.2 SDO Access

The Service Data Objects (SDO) permit access to the object directory of the motor controller. This access is especially simple and clear. It is therefore recommended to build up the application at first only with SDOs and only later to convert to the faster but also more complicated Process Data Objects (PDOs).

SDO access always starts from the higher-level controller (Host). This either sends the motor controller a write command to modify a parameter in the object directory or a read command to read out a parameter. For each command, the host receives an answer that either contains the read-out value or, in the case of a write command, serves as an acknowledgement.

For the motor controller to recognise that the command is meant for it, the host must send the command with a specific identifier. This consists of the base 600_h + node number of the motor controller involved. The motor controller answers accordingly with the identifier 580_h + node number.

The design of the commands or answers depends on the data type of the object to be read or written, since either 1, 2 or 4 data bytes must be sent or received. The following data types are supported:

UINT8	8 bit value without algebraic sign	0	...	255
INT8	8 bit value with algebraic sign	-128	...	127
UINT16	16 bit value without algebraic sign	0	...	65535
INT16	16 bit value with algebraic sign	-32768	...	32767
UINT32	32 bit value without algebraic sign	0	...	(2^32 - 1)
INT32	32 bit value with algebraic sign	-(2^31)	...	(2^31 - 1)

5.2.1 SDO Sequences for Reading and Writing

To read out or describe objects of these number types, the following listed sequences are used. The commands for writing a value into the motor controller begin with a different identifier, depending on the data type. The answer identifier, in contrast, is always the same. Read commands always start with the same identifier, and the motor controller answers differently, depending on the data type returned. All numbers are kept in hexadecimal form.

5. Access Procedure

graph TD
    A["Read commands"] --> B["Low byte of the main index (hex)"]
    A --> C["High byte of the main index (hex)"]
    A --> D["Subindex (hex)"]
    E["Write commands"] --> F["Identifier for 8 bit"]
    G["Command"] --> H["40h IX0 IX1 SU"]
    I["Reply:"] --> J["4Fh IX0 IX1 SU DO"]
    K["UINT16 / INT16"] --> L["Identifier for 8 bit"]
    M["Command"] --> N["40h IX0 IX1 SU"]
    O["Reply:"] --> P["4Bh IX0 IX1 SU DO D1"]
    Q["UINT32 / INT32"] --> R["Identifier for 16 bit"]
    S["Command"] --> T["40h IX0 IX1 SU"]
    U["Reply:"] --> V["43h IX0 IX1 SU DO D1 D2 D3"]
    W["2Fh IX0 IX1 SU DO"] --> X["60h IX0 IX1 SU"]
    Y["Identifier for 16 bit"] --> Z["2Bh IX0 IX1 SU DO D1"]
    AA["60h IX0 IX1 SU"] --> AB["60h IX0 IX1 SU"]
    AC["Identifier for 32 bit"] --> AD["23h IX0 IX1 SU DO D1 D2 D3"]
    AE["60h IX0 IX1 SU"] --> AF["60h IX0 IX1 SU"]

EXAMPLE

UINT8 / INT8	Reading obj. 6061_00hReturn data: 01h	Writing obj. 1401_02hData: EFh
Command	40h 61h 60h 00h	2Fh 01h 14h 02h EFh
Reply:	4Fh 61h 60h 00h 01h	60h 01h 14h 02h
UINT16 / INT16	Reading obj. 6041_00hReturn data: 1234h	Writing obj. 6040_00hData: 03E8h
Command	40h 41h 60h 00h	2Bh 40h 60h 00h E8h 03h
Reply:	4Bh 41h 60h 00h 34h 12h	60h 40h 60h 00h
UINT32 / INT32	Reading obj. 6093_01hReturn data: 12345678h	Writing obj. 6093_01hData: 12345678h
Command	40h 93h 60h 01h	23h 93h 60h 01h 78h 56h 34h 12h
Reply:	43h 93h 60h 01h 78h 56h 34h 12h	60h 93h 60h 01h

Caution

The acknowledgement from the motor controller must always be waited for!

Only when the motor controller has acknowledged the request may additional requests be sent.

5. Access Procedure

5.2.2 SDO Error Messages

In case of an error when reading or writing (for example, because the written value is too large), the motor controller answers with an error message instead of the acknowledgement:

Error codeF3 F2 F1 F0	Meaning
05 03 00 00h	Protocol error: Toggle bit was not changed
05 04 00 01h	Protocol error: Client / server command specifier invalid or unknown
06 06 00 00h	Access faulty due to a hardware problem *1)
06 01 00 00h	Access type is not supported .
06 01 00 01h	Read access to an object that can only be written
06 01 00 02h	Write access to an object that can only be read
06 02 00 00h	The addressed object does not exist in the object directory
06 04 00 41h	The object must not be entered in a PDO (e.g. ro object in RPDO)
06 04 00 42h	The length of the objects entered in the PDO exceeds the PDO length
06 04 00 43h	General parameter error
06 04 00 47h	Overflow of an internal variable / general error
06 07 00 10h	Protocol error: Length of the service parameter does not agree
06 07 00 12h	Protocol error: Length of the service parameter is too large
06 07 00 13h	Protocol error: Length of the service parameter is too small
06 09 00 11h	The addressed subindex does not exist
06 09 00 30h	The data exceed the range of values of the object
06 09 00 31h	The data are too large for the object
06 09 00 32h	The data are too small for the object
06 09 00 36h	Upper limit is less than lower limit
08 00 00 20h	Data cannot be transmitted or stored *1)
08 00 00 21h	Data cannot be transmitted or stored, since the regulator is working locally
08 00 00 22h	Data cannot be transmitted or stored, since the regulator is not in the correct state for this *3)
08 00 00 23h	There is no object dictionary available *2)

^1) Returned in accord. with DS301 in case of incorrect access to store_parameters / restore_parameters.
^2) This error is returned, for example, when another bus system controls the motor controller or the parameter access is not permitted.
^*3) "Condition" here should be understood in general: It may be a problem of the incorrect operating mode, or a technology module that is not available or the like.

5. Access Procedure

5.2.3 Simulation of SDO Access via RS232

The firmware of the motor controller offers the possibility to simulate SDO access via the RS232 interface. In this way, after being written, objects in the test phase can be read and checked via the CAN bus over the RS232 interface. Application creation is facilitated through use of the CI terminal of the parameterisation software.

The syntax of the commands is:

Read commands			Write commands
UINT8 / INT8		Main index (hex) Subindex (hex)
Command	? XXXX SU		= XXXX SU: WW
Reply:	= XXXX SU: WW		= XXXX SU: WW
UINT16 / INT16		8 bit data (hex)
Command	? XXXX SU		= XXXX SU: WWWW
Reply:	= XXXX SU: WWWW		= XXXX SU: WWWW
UINT32 / INT32		16 bit data (hex)
Command	? XXXX SU		= XXXX SU: WWWWWWW
Reply:	= XXXX SU: WWWWWWW		= XXXX SU: WWWWWWW
		32 bit data (hex)

Note that the commands are entered as characters without any blanks.

Read error			Write error
Command:	?XXXX SU		=XXXX SU: WWWWWWWWW1)
Reply:	! FFFFFFF		! FFFFFFF
	32 bit error code F3F2F1F0 in accordance with chapter 5.2.2		32 bit error code F3 F2 F1 F0 in accordance with chapter 5.2.2

1) For errors, the reply is structured in the same way for all 3 write commands (8, 16, 32 bit).

The commands are entered as characters without spaces.

Caution

Never use these test commands in applications!

Access via RS232 only serves test purposes and is not suitable for real-time-capable communication.

In addition, the syntax of the test commands can be changed at any time.

5.3 PDO Message

With Process Data Objects (PDOs), data can be transmitted in an event-driven manner. The PDO thereby transmits one or more previously established parameters. Other than with an SDO, there is no acknowledgement when a PDO is transmitted. After PDO activation, all recipients must therefore be able to process any arriving PDOs at any time. This normally means a significant software effort in the host computer. This disadvantage is offset by the advantage that the host computer does not need to cyclically query parameters transmitted by a PDO, which leads to a strong reduction in CAN bus capacity utilisation.

EXAMPLE

The host computer would like to know when the motor controller has completed a positioning from A to B.
When SDOs are used, it must constantly, such as every millisecond, query the statusword object, with which it uses up the bus capacity.
When a PDO is used, the motor controller is parameterised at the start of the application in such a way that, with every change in the statusword object, a PDO containing the statusword object is deposited.
Instead of constantly querying, the host computer thus automatically receives a corresponding message as soon as the event occurs. 

A distinction is made between the following types of PDOs:

Transmit PDO (T-PDO)	Controller	Motor controller sends PDO when a certain event occurs
Receive PDO	Host	Motor controller evaluates PDO when a certain event occurs

The motor controller has four transmit and four receive PDOs.

In the PDOs, almost all objects of the object directory can be entered (mapped). This means, the PDO contains the actual speed, position value, etc. as data. The motor controller must first be informed of the data to be transmitted, since the PDO only contains reference data and no information about the type of parameter. In the example below, the actual position is transmitted in the data bytes 0 ... 3 of the PDO and the actual speed in the bytes 4 ... 7.

In this way, almost any desired data telegrams can be defined. The following chapters describe the settings necessary for this.

5.3.1 Description of the Objects

Identifier of the PDO COB_ID_used_by_PDO

In the object COB_ID_used_by_PDO, the identifier in which the respective PDO is sent or received is entered. If bit 31 is set, the respective PDO is deactivated. This is the default setting for all PDOs.

The COB-ID may only be changed if the PDO is deactivated, that is, bit 31 is set. A different identifier than the one currently set in the regulator may therefore only be written if bit 31 is simultaneously set.

The set bit 30 shows when the identifier is read that the object cannot be queried by a remote frame. This bit is ignored during writing and is always set during reading.

Number of objects to be transmitted

number_of_mapped_objects

This object specifies how many objects should be mapped into the corresponding PDO. The following limitations must be observed:

A maximum of 4 objects can be mapped per PDO.

A PDO may have a maximum of 64 bits (8 bytes).

Objects to be transmitted

first_mapped_object ... fourth_mapped_object

For each object contained in the PDO, the motor controller must be told the corresponding index, subindex and length. The stated length must agree with the stated length in the object dictionary. Parts of an object cannot be mapped.

The mapping information has the following format:

To simplify the mapping, the following procedure is established:

1. The number of mapped objects is set to 0.
2. The parameters first_mapped_object ... fourth_mapped_object may be written (the overall length of all objects is not relevant at this time).
3. The number of mapped objects is set to a value between 1 ... 4. The length of all these objects must now not exceed 64 bits.

Transmission type

transmission\_type and inhibit\_time

Which event results in sending (transmit PDO) or evaluation (receive PDO) of a message can be determined for each PDO:

Value	Meaning	Permitted with
01_h ... FO_h	SYNC-MessageThe numerical value specifies how many SYNC messages must be received before the PDO- is sent (T-PDO) or- evaluated (R-PDO)	TPDOsRPDOs
FE_h	CyclicalThe transfer PDO is cyclically updated and sent by the motor controller. The time period is set by the object inhibit_time.Receive PDOs, in contrast, are evaluated immediately after reception.	TPDOs(RPDOs)
FF_h	ChangeThe transfer PDO is sent when at least 1 bit has changed in the data of the PDO.With inhibit_time, the minimum interval between sending two PDOs can also be established in 100 μs steps.	TPDOs

The use of all other values is not permitted.

Masking

transmit\_mask\_high and transmit\_mask\_low

If "change" is selected as the transmission_type, the TPDO is always sent when at least 1 bit of the TPDO changes. But frequently it is necessary that the TPDO should only be sent when certain bits have changed. Therefore, the TPDO can be equipped with a mask: Only the bits of the TPDO that are set to "1" in the mask are used to evaluate whether the PDO has changed. Since this function is manufacturer-specific, all bits of the masks are set as default value.

EXAMPLE

The following objects should be transmitted in one PDO:

Name of the object	Index_Subindex	Meaning
statusword	6041_h\_00h	Controller regulation
modes_of_operation_display	6061_h\_00h	Operation mode
digital_inputs	60FD_h\_00h	Digital inputs

The first transmit PDO (TPDO 1) should be used, which should always be sent whenever one of the digital inputs changes, but at a maximum of every 10 ms. As identifier for this PDO, 187h should be used.

1.) Deactivating PDO

If the PDO is active, it must first be deactivated.

Writing the identifier with bit 31 set (PDO is deactivated): cob_id_used_by_pdo = C0000187 _h

2.) Deleting number of objects

Set the number of objects to zero in order to be able to change the object mapping. number_of_mapped_objects = 0

3.) Setting parameters for objects that are to be mapped

The above-listed objects must be combined into a 32 bit value:

Index =6041h Subin. = Length = first_mapped_object =
00h 10h
Index =6061h Subin. = Length = second_mapped_object =
00h 08h
Index =60FDh Subin. = Length = third_mapped_object =
00h 20h

4.) Setting parameters for number of objects

The PDO should contain 3 objects number_of_mapped_objects =

5.) Parameterising transmission type

The PDO should be sent when changes (to the digital inputs) are sent. transmission_type = To ensure that only changes to the digital inputs result in transmission, the PDO is masked so that only the 16 bits of the object 60FD_n "come through". The PDO should be sent no more than every 10~ms (100× 100~ s) . inhibit_time =

6.) Setting identifier parameters

The PDO should be sent with identifier 187h.
Write the new identifier and
activate the PDO by deleting bit 31:⇒ cob_id_used_by_pdo = 40000187h 

Note that parameter setting of the PDOs may generally only be changed when the network status (NMT) is not operational. See also chapter 5.3.3.

5.3.2 Objects for PDO Parameter Setting

The motor controllers of the CMMP series contain a total of 4 transmit and 4 receive PDOs. The individual objects for setting parameters for these PDOs are the same for all TPDOs and all RPDOs in each case. For that reason, only the parameter description of the first TPDO is explicitly listed. The meaning can also be used for the other PDOs, which are listed in table form in the following:

Index	1800_h
Name	transmit_pdo_parameter_tpdo1
Object code	RECORD
No. of Elements	3

Sub-index	01_h
Description	cob_id_used_by_pdo_tpdo1
Data Type	UINT32
Access	rw
PDO Mapping	no
Units	--
Value Range	181_h ... 1FF_h , bit 30 and 31 may be set
Default Value	C0000181_h

Sub-index	02_h
Description	transmission_type_tpdo1
Data Type	UINT8
Access	rw
PDO Mapping	no
Units	--
Value Range	0 ... 8C_h , FE_l , FF_h
Default Value	FF_h

5. Access Procedure

Sub-index	03_h
Description	inhibit_time_tpdo1
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	100 μs (i.e. 10 = 1 ms)
Value Range	--
Default Value	0

Index	1A00_h
Name	transmit_pdo_mapping_tpdo1
Object code	RECORD
No. of Elements	4

Sub-index	00_h
Description	number_of_mapped_objects(tpdo1
Data Type	UINT8
Access	rw
PDO Mapping	no
Units	--
Value Range	0 ... 4
Default Value	see table

Sub-index	01_h
Description	first_mapped_object_tpdo1
Data Type	UINT32
Access	rw
PDO Mapping	no
Units	--
Value Range	--
Default Value	see table

5. Access Procedure

Sub-index	02_h
Description	second_mapped_object_tpdo1
Data Type	UINT32
Access	rw
PDO Mapping	no
Units	--
Value Range	--
Default Value	see table

Sub-index	03_h
Description	third_mapped_object(tpdo1)
Data Type	UINT32
Access	rw
PDO Mapping	no
Units	--
Value Range	--
Default Value	see table

Sub-index	04_h
Description	fourth_mapped_object_tpdo1
Data Type	UINT32
Access	rw
PDO Mapping	no
Units	--
Value Range	--
Default Value	see table

Note that the object groups transmit_pdo_parameter_xxx and transmit_pdo_mapping_xxx can only be written when the PDO is deactivated (bit 31 set in cob_id_used_by_pdo_xxx).

5. Access Procedure

1st Transmit PDO

Index	Comment	Type	Acc.	Default Value
1800_h\_00_h	number of entries	UINT8	ro	03_h
1800_h\_01_h	COB-ID used by PDO	UINT32	rw	C0000181_h
1800_h\_02_h	transmission type	UINT8	rw	FF_h
1800_h\_03_h	inhibit time (100 μs)	UINT16	rw	0000_h
1A00_h\_00_h	number of mapped objects	UINT8	rw	01_h
1A00_h\_01_h	first mapped object	UINT32	rw	60410010_h
1A00_h\_02_h	second mapped object	UINT32	rw	00000000_h
1A00_h\_03_h	third mapped object	UINT32	rw	00000000_h
1A00_h\_04_h	fourth mapped object	UINT32	rw	00000000_h

2nd Transmit PDO

Index	Comment	Type	Acc.	Default Value
1801_h\_00_h	number of entries	UINT8	ro	03_h
1801_h\_01_h	COB-ID used by PDO	UINT32	rw	C0000281_h
1801_h\_02_h	transmission type	UINT8	rw	FF_h
1801_h\_03_h	inhibit time (100 μs)	UINT16	rw	0000_h
1A01_h\_00_h	number of mapped objects	UINT8	rw	02_h
1A01_h\_01_h	first mapped object	UINT32	rw	60410010_h
1A01_h\_02_h	second mapped object	UINT32	rw	60610008_h
1A01_h\_03_h	third mapped object	UINT32	rw	00000000_h
1A01_h\_04_h	fourth mapped object	UINT32	rw	00000000_h

3rd Transmit PDO

Index	Comment	Type	Acc.	Default Value
1802_h\_00_h	number of entries	UINT8	ro	03_h
1802_h\_01_h	COB-ID used by PDO	UINT32	rw	C0000381_h
1802_h\_02_h	transmission type	UINT8	rw	FF_h
1802_h\_03_h	inhibit time (100 μs)	UINT16	rw	0000_h
1A02_h\_00_h	number of mapped objects	UINT8	rw	02_h
1A02_h\_01_h	first mapped object	UINT32	rw	60410010_h
1A02_h\_02_h	second mapped object	UINT32	rw	60640020_h
1A02_h\_03_h	third mapped object	UINT32	rw	00000000_h
1A02_h\_04_h	fourth mapped object	UINT32	rw	00000000_h

5. Access Procedure

4rd Transmit PDO

Index	Comment	Type	Acc.	Default Value
1803_h\_00_h	number of entries	UINT8	ro	03_h
1803_h\_01_h	COB-ID used by PDO	UINT32	rw	C0000481_h
1803_h\_02_h	transmission type	UINT8	rw	FF_h
1803_h\_03_h	inhibit time (100 μs)	UINT16	rw	0000_h
1A03_h\_00_h	number of mapped objects	UINT8	rw	02_h
1A03_h\_01_h	first mapped object	UINT32	rw	60410010_h
1A03_h\_02_h	second mapped object	UINT32	rw	606C0020_h
1A03_h\_03_h	third mapped object	UINT32	rw	00000000_h
1A03_h\_04_h	fourth mapped object	UINT32	rw	00000000_h

tpdo_1_transmit_mask

Index	Comment	Type	Acc.	Default Value
2014_h\_00_h	number of entries	UINT8	ro	02_h
2014_h\_01_h	tpdo_1_transmit_mask_low	UINT32	rw	FFFFFFFF_h
2014_h\_02_h	tpdo_1_transmit_mask_high	UINT32	rw	FFFFFFFF_h

tpdo_2_transmit_mask

Index	Comment	Type	Acc.	Default Value
2015_h\_00_h	number of entries	UINT8	ro	02_h
2015_h\_01_h	tpdo_2_transmit_mask_low	UINT32	rw	FFFFFFFF_h
2015_h\_02_h	tpdo_2_transmit_mask_high	UINT32	rw	FFFFFFFF_h

tpdo_3_transmit_mask

Index	Comment	Type	Acc.	Default Value
2016_h\_00_h	number of entries	UINT8	ro	02_h
2016_h\_01_h	tpdo_3_transmit_mask_low	UINT32	rw	FFFFFFFF_h
2016_h\_02_h	tpdo_3_transmit_mask_high	UINT32	rw	FFFFFFFF_h

tpdo_4_transmit_mask

Index	Comment	Type	Acc.	Default Value
2017_h\_00_h	number of entries	UINT8	ro	02_h
2017_h\_01_h	tpdo_4_transmit_mask_low	UINT32	rw	FFFFFFFF_h
2017_h\_02_h	tpdo_4_transmit_mask_high	UINT32	rw	FFFFFFFF_h

5. Access Procedure

1st Receive PDO

Index	Comment	Type	Acc.	Default Value
1400_h\_00_h	number of entries	UINT8	ro	02_h
1400_h\_01_h	COB-ID used by PDO	UINT32	rw	C0000201_h
1400_h\_02_h	transmission type	UINT8	rw	FF_h
1600_h\_00_h	number of mapped objects	UINT8	rw	01_h
1600_h\_01_h	first mapped object	UINT32	rw	60400010_h
1600_h\_02_h	second mapped object	UINT32	rw	00000000_h
1600_h\_03_h	third mapped object	UINT32	rw	00000000_h
1600_h\_04_h	fourth mapped object	UINT32	rw	00000000_h

2nd Receive PDO

Index	Comment	Type	Acc.	Default Value
1401_h\_00_h	number of entries	UINT8	ro	02_h
1401_h\_01_h	COB-ID used by PDO	UINT32	rw	C0000301_h
1401_h\_02_h	transmission type	UINT8	rw	FF_h
1601_h\_00_h	number of mapped objects	UINT8	rw	02_h
1601_h\_01_h	first mapped object	UINT32	rw	60400010_h
1601_h\_02_h	second mapped object	UINT32	rw	60600008_h
1601_h\_03_h	third mapped object	UINT32	rw	00000000_h
1601_h\_04_h	fourth mapped object	UINT32	rw	00000000_h

3rd Receive PDO

Index	Comment	Type	Acc.	Default Value
1402_h\_00_h	number of entries	UINT8	ro	02_h
1402_h\_01_h	COB-ID used by PDO	UINT32	rw	C0000401_h
1402_h\_02_h	transmission type	UINT8	rw	FF_h
1602_h\_00_h	number of mapped objects	UINT8	rw	02_h
1602_h\_01_h	first mapped object	UINT32	rw	60400010_h
1602_h\_02_h	second mapped object	UINT32	rw	607A0020_h
1602_h\_03_h	third mapped object	UINT32	rw	00000000_h
1602_h\_04_h	fourth mapped object	UINT32	rw	00000000_h

5. Access Procedure

4rd Receive PDO

Index	Comment	Type	Acc.	Default Value
1403_h\_00_h	number of entries	UINT8	ro	02_h
1403_h\_01_h	COB-ID used by PDO	UINT32	rw	C0000501_h
1403_h\_02_h	transmission type	UINT8	rw	FF_h
1603_h\_00_h	number of mapped objects	UINT8	rw	02_h
1603_h\_01_h	first mapped object	UINT32	rw	60400010_h
1603_h\_02_h	second mapped object	UINT32	rw	60FF0020_h
1603_h\_03_h	third mapped object	UINT32	rw	00000000_h
1603_h\_04_h	fourth mapped object	UINT32	rw	00000000_h

5.3.3 Activation of PDOs

For the motor controller to send or recieve PDOs, the following points must be met:

• The object number_of_mapped_objects must not equal zero.
• In the object cob_id_used_for_pdos, bit 31 must be deleted.
• The communication status of the motor controller must be operational (see chapter 5.6, Network Management: NMT Service).

For parameters to be set for PDOs, the following points must be met:

- The communication status of the motor controller must not be operational.

5.4 SYNC message

Several devices of a system can be synchronised with each other. To do this, one of the devices (usually the higher-level controller) sends out synchronisation messages periodically. All connected controllers receive these messages and use them for handling the PDOs (see chapter 5.3).

The identifier, on which the motor controller receives the SYNC message, is set permanently to 080_h . The identifier can be read out via the object cob_id_sync.

Index	1005_h
Name	cob_id_sync
Object code	VAR
Data Type	UINT32

5. Access Procedure

Access	rw
PDO Mapping	no
Units	--
Value Range	80000080_h, 00000080_h
Default Value	00000080_h

5.5 EMERGENCY Message

The motor controller monitors the function of its major assemblies. These include the power supply, final stage, angle transmitter evaluation and technology connections. In addition, the motor (temperature, angle transmitter) and limit switch are checked. Incorrect parameterisations can also result in error messages (division by zero, etc.). When an error occurs, the error number is shown in the motor controller's display. If several error messages occur simultaneously, the message with the highest priority (lowest number) is always shown in the display.

5.5.1 Overview

The motor controller transmits an EMERGENCY message when an error occurs or an error is acknowledged. The identifier of this message is put together from the identifier 80h und der node number of the affected controller.

graph TD
    A["0"] --> B["Error free"]
    B --> C["1"]
    B --> D["4"]
    C --> E["Error occurred"]
    D --> E
    E --> F["2"]
    E --> G["3"]
    G --> H["End"]

After a reset, the regulator is in the Error Free state (which it might leave immediately, since an error has been present from the beginning). The following condition transitions are possible:

No.	Cause	Meaning
0	Initialization completed
1	Error occurs	There was no error, and an error occurs. An EMERGENCY telegram is sent with the error code of the error that occurred.
2	Error acknowledgement	An error acknowledgement (see chapter 7.1.5) is attempted, but not all causes are fixed.

5. Access Procedure

No.	Cause	Meaning
3	Error occurs	There is already an error, and another error occurs.An EMERGENCY telegram is sent with the error code of the new error.
4	Error acknowledgement	An error acknowledgement is attempted, and all causes are fixed.An EMERGENCY telegram is sent with the error code 0000.

Tab. 5.1: Possible condition transitions

5.5.2 Structure of the EMERGENCY Message

When an error occurs, the motor controller transmits an EMERGENCY message. The identifier of this message is put together from the identifier 81_h and node number of the affected motor controller.

The EMERGENCY message consists of eight data bytes, whereby the first two bytes contain an error_code, which is listed in the following table. An additional error code is in the third byte (object 1001_h ). The remaining five bytes contain zeros.

The following error codes can occur:

Error_code (hex)	Display	Meaning
0000	--	Regulator is error-free
6180	E 01 0	Stack Overflow
3220	E 02 0	Low voltage intermediate circuit
4310	E 03 x	Excess temperature in motor
4210	E 04 0	Excess temperature power section
4280	E 04 1	Excess temperature intermediate circuit
5114	E 05 0	Malfunction of internal voltage 1
5115	E 05 1	Malfunction of internal voltage 2
5116	E 05 2	Malfunction of drive supply
5410	E 05 3	Undervoltage digital I/O
5410	E 05 4	Excess current digital I/O
2320	E 06 x	Short circuit, final stage
3210	E 07 0	Excess voltage
7380	E 08 0	Angle transmitter error resolver
7382	E 08 2	Error track signals Z0 incremental encoder
7383	E 08 3	Error track signals Z1 incremental encoder
7384	E 08 4	Error track signals of digital incremental encoder
7385	E 08 5	Error track signals Hall generator signals incremental encoder
7386	E 08 6	Communication error angle encoder
7387	E 08 7	Signal amplitude incremental track faulty
7388	E 08 8	Internal angle transmitter error
7389	E 08 9	Angle encoder at X2b is not supported
73A1	E 09 0	Type CMMP angle encoder parameter set
73A2	E 09 1	Angle encoder parameter set cannot be decoded
73A3	E 09 2	Angle encoder parameter set: Version unknown
73A4	E 09 3	Angle encoder parameter set: Data structure defective
73A5	E 09 7	EPROM angle encoder write-protected
73A6	E 09 9	EEPROM angle encoder too small
8A80	E 11 0	Homing run: Error at the start
8A81	E 11 1	Error during homing run
8A82	E 11 2	Homing run: Zero pulse error
8A83	E 11 3	Homing run: timeout
8A84	E 11 4	Homing run: Incorrect / invalid limit switch
8A85	E 11 5	Homing run: P_t / following error
8A86	E 11 6	Homing run: End of the search section
8180	E 12 0	CAN bus: Double node number
8120	E 12 1	CAN communication error: BUS OFF
8181	E 12 2	Communication error CAN while sending
8182	E 12 3	Communication error CAN while receiving
6185	E 15 0	Division by 0
6186	E 15 1	Outside range (run over/under)
6181	E 16 0	Program execution faulty
6182	E 16 1	Illegal interrupt
6187	E 16 2	Initialisation error
6183	E 16 3	Unexpected state
8611	E 17 x	Limit value contour error exceeded
5280	E 21 1	Error 1 ammeter U
5281	E 21 1	Error 1 ammeter V
5282	E 21 2	Error 2 ammeter U
5283	E 21 3	Error 2 ammeter V
6080	E 25 0	Invalid device type
6081	E 25 1	Device type not supported
6082	E 25 2	HW revision not supported
6083	E 25 3	Device function limited
5580	E 26 0	Missing user-parameter set
5581	E 26 1	Check sum error
5582	E 26 2	Flash: Error when writing
5583	E 26 3	Flash: Error when deleting
5584	E 26 4	Flash: Error in the internal flash
5585	E 26 5	Missing calibration data
5586	E 26 6	Missing user-position data records
8611	E 27 0	Warning threshold following error
FF01	E 28 0	Operating hours counter missing
FF02	E 28 1	Operating hours counter: Write error
FF03	E 28 2	Operating hours counter corrected
FF04	E 28 3	Operating hours counter converted
6380	E 30 0	Internal conversion error
2312	E 31 0	I^2t – motor
2311	E 31 1	I^2t – motor controller
2313	E 31 2	I^2t – PFC
2314	E 31 3	I^2t – brake resistance
3280	E 32 0	Intermediate circuit charge time exceeded
3281	E 32 1	Undervoltage for active PFC
3282	E 32 5	Overload brake chopper
3283	E 32 6	Intermediate circuit discharge time exceeded
3284	E 32 7	Power supply missing for controller enable
3285	E 32 8	Power supply broke down during controller enable
3286	E 32 9	Phase failure
8A87	E 33 0	Encoder emulation following error
8780	E 34 0	Synchronisation error (resynchronisation)
8781	E 34 1	Synchronisation error (synchronisation broke down)
8480	E 35 0	Linear motor turn-through protection
6320	E 36 x	Parameter was limited
8612	E 40 x	SW limit switch reached
8680	E 42 0	Positioning: Drive stops due to missing connection positioning
8681	E 42 1	Positioning: Drive stops because rotation direction reversal not permitted
8682	E 42 2	Positioning: Prohibited rotational direction reversal after HALT
8081	E 43 0	Limit switches: Negative command value blocked
8082	E 43 1	Limit switches: Positive command value blocked
8083	E 43 2	Limit switches: Positioning suppressed
8084	E 45 0	Driver supply cannot be switched off
8085	E 45 1	Driver supply cannot be activated
8086	E 45 2	Driver supply has been activated
7580	E 60 0	Ethernet I
7581	E 61 0	Ethernet II
F080	E 80 0	Overflow current controller - IRQ
F081	E 80 1	Overflow speed controller - IRQ
F082	E 80 2	Overflow position controller- IRQ
F083	E 80 3	Overflow interpolator - IRQ
F084	E 81 4	Iverflow low level - IRQ
F085	E 81 5	Overflow MDC - IRQ
5080	E 90 x	Hardware fault
6000	E 91 0	Internal initialisation error

5.5.3 Description of the Objects

Object 1003 _h : pre\_defined\_error\_field

The respective error_code of the error messages is also stored in a four-stage fault memory. This is structured like a shift register, so that the last occurring error is always stored in the object 1003_h-01_h (standard_error_field_0). Through read access onto the object 1003_h-00_h (pre_defined_error_field), it can be determined how many error messages are currently stored in the fault memory. The fault memory is deleted by writing the value 00_h into the object 1003_h-00_h (pre_defined_error_field). To be able to reactivate the final stage of the motor controller after an error, an error acknowledgement (see chapter 7.1: Change of State 15) must also be performed.

Index	1003_h
Name	pre_defined_error_field
Object code	ARRAY
No. of Elements	4
Data Type	UINT32

5. Access Procedure

Sub-index	01_h
Description	standard_error_field_0
Access	ro
PDO Mapping	no
Units	--
Value Range	--
Default Value	--

Sub-index	02_h
Description	standard_error_field_1
Access	ro
PDO Mapping	no
Units	--
Value Range	--
Default Value	--

Sub-index	03_h
Description	standard_error_field_2
Access	ro
PDO Mapping	no
Units	--
Value Range	--
Default Value	--

Sub-index	04_h
Description	standard_error_field_3
Access	ro
PDO Mapping	no
Units	--
Value Range	--
Default Value	--

5.6 Network Management (NMT Service)

All CANopen devices can be triggered via the Network Management. The identifier with the highest priority (000h) is reserved for this.

By means of NMT, commands can be sent to one or all controllers. Each command consists of two bytes, whereby the first byte contains the command specifier (CS) and the second byte the node ID (NI) of the addressed controller. Through the node ID zero, all nodes in the network can be addressed simultaneously. It is thus possible, for example, that a reset is triggered in all devices simultaneously. The regulator does not acknowledge the NMT commands. Successful completion can only be determined indirectly (e.g. through the switch-on message after a reset).

Structure of the NMT Message:

For the NMT status of the CANopen node, conditions are established in a condition diagram. Changes in conditions can be triggered via the CS byte in the NMT message. These are largely oriented on the target condition.

NMT state Machine		Meaning	CS	Target condition
	2	Bootup	--	Pre-operational	7Fh
	3	Start Remote Node	01h	Operational	05h
	4	Enter Pre-Operational	80h	Pre-operational	7Fh
	5	Stop Remote Node	02h	Stopped	04h
	6	Start Remote Node	01h	Operational	05h
	7	Enter Pre-Operational	80h	Pre-operational	7Fh
	8	Stop Remote Node	02h	Stopped	04h
	9	Reset Communication	82h	Reset communication *1)
	10	Reset Communication	82h	Reset communication *1)
	11	Reset Communication	82h	Reset communication *1)
	12	Reset Application	81h	Reset application *1)
	13	Reset Application	81h	Reset application *1)
	14	Reset Application	81h	Reset application *1)
	*1) The final target condition is pre-operational (7Fh), since the transitions 15, 16 and 2 are automatically performed by the controller.

Tab. 5.2: NMT state Machine

5. Access Procedure

All other state transitions are performed automatically by the motor controller, e.g. because the initialisation is completed.

In the NI parameter, the node number of the motor regulator must be specified, or zero if all nodes in the network are to be addressed (broadcast). Depending on the NMT status, certain communication objects cannot be used: So, for example, it is absolutely necessary to place the NMT status to Operational, so that the controller sends PDOs.

Name	Meaning	SDO	PDO	NMT
Reset Application	No Communication. All CAN objects are reset to their reset values (application parameter set) reset	-	-	-
Reset Communication	No communication The CAN controller is newly initialised.	-	-	-
Initialising	Condition after hardware reset. Resetting of the CAN node, sending of the bootup message	-	-	-
Pre-operational	Communication via SDOs possible PDOs not active (no sending / evaluating)	X	-	X
Operational	Communication via SDOs possible All PDOs active (sending / evaluating)	X	X	X
Stopped	No communication except for heartbeating	-	-	X

Tab. 5.3: NMT state Machine

NMT telegrams must not be sent in a burst (immediately one after another)!

At least twice the position controller cycle time must lie between two consecutive NMT messages on the bus (also for different nodes!) for the motor controller to process the NMT messages correctly.

If necessary, the NMT command "Reset Application" is delayed until an ongoing storage process is completed, since otherwise the storage process would remain incomplete (defective parameter set).

The delay can lie in the range of some seconds.

The communication status must be set to operational for the controller to transmit and receive PDOs.

5. Access Procedure

5.7 Bootup

5.7.1 Overview

After the power supply is switched on or after a reset, the controller reports via a bootup message that the initialisation phase is ended. The controller is then in the NMT status preoperational (see chapter 5.6, Network Management: NMT Service).

5.7.2 Structure of the Bootup Message

The Bootup message is structured almost identically to the following Heartbeat message. Only a zero is sent instead of the NMT status.

5.8 Heartbeat (error control protocol)

5.8.1 Overview

The so-called Heartbeat protocol is implemented to monitor communication between slave (drive) and master: Here, the drive sends messages cyclically to the master. The master can check whether these messages occur cyclically and introduce appropriate measures if they do not. Since both Heartbeat and Nodeguarding telegrams are sent (see chapter 5.9) with the identifier 700_h + node number , both protocols cannot be active at the same time. If both protocols are activated at the same time, only the Heartbeat protocol is active.

5.8.2 Structure of the Heartbeat Message

The Heartbeat telegram is transmitted with the identifier 700_h + node number. It contains only 1 byte of reference data, the NMT status of the regulator (see chapter 5.6, Network Management: NMT Service).

N	Meaning
04_h	Stopped
05_h	Operational
7F_h	Pre-Operational

5.8.3 Description of the Objects

5.8.3.1 Object 1017 h: producer\_heartbeat\_time

To activate the Heartbeat function, the time between two Heartbeat telegrams can be established via the object producer_heartbeat_time.

Index	1017_h
Name	producer_heartbeat_time
Object code	VAR
Data Type	UINT16

Access	rw
PDO	no
Units	ms
Value Range	0 ... 65535
Default Value	0

The producer_heartbeat_time can be stored in the parameter set. If the controller starts with a producer_heartbeat_time not equal to zero, the bootup message counts as the first heartbeat.

The regulator can only be used as a so-called Heartbeat producer. The object 1016 _h (consumer_heartbeat_time) is therefore implemented only for compatibility reasons and always returns 0.

5.9 Nodeguarding (error control protocol)

5.9.1 Overview

The so-called Nodeguarding protocol can also be used to monitor communication between slave (drive) and master. In contrast to the Heartbeat protocol, master and slave monitor each other:

The Master cyclically asks the drive about its NMT status. In each response of the regulator, a specific bit is inverted (toggled). If these responses are not made or the regulator always answers with the same toggle bit, the Master can react accordingly. Likewise, the drive monitors the regular arrival of the Master's Nodeguarding requests: If the messages are not received during a certain time period, the regulator triggers error 12-4. Since both heartbeat and nodeguarding telegrams are sent (see chapter 5.8) with the identifier 700_h + node number , both protocols cannot be active at the same time. If both protocols are activated at the same time, only the Heartbeat protocol is active.

5. Access Procedure

5.9.2 Structure of the Nodeguarding messages

A request by the Master must be sent as a so-called remote frame with the identifier 700_h + node number. For a remote frame, a special bit is also set in the telegram, the remote bit. Remote frames have no data.

The regulator's response is structured almost identically to the Heartbeat message. It contains only 1 byte of reference data, the toggle bit and NMT status of the regulator (see chapter 5.6).

The first data byte (T/N) is structured as follows:

Bit	Value	Name	Meaning
7	80_h	toggle_bit	Changes with each telegram
0 ... 6	7F_h	nmt_state	04_h Stopped 05_h Operational 7F_h Pre-Operational

The monitoring time for requests by the Master is programmable. Monitoring begins with the Master's first remote request received. Starting at this time, the remote inquiries must arrive before the set monitoring time expires, or error 12-4 is triggered.

The toggle bit is reset by the NMT command Reset Communication. It is therefore deleted in the first response of the controller.

5.9.3 Description of the Objects

5.9.3.1 Object 100Ch: guard\_time

For activation of Nodeguarding monitoring, the maximum time between two remote inquiries of the Master is parameterised. This time is determined in the controller from the product of guard_time (100Ch) and life_time_factor (100Dh). It is thus recommended to write 1 into life_time_factor and then specify the time in milliseconds directly via the guard_time.

5. Access Procedure

Index	100C_h
Name	guard_time
Object code	VAR
Data Type	UINT16

Access	rw
PDO Mapping	no
Units	ms
Value Range	0 ... 65535
Default Value	0

5.9.4 Objekt 100D h: life\_time\_factor

A 1 should be entered in the life_time_factor to specify the guard_time directly.

Index	100D_h
Name	life_time_factor
Object code	VAR
Data Type	UINT8

Access	rw
PDO Mapping	no
Units	--
Value Range	0, 1
Default Value	0

5. Access Procedure

Table of Identifiers
The following table gives an overview of the identifiers used:

Object type	Identifier (hexadecimal)	Comment
SDO (Host to controller)	600_h +node number
SDO (Controller to host)	580_h +node number
TPDO1	181_h	Standard values.Can be changed if needed.
TPDO2	281_h
TPDO3	381_h
TPDO4	481_h
RPDO1	201_h
RPDO2	301_h
RPDO3	401_h
RPDO4	501_h
SYNC	080_h
EMCY	080_h +node number
HEARTBEAT	700_h +node number
NODEGUARDING	700_h +node number
BOOTUP	700_h +node number
NMT	000_h

6. Setting Parameters

6. Setting Parameters

Before the motor controller can carry out the desired task (torque regulation, RPM regulation, positioning), numerous parameters of the motor controller must be adapted to the motor used and the specific application. The sequence in the subsequent chapters should be followed thereby. After setting of the parameters, device control and use of the various operating modes are explained.

The display of the motor controller shows an "A" (Attention) if the motor controller has not been properly parameterised yet. If the motor controller is to be completely parameterised via CANopen, you must write in the object 6510_h-C0_h to suppress this display. (See page 130, Object 6510h_C0h: commissioning_state).

Besides the parameters described in depth here, the object directory of the motor controller contains other parameters that have to be implemented in accordance with CANopen. But they normally do not contain any information that can sensibly be used in designing an application with the CMMP family. If needed, specification of such objects can be read in [1] and [2] (see page 10).

6.1 Load and Save Parameter Sets

6.1.1 Overview

The motor controller has three parameter sets:

- Current parameter set

This parameter set is located in the random access memory (RAM) of the motor controller. It can be read and written on as desired with the parameterisation software or via the CAN bus. When the motor controller is switched on, the application parameter set is copied into the current parameter set.

- Default parameter set

This is the parameter set of the motor controller provided standard by the manufacturer and is unchangeable. Through a write process into the CANopen object 1011_h-01_h (restore_all_default_parameters), the default parameter set can be copied into the current parameter set. This copying process is only possible when the final stage is switched off.

- Application parameter set

The current parameter set can be stored in the nonvolatile flash memory. The storage process can be triggered with a read access to the CANopen object 1010_h - 01_h (save_all_parameters). When the motor controller is switched on, the application parameter set is automatically copied into the current parameter set.

6. Setting Parameters

The following diagram illustrates the connections between the individual parameter sets.

graph TD
    A["Default parameter set Application-specific parameter set"] --> B["CANopen Object 1011"]
    A --> C["System switched on"]
    A --> D["CANopen Object 1010"]
    B --> E["Current parameter set"]
    C --> E
    D --> E
    E --> F["Output"]

Fig. 6.1: Connections between parameter sets

Two different concepts are conceivable for administering parameter sets:

1. The parameter set is created with the parameterisation software and transmitted completely into the individual controllers. With this procedure, only the objects accessible via CANopen have to be put in via the CAN bus. A disadvantage here is that the parameterisation software is needed for each start-up of a new machine or in case of a repair (controller exchange). This procedure therefore makes sense only for individual units.
2. This variant is based on the fact that most application-specific parameter sets differ from the default parameter set in only a few parameters. This makes it possible for the current parameter set to be newly constructed via the CAN bus each time the system is switched on. To do this, the higher level controller first loads the default parameter set (call-up of the CANopen object 1011_h-01_h (restore_all_default_parameters). After that, only the differing objects are transmitted. The entire procedure lasts less than 1 second per controller. An advantage is that this procedure also works for unparameterised controllers, so that the start-up of new systems or replacement of individual controllers is not a problem, and the parameterisation software is not required for this. Use of this method is recommended.

Warning

Before the final stage is switched on for the first time, make sure the controller really contains the parameters you want.

An incorrectly parameterised controller can turn out of control and cause personal injury or property damage.

6.1.2 Description of the Objects

Object 1011h: restore_default_parameters

Index	1011_h
Name	restore_parameters
Object code	ARRAY
No. of Elements	1
Data Type	UINT32

Sub-index	01_h
Description	restore_all_default_parameters
Access	rw
PDO Mapping	no
Units	--
Value Range	64616F6 C_h ("load")
Default Value	1 (read access)

The object 1011_h-01_h (restore_all_default_parameters) makes it possible to put the current parameter set into a defined state. To achieve this, the default parameter set is copied into the current parameter set. The copying process is triggered by a write access to this object, whereby the string "load" must be transferred as a data record in hexadecimal form.

This command is only carried out with a deactivated final stage. Otherwise, the SDO error "Data cannot be transmitted or stored, since the motor controller for this is not in the correct state" is generated. If the incorrect identifier is sent, the error "Data cannot be transmitted or stored" is generated. If the object is accessed by reading, a 1 is returned to show that resetting to default values is supported.

The parameters of the CAN communication (node number, baud rate and operation mode) as well as numerous angle encoder settings (some of which require a reset to become effective) remain unchanged.

Object 1010 _h : store\_parameters

Index	1010_h
Name	store_parameters
Object code	ARRAY
No. of Elements	1
Data Type	UINT32

6. Setting Parameters

Sub-index	01_h
Description	save_all_parameters
Access	rw
PDO Mapping	no
Units	--
Value Range	65766173 _h ("save")
Default Value	1

If the default parameter set should also be taken over into the application parameter set, the object 1010_h - 01_h (save_all_parameters) must also be called up.

If the object is written via an SDO, the default behaviour is that the SDO is answered immediately. The answer thus does not reflect the end of the storage process.

But the behaviour can be changed via the object 6510_h F0 _h (compatibility_control).

6.2 Compatibility settings

6.2.1 Overview

In order to stay compatible with earlier CANopen implementations (e.g. also in other device families) and still be able to make changes and corrections to the DSP402 and DS301, the object compatibility_control was added. In the default parameter set, this object delivers 0, that is, compatibility to earlier versions. For new applications, we recommend setting the defined bits to permit the highest possible agreement with the names standards.

6.2.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
6510\_FO_h	VAR	compatibility_control	UINT16	rw

Objekt 6510h_ F0h: compatibility_control

Sub-index	F0_h
Description	compatibility_control
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	--
Value Range	0 ... 1FF_h , see table
Default Value	0

6. Setting Parameters

Bit	Value	Name
0	0001_h	homing_method_scheme*
1	0002_h	reserved
2	0004_h	homing_method_scheme
3	0008_h	reserved
4	0010_h	response_after_save
5	0020_h	reserved
6	0040_h	homing_to_zero
7	0080_h	device_control
8	0100_h	reserved

Bit 0 homing_method_scheme*

The bit has the same meaning as bit 2 and is present for compatibility reasons. If bit 2 is set, this bit is also set and vice versa.

Bit 1 reserved

The bit is reserved. It must not be set.

Bit 2 homing_method_scheme

If this bit is set, the homing run methods 32 ... 35 are numbered in accordance with DSP402; otherwise, numbering is compatible to earlier implementations, (see also chapter 0). If this bit is set, bit 0 is also set and vice versa.

Bit 3 reserved

The bit is reserved. It must not be set.

Bit 4 response_after_save

If this bit is set, the response to save_all_parameters is sent only when saving is complete. This can last several seconds, which might result in a timeout in the controller. If the bit is deleted, the response is immediate, but that the saving procedure is not yet completed should be considered.

Bit 5 reserved

The bit is reserved. It must not be set.

Bit 6 homing_to_zero

Until now, a homing run under CANopen has consisted of only 2 phases (search run and creep run). The drive then does not run to the determined zero position (which, for example, can be moved by the homing_offset to the found homing position).

If this bit is set, this standard behaviour is changed and the drive follows the homing run with a run to zero. See chapter 8.2, Operating Mode Reference Travel (Homing Mode).

Bit 7 device_control

If this bit is set, bit 4 of the statusword (voltage_enabled) is output in accord. with DSP402 v2.0. Also, the condition FAULT_REACTION_ACTIVE can be differentiated from the condition FAULT. See chapter 7.

Bit 8 reserved

The bit is reserved. It must not be set.

6.3 Conversion Factors (Factor Group)

6.3.1 Overview

Motor controllers are used in a number of applications: As direct drive, with follow-on gear, for linear drive, etc. To permit easy parameter setting, the motor controller can be parameterised with the help of the factor group so that the user can specify or read out all variables, such as speed, directly in the desired units at the output (e.g. with a linear axis position value in millimetres and speeds in millimetres per second). The motor controller then converts the entries into its internal units with the help of the factor group. For each physical variable, (position, speed and acceleration), there is a conversion factor available to adapt the user units to the own application. The units set through the factor group are generally designated position_units, speed_units or acceleration_units. The following sketch illustrates the function of the factor group:

```mermaid
graph LR
    subgraph_Factor_Group["Factor Group"]
        direction TB
        A["Position"] --> B["position_factor"]
        B --> C["±1"]
        B --> D["±1"]
        E["Internal units"] --> F["Increments (Inc)"]
    end

    subgraph_Factor_Group_Beta["Factor Group"]
        direction TB
        G["Velocity"] --> H["velocity_encoder_factor"]
        H --> I["±1"]
        H --> J["±1"]
        K["speed_units"] --> L
        M["speed_units"] --> N
        O["speed_units"] --> P
        Q["speed_units"] --> R
        S["speed_units"] --> T
        U["speed_units"] --> V
        W["speed_units"] --> X
        Y["speed_units"] --> Z
        AA["speed Units"] --> AB
        AC["speed Units"] --> AD
        AE["speed Units"] --> AF
        AG["speed Units"] --> AH
        AI["speed Units"] --> AJ
        AK["speed Units"] --> AL
        AM["speed Units"] --> AN
        AO["speed Units"] --> AP
        AQ["speed Units"] --> AQ
        AR["speed Units"] --> AR
        AS["speed Units"] --> AT
        AU["speed Units"] --> AU
        AV["speed Units"] --> AW
        AX["speed Units"] --> AX
        AY["speed Units"] --> AZ
        BA["speed Units"] --> BB
        BC["speed Units"] --> BC
        DA["speed Units"] --> DA
        AE["Speed Units"] --> AE
        AF["Speed Units"] --> AF
        AG["Speed Units"] --> AG
        AH["Speed Units"] --> AH
        AI["Speed Units"] --> AI
        AJ["Speed Units"] --> AJ
        AK["Speed Units"] --> AK
        AL["Speed Units"] --> AL
        AM["Speed Units"] --> AM
        AN["Speed Units"] --> AN
        AO["Speed Units"] --> AO
        AP["Speed Units"] --> AP
        AQ["Speed Units"] --> AQ
        AR["Speed Units"] --> AR
        AS["Speed Units"] --> AS
        AT["Speed Units"] --> AT
        AU["Speed Units"] --> AU
        AV["Speed Units"] --> AV
        AW["Speed Units"] --> AW
        AX["Speed Units"] --> AX
        AO["Speed Units"] --> AO
        AP["Speed Units"] --> AP
        AQ["Speed Units"] --> AQ
        AR["Speed Units"] --> AR
        AS["Speed Units"] --> AS
        AT["Speed Units"] --> AT
        AU["Speed Units"] --> AU
        AV["Speed Units"] --> AV
        AW["Speed Units"] --> AW
        AX["Speed Units"] --> AX
        AO["Speed Units"] --> AO

    %% Note: The chart displays multiple input/output nodes connected by arrows, but the labels on the output are 'acceleration' and 'acceleration_factor'. The values in the table represent the same variable's output value. The times are labeled as '1 R / min / 256 sec'. The number of input units is also shown on the left side.

Fig. 6.2: Factor group

All parameters are stored in the motor controller in its internal units and only converted with the help of the factor group when being written in or read out.

For that reason, the factor group should be set before the first parameter setting and not changed during parameter setting.

6. Setting Parameters

By default, the factor group is set to the following units:

Size	Description	Unit	Explanation
Length	position_units	Increments	65536 Increments per revolution
Velocity	speed_units	min^-1	Revolutions per minute
Acceleration	acceleration_units	(min^-1)/s	RPM increase per second

6.3.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
6093_h	ARRAY	position_factor	UINT32	rw
6094_h	ARRAY	velocity_encoder_factor	UINT32	rw
6097_h	ARRAY	acceleration_factor	UINT32	rw
607E_h	VAR	polarity	UINT8	rw

Object 6093 _h : position\_factor

The object position_factor converts all length units of the application from position_units into the internal unit increments (65536 increments equal 1 revolution). It consists of numerator and denominator.

Fig. 6.3: Overview: Factor group

6. Setting Parameters

Index	6093_h
Name	position_factor
Object code	ARRAY
No. of Elements	2
Data Type	UINT32

Sub-index	01_h
Description	numerator
Access	rw
PDO Mapping	yes
Units	--
Value Range	--
Default Value	1

Sub-index	02_h
Description	divisor
Access	rw
PDO Mapping	yes
Units	--
Value Range	--
Default Value	1

The following variables are included in the position_factor calculation formula:

gear_ratio

Gear ratio between revolutions at the drive-in ( R_IN ) and revolutions at the drive-out ( R_OUT )

feed_constant

Ratio between revolutions at the drive-out ( R_OUT ) and movement in position_units (e.g. 1 R = 360°)

Calculation of the position_factor uses the following equation:

$$ \text { position_factor } = \frac {\text { numerator }}{\text { divisor }} = \frac {\text { gear_ratio } \times 6 5 5 3 6}{\text { feed_constant }} $$

The position_factor must be written separately by numerator and denominator into the motor controller. It can therefore be necessary to convert the fraction into whole numbers through suitable expansion.

The position_factor must not be greater than 2^24 .

6. Setting Parameters

EXAMPLE

First, the desired unit (column 1) and the desired decimal positions (DP) must be determined along with the gear factor and, if applicable, the feed constant of the application. This feed constant is then depicted in the desired position units (column 2).

Finally, all values can be placed in the equation and the fraction calculated:

1.) Desired unit at the drive-out (position_units)
2.) feed constant: How many position units are 1 revolution (R out)?
3.) Gear factor (gear_ratio): R IN per ROUT

4.) Insert values into equation

1.	2.	3.	4.	RESULTAbbreviated
Increments,0 DPInc.	1R_OUT = 65536 Inc	1/1	1U1U · 65536 65536 Ink1U = 1 Ink1 Ink	num:1div:1
Degree,1 DP1/10 Degree(°/10)	1R_OUT = 3600^/_10	1/1	1U1U · 65536 3600%1U = 65536 Ink3600%	num:4096div:225
Rev.,2 DP1/100 Rev.(R/100)	1R_OUT = 100^R/_100	1/1	1U1U · 65536 100%1U = 65536 Ink100%	num:16384div:25
		2/3	2U3U · 65536 100%1U = 131072 Ink300%	num:32768div:75
mm,1 DP1/10 mm(mm/10)	63.15^mn/_R 1R_OUT = 631.5^mn/_10	4/5	4U5U · 65536 631.5^mn/_101U = 2621440 Ink31575^mn/_10	num:524288div:6315

6. Setting Parameters

6094h: velocity\_encoder\_factor

The object velocity_encoder_factor converts all speed values of the application from speed_units into the internal unit Revolutions per 4096 minutes. It consists of numerator and denominator.

Index	6094_h
Name	velocity_encoder_factor
Object code	ARRAY
No. of Elements	2
Data Type	UINT32

Sub-index	01_h
Description	numerator
Access	rw
PDO Mapping	yes
Units	--
Value Range	--
Default Value	1000_h

Sub-index	02_h
Description	divisor
Access	rw
PDO Mapping	yes
Units	--
Value Range	--
Default Value	1

Calculation of the velocity_encoder_factor consists in principle of two parts: a conversion factor from internal length units into position_units, and a conversion factor from internal time units into user-defined time units (e.g. from seconds into minutes). The first part corresponds to the calculation of the position_factor; for the second part, an additional factor is added to the calculation:

time_factor_v

Ratio between internal time unit and user-defined time unit.

$$ \text {(e.g. 1 min =} ^ {1} / _ {4 0 9 6} 4 0 9 6 \text {min)} $$

gear_ratio

Gear ratio between revolutions at the drive-in ( R_IN ) and revolutions at the drive-out ( R_OUT )

feed_constant

Ratio between revolutions at the drive-out ( R_OUT ) and movement in position_units (e.g. 1 R = 360°)

6. Setting Parameters

The calculation of the velocity_encoder_factor uses the following equation:

Like the position_factor, the velocity_encoder_factor is also written into the motor controller separated by numerator and denominator. It can therefore be necessary to convert the fraction into whole numbers through suitable expansion.

EXAMPLE

First, the desired unit (column 1) and the desired decimal positions (DP) must be determined along with the gear factor and, if applicable, the feed constant of the application. This feed constant is then depicted in the desired position units (column 2). Then the desired time unit is converted into the time unit of the motor controller (column 3). Finally, all values can be placed in the equation and the fraction calculated:

1.1 Desired unit at the drive-out (speed units)

6. Setting Parameters

(^°/_10s)		60^min = 60 · 40964096min
mm/s1 CP 1/10^mm/s(^mm/10s)	63.15^mm/s 1 R_0.77 = 631.5^mm/10	160^min = 60 · 4096 14096min	4/5	4U · 60 · 40961/c631.5%1U = 1966080%6315%	num:131072div:412

Object 6097: acceleration\_factor

The object acceleration_factor converts all acceleration values of the application from acceleration_units into the internal unit Revolutions per minute per 256 seconds. It consists of numerator and denominator.

Index	6097 _n
Name	acceleration_factor
Object code	ARRAY
No. of Elements	2
Data Type	UINT32

Sub-index	01 _n

6. Setting Parameters

Calculation of the acceleration_factor consists of two parts: a conversion factor from internal length units into position_units, and a conversion factor from internal time units squared into user-defined time units squared (e.g. from seconds ^2 into minutes ^2 ). The first part corresponds to the calculation of the position_factor; for the second part, an additional factor is added:

time_factor_a Ratio between internal times units squared and unser-defined time unit squared

$$ \text {(e.g. 1 min} ^ {2} = 1 \text { min } \cdot 1 \text { min } = 6 0 \text { s } \cdot 1 \text { min } = ^ {6 0} / _ {2 5 6} 2 5 6 \text { min } \cdot \mathbf {s}) $$

gear_ratio Gear ratio between revolutions at the drive-in ( R_IN ) and revolutions at the drive-out ( R_OUT )

feed_constant Ratio between revolutions at the drive-out ( R_OUT ) and movement in position_units (e.g. 1 R = 360°)

Calculation of the acceleration_factor uses the following equation:

$$ \text { acceleration_factor } = \frac {\text { numerator }}{\text { divisor }} = \frac {\text { gear_ratio } \times \text { time_factor_a }}{\text { feed_constant }} $$

The acceleration_factor is also written into the motor controller separated by numerator and denominator, so it may have to be expanded.

6. Setting Parameters

EXAMPLE

First, the desired unit (column 1) and the desired decimal positions (DP) must be determined along with the gear factor and, if applicable, the feed constant of the application. This feed constant is then depicted in the desired position units (column 2). Then the desired time unit ^2 is converted into the time unit ^2 of the motor controller (column 3). Finally, all values can be placed in the equation and the fraction calculated:

1.) Desired unit at the drive-out (acceleration_units)
2.) feed constant: How many position units are 1 revolution (Rox)?
3.) time factor a: Desired time unit2 per internal time unit2
4.) Gear factor (gear_ratio) R_B per R_B

5.) Insert values into equation

1.	2.	3.	4.	5.	RESULTAbbreviated
R/min/s0 DP ^ /min.s	1 R_OUT =1 U_OUT	11.s = 1256 258.s	1/1	1U1U · 256%_258.mos1%_258.s = 256%_258.mos1%_258.s	num: 256div: 1
		11

6. Setting Parameters

Object 607E _h : polarity

The algebraic sign of the position and speed values of the motor controller can be set with the corresponding polarity_flag. This can serve to invert the motor's direction of rotation with the same nominal values.

In most applications, it makes sense to set the position_polarity_flag and the velocity_polarity_flag to the same value.

Setting of the polarity_flag influences only parameters when reading and writing. Parameters already present in the motor controller are not changed.

Index	607E_h
Name	polarity
Object code	VAR
Data Type	UINT8

Access	rw
PDO Mapping	yes
Units	--
Value Range	40_h, 80_h, CO_h
Default Value	0

Bit	Value	Name	Meaning
6	40_h	velocity_polarity_flag	0: multiply by 1 (default)	multiply by 1
			1: multiply by -1 (inverse)	multiply by -1
7	80_h	position_polarity_flag	0: multiply by 1 (default)	multiply by 1
			1: multiply by -1 (inverse)	multiply by -1

6.4 Final stage parameters

6.4.1 Overview

The mains voltage is fed into the final stage via a pre-charged switch. When the power supply is switched on, the switch-on current is limited and charging is monitored. After pre-charging of the intermediate circuit, the charging switch is bypassed. This condition is a prerequisite for controller enable. The rectified mains voltage is smoothed out by the capacitors of the intermediate circuit. From the intermediate circuit, the motor is fed via the IGBTs. The final stage contains a series of safety functions, some of which can be parameterised:

• Controller enable logic (software and hardware release)
• Excess current monitoring
• Excess voltage / under-voltage monitoring of the intermediate circuit
  • Power section monitoring

6.4.2 Description of the Objects

Index	Object	Name	Type	Attr.
6510_h	VAR	drive_data

Object 6510 _h - 10 _h : enable\_logic

To be able to activate the final stage of the motor controller, the digital inputs final stage enable and controller enable must be set: The final stage enable works directly on the control signals of the power transistors and could also interrupt them in case of a defective microprocessor. Removal of the final stage enable with a running motor thus causes the motor to spin out unbraked or makes it stoppable only with the holding brake that might be available. The controller enable is processed by the microcontroller of the motor controller. After removal of this signal, the motor controller reacts differently, depending on the operation mode:

- Positioning mode and velocity-controlled mode

After removal of the signal, the motor is braked following a defined braking ramp.

The final stage is not shut off until the motor rotation speed is below 10 min^-1 and the holding brake, if present, has been applied.

- Torque-controlled operation

The final stage is shut off immediately after removal of the signal. Simultaneously, the holding brake, if present, is applied. The motor thus spins out or is stopped only by the holding brake, if present.

Warning

Potentially fatal voltage!

The two signals do not ensure that current is shut off to the motor.

During operation of the motor controller via the CAN bus, the two digital inputs final stage enable and controller enable are both set to 24 V, and the enable is controlled via the CAN bus. For this, the object 6510_h – 10_h (enable_logic) must be set to two. For safety reasons, this takes place automatically on activation of CANopen (also after a reset of the motor controller).

Index	6510_h
Name	drive_data
Object code	RECORD
No. of Elements	51

6. Setting Parameters

Sub-index	10_h
Description	enable_logic
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	--
Value Range	0 ... 2
Default Value	2

Value	Meaning
0	Digital inputs final stage enable + controller enable
1	Digital inputs final stage enable + controller enable + RS232
2	Digital inputs final stage enable + controller enable + CAN

Object 6510 _h 30 _h : pwm\_frequency

The switching losses of the final stage are proportional to the switching frequency of the power transistors. Halving the normal PWM frequency makes it possible to take somewhat more power out of some devices of the CMMP family. But this increases the current ripple caused by the final stage. This switchover is only possible when the final stage is switched off.

Sub-index	30_h
Description	pwm_frequency
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	--
Value Range	0, 1
Default Value	0

Value	Meaning
0	Normal final stage frequency
1	Half final stage frequency

Object 6510 _h — 3A _h : enable\_enhanced\_modulation

The object enable_enhanced_modulation can activate the extended sinus modulation. It permits better use of the intermediate circuit voltage and thus about 14 % higher speeds. A disadvantage in certain applications is that the regulating action and smooth running of the motor are a little worse at very low speeds. Write access is only possible when the final stage is switched off. To adopt the change, the parameter set must be secured and a reset performed.

6. Setting Parameters

Sub-index	3A_h
Description	enable_enhanced_modulation
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	--
Value Range	0, 1
Default Value	0

Value	Meaning
0	Extended sinus modulation OFF
1	Extended sinus modulation ON

Activation of the extended sinus modulation only becomes effective after a reset. The parameter set must first be stored (save_all_parameters) and then a reset performed.

Object 6510 _h \_31 _h : power\_stage\_temperature

The temperature of the final stage can be read out via the object power_stage_temperature. When the temperature specified in the object 6510_h-32_h (max_power_stage_temperature) is exceeded, the final stage shuts off and an error message is issued.

Sub-index	31_h
Description	power_stage_temperature
Data Type	INT16
Access	ro
PDO Mapping	yes
Units	°C
Value Range	--
Default Value	..

6. Setting Parameters

Object 6510 _h 32 _h : max\_power\_stage\_temperature

The temperature of the final stage can be read out via the object 6510_h-31_h (power_stage_temperature). When the temperature specified in the object max_power_stage_temperature is exceeded, the final stage shuts off and an error message is emitted.

Sub-index	32_h
Description	max_power_stage_temperature
Data Type	INT16
Access	ro
PDO Mapping	no
Units	°C
Value Range	100
Default Value	device-dependent

Device type	Value
CMMP-AS-C2-3A	100 °C
CMMP-AS-C5-3A	80 °C
CMMP-AS-C5-11A-P3	80 °C
CMMP-AS-C10-11A-P3	80 °C

Object 6510 _h 33 _h : nominal dc link circuit voltage

The device nominal voltage in millivolts can be read out via the object nominal_dc_link_circuit_voltage.

Sub-index	33_h
Description	nominal_dc_link_circuit_voltage
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	mV
Value Range	--
Default Value	device-dependent

Device type	Value
CMMP-AS-C2-3A	360000
CMMP-AS-C5-3A	360000
CMMP-AS-C5-11A-P3	560000
CMMP-AS-C10-11A-P3	560000

6. Setting Parameters

Object 6510h \_ 34h: actual\_dc\_link\_circuit\_voltage

The actual voltage of the intermediate circuit in millivolts can be read out via the object actual_dc_link_circuit_voltage.

Sub-index	34_h
Description	actual_dc_link_circuit_voltage
Data Type	UINT32
Access	ro
PDO Mapping	yes
Units	mV
Value Range	--
Default Value	--

Object 6510 _h 35 _h : max dc link circuit voltage

The object max_dc_link_circuit_voltage specifies from which intermediate circuit voltage the final stage, for safety reasons, is immediately switched off and an error message issued.

Sub-index	35_h
Description	max_dc_link_circuit_voltage
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	mV
Value Range	--
Default Value	device-dependent

Device type	Value
CMMP-AS-C2-3A	460000
CMMP-AS-C5-3A	460000
CMMP-AS-C5-11A-P3	800000
CMMP-AS-C10-11A-P3	800000

6. Setting Parameters

Object 6510 _h 36 _h : min dc link circuit voltage

The motor controller has an undervoltage monitor. It can be activated via the object 6510_h-37_h (enable_dc_link_undervoltage_error). The object 6510_h-36_h (min_dc_link_circuit_voltage) specifies the lower intermediate circuit voltage the motor controller should work up to. Below this voltage, the error E 02-0 is triggered if it was activated by the following object.

Sub-index	36_h
Description	min_dc_link_circuit_voltage
Data Type	UINT32
Access	rw
PDO Mapping	no
Units	mV
Value Range	0 ... 1 000 000
Default Value	0

Object 6510 _h 37 _h : enable dc link undervoltage error

The undervoltage monitor can be activated with the object enable_dc_link_undervoltage_error. In the object 6510_h-36_h (min_dc_link_circuit_voltage), specify the lower intermediate circuit voltage the motor controller should work up to.

Sub-index	37_h
Description	enable_dc_link_undervoltage_error
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	--
Value Range	0, 1
Default Value	0

Value	Meaning
0	Undervoltage error OFF (reaction WARNING)
1	Undervoltage error ON (Reaction CONTROLLER ENABLE OFF)

The error 02-0 is activated through a change of the error reaction. Reactions that lead to shutting down of the drive are returned as ON, all others as OFF. When writing with 0, the error reaction WARNING is set, when writing with 1 the error reaction CONTROLLER ENABLE OFF.

See also chapter 6.18, Error management.

6. Setting Parameters

Object 6510 _h \_40 _h : nominal\_current

The device nominal current can be read out with the object nominal_current. It is simultaneously the upper limit value that can be written into the object 6075_h (motor_rated_current).

Sub-index	40_h
Description	nominal_current
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	mA
Value Range	--
Default Value	device-dependent

Device type	Value
CMMP-AS-C2-3A	2500
CMMP-AS-C5-3A	5000
CMMP-AS-C5-11A-P3	2500
CMMP-AS-C10-11A-P3	5000

Due to the power derating, other values may be displayed, depending on the controller cycle time and the final stage cycle frequency.

Object 6510 _h - 41 _h : peak\_current

The device peak current can be read out with the object peak_current. It is simultaneously the upper limit value that can be written into the object 6073_h (max_current).

Sub-index	41_h
Description	peak_current
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	mA
Value Range	--
Default Value	device-dependent

6. Setting Parameters

Device type	Value
CMMP-AS-C2-3A	5000
CMMP-AS-C5-3A	10000
CMMP-AS-C5-11A-P3	7500
CMMP-AS-C10-11A-P3	15000

Due to the power derating, other values may be displayed, depending on the controller cycle time and the final stage cycle frequency.

6.5 Current Regulator and Motor Adjustment

Caution

Incorrect settings of the current regulator parameters and current limits can destroy the motor and, possibly, also the motor controller within a very short time!

6.5.1 Overview

The parameter set of the motor controller must be adapted for the connected motor and the set of cables used. Affected are the following parameters:

Nominal current dependent on the motor

Overload capacity dependent on the motor

Number of pins dependent on the motor

Current Control dependent on the motor

Direction of rotation dependent on the motor and on the phase sequence in the motor and angle transmitter cable

Offset angle dependent on the motor and on the phase sequence in the motor and angle transmitter cable

These data must be determined the first time a motor type is used with the parameterisation software. For the Festo motor series EMMS-AS, you will find the parameter sets on your installation CD. You will find additional parameter sets in the Internet under www.festo.com/download.

Please note that the direction of rotation and offset angle also depend on the set of cables used. The parameter sets therefore work only with identical cabling.

Caution

If the phase sequence is distorted in the motor or angle transmitter cable, the result may be positive feedback, so the speed in the motor cannot be regulated. The motor can turn uncontrollably!

6.5.2 Description of the Objects

Index	Object	Name	Type	Attr.
6075_h	VAR	motor_rated_current	UINT32	rw
6073_h	VAR	max_current	UINT16	rw
604D_h	VAR	pole_number	UINT8	rw
6410_h	RECORD	motor_data		rw
60F6_h	RECORD	torque_control_parameters		rw

Affected objects from other chapters

Index	Object	Name	Type	Chapter
2415_n	RECORD	current_limitation		0 Nominal value limitation

Object 6075h: motor\_rated\_current

This value can be taken from the motor rating plate and is entered in milliamperes. The effective value (RMS) is always assumed. No current can be set above the motor controller nominal current ( 6510_h- 40_h : nominal_current).

Index	6075h
Name	motor_rated_current
Object code	VAR
Data Type	UINT32

Access	rw
PDO Mapping	yes
Units	mA
Value Range	0 ... nominal_current
Default Value	296

If a new value is written in the object 6075_h (motor_rated_current), the object 6073_h (max_current) must also always be newly parameterised.

6. Setting Parameters

Object 6073 _h : max\_current

Servo motors may normally be overloaded for a certain time period. The highest permissible motor current is set with this object. It refers to the motor rated current (object 6075 h : motor_rated_current) and is set in thousandths. The value range is limited upward by the maximum controller current (object 6510 h - 41 _h : peak_current). Many motors may be overloaded by a factor of 2 for a short time. In this case, write the value 2000 in this object.

The object 6073_h (max_current) may only be written when the object 6075_h (motor_rated_current) was previously validly written.

Index	6073_h
Name	max_current
Object code	VAR
Data Type	UINT16

Access	rw
PDO Mapping	yes
Units	per thousands of rated current
Value Range	--
Default Value	2023

Object 604D _h : pole\_number

The number of poles of the motor can be obtained from the motor datasheet or the parameterisation software. The number of poles is always an even number. Often, the number of pole pairs is given instead of the number of poles. The number of poles then equals twice the number of pole pairs.

This object is not changed through restore_default_parameters.

Index	604D_h
Name	pole_number
Object code	VAR
Data Type	UINT8

Access	rw
PDO Mapping	yes
Units	--
Value Range	2 ... 254
Default Value	4 (after INIT!)

6. Setting Parameters

Object 6410 _h \_ 03 _h : iit\_time\_motor

Servo motors may normally be overloaded for a certain time period. This object specifies how long the current specified in the object 6073_h (max_current) can be applied to the connected motor. After the IIT time has elapsed, the current is automatically limited to the value set in the object 6075_h (motor_rated_current) to protect the motor. The standard setting is two seconds and is valid for most motors.

Index	6410_h
Name	motor_data
Object code	RECORD
No. of Elements	5

Sub-index	03_h
Description	iit_time_motor
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	ms
Value Range	0 ... 10000
Default Value	2000

Object 6410 _h \_ 04 _h : iit\_ratio\_motor

With the object iit_ratio_motor, the actual capacity utilization of the I²t limitation can be read out in per thousands.

Sub-index	04_h
Description	iit_ratio_motor
Data Type	UINT16
Access	ro
PDO Mapping	no
Units	per thousand
Value Range	--
Default Value	--

6. Setting Parameters

Object 6510 _h 38 _h : iit\_error\_enable

The object iit_error_enable determines how the motor controller acts when the I^2 t limitation occurs. Either it is only shown in the statusword, or error E 31-0 is triggered.

Index	6510_h
Name	drive_data
Object code	RECORD
No. of Elements	51

Sub-index	38_h
Description	iit_error_enable
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	--
Value Range	0, 1
Default Value	0

Value	Meaning
0	I^2t error OFF	(priority WARNING)
1	I^2t error ON	(Priority CONTROLLER ENABLE OFF)

The error 31-0 is activated through a change of the error reaction. Reactions that lead to shutting down of the drive are returned as ON, all others as OFF. When writing with 0, the error reaction WARNING is set, when writing with 1 the error reaction CONTROLLER ENABLE OFF. See cchapter 6.18, Error management.

Object 6410 _h \_ 10 _h : phase\_order

In the phase sequence (phase_order), distortions between motor cable and angle transmitter cable are considered. It can be taken from the parameterisation software. A zero equals "right", a one "left".

Sub-index	10_h
Description	phase_order
Data Type	INT16
Access	rw
PDO Mapping	yes
Units	--
Value Range	0, 1
Default Value	0

6. Setting Parameters

Value	Meaning
0	right
1	Left

Object 6410 _h - 11 _h : encoder\_offset\_angle

The servo motors used have permanent magnets on the rotor. These generate a magnetic field, whose orientation toward the stator depends on the rotor position. For electronic commutation, the motor controller must always set the electromagnetic field of the stator in the correct angle to this permanent magnet field. To do this, it constantly determines the rotor position with an angle transmitter (resolver, etc.).

The orientation of the angle transmitter to the permanent magnetic field must be entered in the object encoder_offset_angle. This angle can be determined with the parameterisation software. The angle determined by the parameterisation software lies around ±180^ . It must be calculated as follows:

$$ \text { encoder_offset_angle } = \text {"offset angle of the angle encoder"} \times \frac {3 2 7 6 7}{1 8 0 ^ {\circ}} $$

This object is not changed through restore_default_parameters.

Index	6410_h
Name	motor_data
Object code	RECORD
No. of Elements	5

Sub-index	11_h
Description	encoder_offset_angle
Data Type	INT16
Access	rw
PDO Mapping	yes
Units	...
Value Range	-32767 ... 32767
Default Value	E000h (-45°) (after INIT!)

6. Setting Parameters

Object 6410 _h — 14 _h : motor\_temperature\_sensor\_polarity

This object can be used to determine whether an opener or a closer is used as digital motor temperature sensor.

Sub-index	14_h
Description	motor_temperature_sensor_polarity
Data Type	INT16
Access	rw
PDO Mapping	yes
Units	--
Value Range	0, 1
Default Value	0

Value	Meaning
0	Normally closed contact
1	N/O contact

Object 6510 _h — 2E _h : motor\_temperature

With this object, the actual motor temperature can be read out if an analogue temperature sensor is connected. Otherwise, the object is undefined.

Index	6510_h
Name	drive_data
Object code	RECORD
No. of Elements	51

Sub-index	2E_h
Description	motor_temperature
Data Type	INT16
Access	ro
PDO Mapping	yes
Units	°C
Value Range	--
Default Value	--

6. Setting Parameters

Object 6510 _h - 2F _h : max\_motor\_temperature

If the motor temperature defined in this object is exceeded, a reaction occurs in accordance with Error management (error 3-0, Excess temperature in motor analogue). If a reaction is parameterised that results in shutting down the drive, an emergency message is sent.

For parameterisation of the error management, see chapter 6.18.

Sub-index	2F_h
Description	max_motor_temperature
Data Type	INT16
Access	rw
PDO Mapping	no
Units	°C
Value Range	20 ... 300
Default Value	100

Object 60F6h: torque\_control\_parameters

The data of the current controller must be taken from the parameterisation software. Attention must be paid to the following calculations:

The amplification of the current controller must be multiplied by 256. With an amplification of 1.5 in the "Current Controller" menu of the parameterisation software, the value 384 = 180_h must be written in the object torque_control_gain.

The current controller time constant is specified in the parameterisation software in milliseconds. To transfer this time constant into the torque_control_time object, it must previously be converted into microseconds. With a specified time of 0.6 milliseconds, the corresponding value 600 is entered in the object torque_control_time.

Index	60F6h
Name	torque_control_parameters
Object code	RECORD
No. of Elements	2

Sub-index	01_h
Description	torque_control_gain
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	256 = “1”
Value Range	0 ... 32 * 256
Default Value	3 * 256 (768)
Sub-index	02_h
Description	torque_control_time
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	μs
Value Range	104 ... 64401
Default Value	1020

6.6 Speed regulator

6.6.1 Overview

The parameter set of the motor controller must be adapted for the application. In particular, the amplification is strongly dependent on masses that may be connected to the motor. The data must be optimally determined during system start-up using the parameterisation software.

Caution

Incorrect setting of the speed regulator parameters can result in strong vibrations and possibly destroy parts of the system!

6.6.2 Description of the Objects

Index	Object	Name	Type	Attr.
60F9_h	RECORD	velocity_control_parameters		rw
2073_h	VAR	velocity_display_filter_time	UINT32	rw

Objekt 60F9h: velocity\_control\_parameters

The data of the velocity controller must be taken from the parameterisation software. Attention must be paid to the following calculations:

The amplification of the velocity controller must be multiplied by 256.

With a gain of 1.5 in the "Velocity controller" menu of the parameterisation software, the value 384 = 180_h must be written in the object velocity_control_gain.

The velocity controller time constant is specified in the parameterisation software in milliseconds. To transfer this time constant into the velocity_control_time object, it must previously be converted into microseconds. With a specified time of 2.0 milliseconds, the corresponding value 2000 is entered in the object velocity_control_time.

6. Setting Parameters

Index	60F9h
Name	velocity_control_parameter_set
Object code	RECORD
No. of Elements	3

Sub-index	01_h
Description	velocity_control_gain
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	256 = Gain 1
Value Range	20 ... 64 * 256 (16384)
Default Value	256

Sub-index	02_h
Description	velocity_control_time
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	μs
Value Range	1 ... 32000
Default Value	2000

Sub-index	04_h
Description	velocity_control_filter_time
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	μs
Value Range	1 ... 32000
Default Value	400

6. Setting Parameters

Object 2073h: velocity\_display\_filter\_time

The object velocity_display_filter_time can be used to set the filter time of the velocity display value filter.

Index	2073_h
Name	velocity_display_filter_time
Object code	VAR
Data Type	UINT32

Access	rw
PDO Mapping	no
Units	μs
Value Range	1000 ... 50000
Default Value	20000

Please remember that the object velocity_actual_value_filtered is used for turn-through protection. In case of very large filter times, a turn-through error is recognised only after a corresponding delay.

6.7 Position Controller (Position Control Function)

6.7.1 Overview

This chapter describes all parameters required for the position controller. The position nominal value (position_demand_value) of the curve generator is applied to the input of the position controller. In addition, the actual position value (position_actual_value) is added by the angle transmitter (resolver, incremental transmitter, etc.). The actions of the position controller can be influenced by parameters. It is possible to limit the output variable (control_effort) to keep the position control circuit stable. The output variable is supplied to the velocity controller as the speed command value. All input and output variables of the position controller are converted in the Factor Group from the application-specific units into the respective internal units of the regulator.

The following subfunctions are defined in this chapter:

1. Following error (Following\_Error)

The following error is the deviation of the position feedback value (position_actual_value) from the position command value (position_demand_value). If this following error is greater than specified in the following error window (following_error_window) for a specific time period, bit 13 following_error is set in the object statusword. The permitted time period can be specified via the object following_error_time_out.

6. Setting Parameters

Fig. 6.4: Contouring error – functional overview

The Fig. 6.5 shows how the window function is defined for the "contouring error" message. The area between x_j - x_0 and x_j + x_0 is defined symmetrically around the command position (position_demand_value) x_j . For example, the positions x_t2 and x_t3 lie outside this window (following_error_window). If the drive leaves this window and does not return to the window within the time specified in the object following_error_time_out, bit 13 following_error is set in the statusword.

Fig. 6.5: Drag error

2. Position reached

This function offers the possibility of defining a position window around the target position (target_position). If the actual position of the drive is located within this range for a specific time – the position_window_time – the related bit 10 (target_reached) is set in the statusword.

6. Setting Parameters

Fig. 6.6: Position reached – functional overview

The Fig. 6.7 shows how the window function is defined for the "position reached" message. The area between x_i - x_0 and x_i + x_0 is defined symmetrically around the target position (target_position) x_i . For example, the positions x_t0 and x_t1 lie outside this position window (position_window). If the drive is located in this window, a timer is started in the motor controller. If this timer reaches the time specified in the object position_window_time and the drive continuously remains in the valid range between x_i - x_0 and x_i + x_0 during this time, bit 10 target_reached is set in the statusword. As soon as the drive leaves the permissible range, both bit 10 and the timer are set to zero.

Fig. 6.7: Position reached

6.7.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
202D_h	VAR	position_demand_sync_value	INT32	ro
2030h	VAR	set_position_absolute	INT32	wo
6062h	VAR	position_demand_value	INT32	ro
6063_h	VAR	position_actual_value*	INT32	ro
6064_h	VAR	position_actual_value	INT32	ro
6065_h	VAR	following_error_window	UINT32	rw
6066_h	VAR	following_error_time_out	UINT16	rw
6067_h	VAR	position_window	UINT32	rw
6068_h	VAR	position_window_time	UINT16	rw
607B_h	ARRAY	position_range_limit	INT32	rw
60FA_h	VAR	control_effort	INT32	ro
60FB_h	RECORD	position_control_parameter_set		rw
60FC_h	VAR	position_demand_value*	INT32	ro
6510_h\_20_h	VAR	position_range_limit_enable	UINT16	rw
6510_h\_22_h	VAR	position_error_switch_off_limit	UINT32	rw

Affected objects from other chapters

Index	Object	Name	Type	Chapter
607A_h	VAR	target_position	INT32	8.3 Positioning operating mode
607C_h	VAR	home_offset	INT32	8.2 Homing
607D_h	VAR	software_position_limit	INT32	8.3 Positioning operating mode
607E_h	VAR	polarity	UINT8	6.3 Conversion factors
6093_h	VAR	position_factor	UINT32	6.3 Conversion factors
6094_h	ARRAY	velocity_encoder_factor	UINT32	6.3 Conversion factors
6096_h	ARRAY	acceleration_factor	UINT32	6.3 Conversion factors
6040_h	VAR	controlword	INT16	7.1.3 Controlword (control word)
6041_h	VAR	statusword	UINT16	7.1.5 Statuswords (status word)

6. Setting Parameters

Object 60FB _h : position\_control\_parameter\_set

The parameter set of the motor controller must be adapted for the application. The data of the position controller must be optimally determined during system start-up using the parameterisation software.

Caution

Incorrect setting of the position regulator parameters can result in strong vibrations and possibly destroy parts of the system!

The position controller compares the target location with the actual location and, from the difference, creates a correctionspeed 60FA_n : control_effort), which is fed to the speed regulator, taking into account the gain and possibly the integrator. The position controller is relatively slow, compared to the current and velocity controller. Therefore, the controller works internally with activation, so the stabilisation work for the position controller is minimised and the controller can rapidly stabilise.

A proportional link normally suffices as position controller. The amplification of the position controller must be multiplied by 256. With an amplification of 1.5 in the "Position Controller" menu of the parameterisation software, the value 384 must be written in the object position_control_gain.

The position controller normally does not need an integrator. Then the value zero must be written into the object position_control_time. Otherwise, the time constant of the position controller must be converted into microseconds. With a time of 4.0 milliseconds, the corresponding value 4000 is entered in the object position_control_time.

Since the position controller already converts the smallest position deviations into appreciable correction speeds, in the case of a brief disturbance (e.g. brief jamming of the system) it would lead to very major stabilisation processes with very large correction speeds. This can be avoided if the output of the position controller is sensibly limited via the object position_control_v_max (e.g. 500 min ^-1 ).

The size of the position deviation up to which the positon controller will not intervene (dead area) can be defined with the object position_error_tolerance_window. This can be used for stabilisation, such as when there is play in the system.

Index	60FB_h
Name	position_control_parameter_set
Object code	RECORD
No. of Elements	4

6. Setting Parameters

Sub-index	01_h
Description	position_control_gain
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	256 = "1"
Value Range	0 ... 64 * 256 (16384)
Default Value	102

Sub-index	02_n
Description	position_control_time
Data Type	UINT16
Access	ro
PDO Mapping	no
Units	μs
Value Range	0
Default Value	0

Sub-index	04_h
Description	position_control_v_max
Data Type	UINT32
Access	rw
PDO Mapping	no
Units	speed units
Value Range	0 ... 131072 min^-1
Default Value	500 min^-1

Sub-index	05_h
Description	position_error_tolerance_window
Data Type	UINT32
Access	rw
PDO Mapping	no
Units	position units
Value Range	1 ... 65536 (1 R)
Default Value	2 (1/32768 R)

6. Setting Parameters

Object 6062 _h : position\_demand\_value

The actual nominal position can be read out via this object. The curve generator feeds this into the position controller.

Index	6062_h
Name	position_demand_value
Object code	VAR
Data Type	INT32

Access	ro
PDO Mapping	yes
Units	position units
Value Range	--
Default Value	--

Object 202D _h : position\_demand\_sync\_value

The actual nominal position can be read out via this object. This is defined by the object 2022_h synchronization_encoder_select (chapter 6.11). This object is specified in user-defined increments.

Index	202D_h
Name	position_demand_sync_value
Object code	VAR
Data Type	INT32

Access	ro
PDO Mapping	no
Units	position units
Value Range	--
Default Value	--

6. Setting Parameters

Object 6064h: position\_actual\_value

The actual position can be read out via this object. The angle transmitter feeds this to the position controller. This object is specified in user-defined increments.

Index	6064_h
Name	position_actual_value
Object code	VAR
Data Type	INT32

Access	ro
PDO Mapping	yes
Units	position units
Value Range	--
Default Value	--

Object 6065h: following\_error\_window

The object following_error_window (contouring error window) defines a symmetrical range around the nominal position value (position_demand_value). If the position feedback value (position_actual_value) is outside the following error window (following_error_window), a following error occurs and bit 13 is set in the object statusword. The following can cause a following error:

• the drive is blocked
• the positioning speed is too high
• the acceleration values are too large
• the object following_error_window has too small a value
• the position controller is not correctly parameterised.

Index	6065_h
Name	following_error_window
Object code	VAR
Data Type	UINT32

Access	rw
PDO Mapping	yes
Units	position units
Value Range	--
Default Value	9101 (9101/65536 U = 50°)

6. Setting Parameters

Object 6066h: following\_error\_time\_out

If a contouring error longer than defined in this object occurs, the related bit 13 following_error is set in the statusword.

Index	6066_h
Name	following_error_time_out
Object code	VAR
Data Type	UINT16

Access	rw
PDO Mapping	yes
Units	ms
Value Range	0 ... 27314
Default Value	0

Object 60FA _h : control\_effort

The output variable of the position controller can be read out via this object. This value is fed internally as a command value to the velocity controller.

Index	60FA_h
Name	control_effort
Object code	VAR
Data Type	INT32

Access	ro
PDO Mapping	yes
Units	speed units
Value Range	--
Default Value	--

Object 6067h: position\_window

With the object position_window a symmetrical area is defined around the target position (target_position). If the actual position value (position_actual_value) lies within this area for a certain time, the target position (target_position) is considered reached.

Index	6067_h
Name	position_window
Object code	VAR
Data Type	UINT32

6. Setting Parameters

Access	rw
PDO Mapping	yes
Units	position units
Value Range	--
Default Value	1820 (1820/65536 U = 10°)

Object 6068 _h : position\_window\_time

If the actual position of the drive is located within the positioning window (position_window) for as long as defined in this object, the related bit 10 target_reached is set in the statusword.

Index	6068_h
Name	position_window_time
Object code	VAR
Data Type	UINT16

Access	rw
PDO Mapping	yes
Units	ms
Value Range	--
Default Value	0

Object 6510 _h \_22 _h : position\_error\_switch\_off\_limit

In the object position_error_switch_off_limit, the maximum permissible deviation between the target and actual position can be entered. If exceeded, in contrast to the above following error message, the final stage is switched off immediately and an error triggered. The motor thus spins out without braking (unless a holding brake is present).

Index	6510_h
Name	drive_data
Object code	RECORD
No. of Elements	51

Sub-index	22_h
Description	position_error_switch_off_limit
Data Type	UINT32
Access	rw
PDO Mapping	no
Units	position units
Value Range	0 ... 2^32 - 1
Default Value	0

Value	Meaning
0	Limit value following error OFF (Reaction: NO ACTION))
> 0	Limit value following error ON (Reaction: SWITCH OFF FINAL STAGE IMMEDIATELY)

The error 17-0 is activated through a change of the error reaction. The reaction SWITCH OFF FINAL STAGE IMMEDIATELY is returned as ON, all others as OFF. When writing with 0, the error reaction NO REACTION is set, when writing with a value greater than 0 the error reaction SWITCH OFF FINAL STAGE IMMEDIATELY.

See also chapter 6.18, Error management.

Object 607B _h : position\_range\_limit

The object group position_range_limit contains two subparameters, which limit the numeric range of the position values. When one of these limits is exceeded, the position feedback value automatically jumps to the other limit. To be specified are the limits that should physically equal the same position, for example 0^ and 360^ .

For these limits to be effective, a round axis mode must be selected via the object 6510_h-20_h (position_range_limit_enable).

Index	607B_h
Name	position_range_limit
Object code	ARRAY
No. of Elements	2
Data Type	INT32

Sub-index	01_h
Description	min_position_range_limit
Access	rw
PDO Mapping	yes
Units	position units
Value Range	..
Default Value	--

Sub-index	02_h
Description	max_position_range_limit
Access	rw
PDO Mapping	yes
Units	position units
Value Range	..
Default Value	..

6. Setting Parameters

Object 6510 _h \_20 _h : position\_range\_limit\_enable

The range limits defined by the object 607B_h can be activated via the object position_range_limit_enable. Various modes are possible:

If the "Shortest path" mode is chosen, positionings are always carried out on the physically shorter section. The drive itself adapts the algebraic sign of the travel speed. In the two modes "Fixed direction of rotation", positioning always takes place only in the direction specified in the mode.

Index	6510_h
Name	drive_data
Object code	RECORD
No. of Elements	51

Sub-index	20_h
Description	position_range_limit_enable
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	--
Value Range	0 ... 5
Default Value	0

Value	Meaning
0	Off
1	Shortest path (for compatibility reasons)
2	Shortest path
3	Reserved
4	Fixed direction of rotation "positive"
5	Fixed direction of rotation "negative"

Object 2030 _h : set\_position\_absolute

With the object set_position_absolute, the readable actual position can be moved without changing the physical location. The drive does not carry out any movement.

If an absolute encoder system is connected, the position change is stored in the encoder if the encoder system permits this. The position change is kept in this case, that is, after a reset. This save operation runs in the background regardless of this object. Likewise, all parameters belonging to the encoder storage are stored with their current values.

6. Setting Parameters

Index	2030_h
Name	set_position_absolute
Object code	VAR
Data Type	INT32

Access	wo
PDO Mapping	no
Units	position units
Value Range	--
Default Value	--

6.8 Nominal value limitation

6.8.1 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
2415_h	RECORD	current_limitation		rw
2416_h	RECORD	speed_limitation		rw

Object 2415 _h : current\_limitation

With the object group current_limitation in the operating modes profile_position_mode, interpolated_position_mode, homing_mode and velocity_mode, the maximum current for the motor can be limited; this makes a torque-limited speed operation possible, for example. The nominal value source of the limit torque is specified via the object limit_current_input_channel. Here, a choice can be made between specification of a direct command value (fixed value) or specification via an analogue input. Depending on the source chosen, either the limit torque (source = fixed value) or the scaling factor for the analogue inputs (source = analogue input) is specified via the object limit_current. In the first case, the torque-proportional current, in mA, is limited directly; in the second case, the current that should correspond to a voltage of 10 V is specified, in mA.

Index	2415_h
Name	current_limitation
Object code	RECORD
No. of Elements	2

6. Setting Parameters

Sub-index	01_h
Description	limit_current_input_channel
Data Type	UINT8
Access	rw
PDO Mapping	no
Units	--
Value Range	0 ... 4
Default Value	0

Sub-index	02_h
Description	limit_current
Data Type	INT32
Access	rw
PDO Mapping	no
Units	mA
Value Range	--
Default Value	0

Value	Meaning
0	No limitation
1	AIN0
2	AIN1
3	AIN2
4	Field bus (selector B)

Object 2416 _h : speed\_limitation

The maximum speed of the motor can be limited with the object group speed_limitation in the operating mode profile_torque_mode; this makes a speed-limited torque operation possible. The command value source of the limit speed is specified via the object limit_speed_input_channel. Here, a choice can be made between specification of a direct command value (fixed value) or specification via an analogue input. Depending on the source chosen, either the limit torque (fixed value) or the scaling factor for the analogue inputs (source = analogue input) is specified via the object limit_speed. In the first case, the specified speed is limited directly; in the second case, the speed that should correspond to a voltage of 10 V is specified.

6. Setting Parameters

Index	2416_h
Name	speed_limitation
Object code	RECORD
No. of Elements	2

Sub-index	01_h
Description	limit_speed_input_channel
Data Type	UINT8
Access	rw
PDO Mapping	no
Units	--
Value Range	0 ... 4
Default Value	0

Sub-index	02_h
Description	limit_speed
Data Type	INT32
Access	rw
PDO Mapping	no
Units	speed units
Value Range	--
Default Value	--

Value	Meaning
0	No limitation
1	AIN0
2	AIN1
3	AIN2
4	Field bus (selector B)

6.9 Encoder adjustments

6.9.1 Overview

This chapter describes configuration of the angle encoder input X2A, X2B and the incremental input X10.

Caution

Incorrect angle encoder settings can result in the drive turning uncontrolledly and possibly destroy parts of the system.

6.9.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
2024_h	RECORD	encoder_x2a_data_field		ro
2024_h\_01_h	VAR	encoder_x2a_resolution	UINT32	ro
2024_h\_02_h	VAR	encoder_x2a_numerator	INT16	rw
2024_h\_03_h	VAR	encoder_x2a_divisor	INT16	rw
2025_h	RECORD	encoder_x10_data_field		ro
2025_h\_01_h	VAR	encoder_x10_resolution	UINT32	rw
2025_h\_02_h	VAR	encoder_x10_numerator	INT16	rw
2025_h\_03_h	VAR	encoder_x10_divisor	INT16	rw
2025_h\_04_h	VAR	encoder_x10_counter	UINT32	ro
2026_h	RECORD	encoder_x2b_data_field		ro
2026_h\_01_h	VAR	encoder_x2b_resolution	UINT32	rw
2026_h\_02_h	VAR	encoder_x2b_numerator	INT16	rw
2026_h\_03_h	VAR	encoder_x2b_divisor	INT16	rw
2026_h\_04_h	VAR	encoder_x2b_counter	UINT32	ro

Object 2024h: encoder\_x2a\_data\_field

The record encoder_x2a_data_field collects parameters necessary for operation of the angle encoder at plug X2A.

Since numerous angle encoder settings are effective only after a reset, selection and setting of the encoders should be made via the parameterisation software. Under CANopen, the following settings can be read out or changed:

The object encoder_x2a_resolution specifies how many increments are generated by the encoder per revolution or length unit. Since at the input X2A only resolvers can be connected which are always evaluated with 16 bit, 65536 is always returned here.

6. Setting Parameters

With the object encoder_x2a_numerator and encoder_x2a_divisor a possible gear (also with algebraic sign) between motor shaft and encoder can be considered.

Index	2024_h
Name	encoder_x2a_data_field
Object code	RECORD
No. of Elements	3

Sub-index	01_h
Description	encoder_x2a_resolution
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	Increments (4 * resolution)
Value Range	--
Default Value	65536

Sub-index	02_h
Description	encoder_x2a_numerator
Data Type	INT16
Access	rw
PDO Mapping	no
Units	--
Value Range	-32768 ... 32767 (except 0)
Default Value	1

Sub-index	03_h
Description	encoder_x2a_divisor
Data Type	INT16
Access	rw
PDO Mapping	no
Units	--
Value Range	1 ... 32767
Default Value	1

6. Setting Parameters

Object 2026h: encoder\_x2b\_data\_field

The record encoder_x2b_data_field collects parameters necessary for operation of the angle encoder at plug X2B.

The object encoder_x2b_resolution specifies how many increments are generated by the encoder per revolution or length unit (For incremental encoders, this equals four times the resolution or periods per revolution).

The object encoder_x2b_counter delivers the currently counted number of increments. It therefore delivers values between 0 and the set number of increments-1.

With the objects encoder_x2b_numerator and encoder_x2b_divisor a gear between the motor shaft and the encoder connected at X2b can be considered.

Index	2026_h
Name	encoder_x2b_data_field
Object code	RECORD
No. of Elements	4

Sub-index	01_h
Description	encoder_x2b_resolution
Data Type	UINT32
Access	rw
PDO Mapping	no
Units	Increments (4 * resolution)
Value Range	depends on the encoder used
Default Value	depends on the encoder used

Sub-index	02_h
Description	encoder_x2b_numerator
Data Type	INT16
Access	rw
PDO Mapping	no
Units	--
Value Range	-32768 ... 32767
Default Value	1

6. Setting Parameters

Sub-index	03_h
Description	encoder_x2b_divisor
Data Type	INT16
Access	rw
PDO Mapping	no
Units	--
Value Range	1 ... 32767
Default Value	1

Sub-index	04_h
Description	encoder_x2b_counter
Data Type	UINT32
Access	ro
PDO Mapping	yes
Units	Increments (4 * resolution)
Value Range	0 ... (encoder_x2b_resolution -1)
Default Value	--

Object 2025h: encoder\_x10\_data\_field

The record encoder_X10_data_field collects parameters necessary for operation of the incremental input X10B. Here, a digital incremental encoder or emulated incremental signals, such as of another CMMP, can optionally be connected. The input signals over X10 can be used optionally as command value or as feedback value. More on this can be found in chapter 6.11.

In the object encoder_X10_resolution must be specified how many increments are generated by the encoder per revolution. This equals four times the resolution. The object encoder_X10_counter delivers the currently counted number of increments (between 0 and the set number or increments -1).

With the object encoder_X10_numerator and encoder_X10_divisor, a possible gear (also with algebraic sign) can be considered.

If the X10 signal is used as feedback value, this would be a gear between the motor and the feedback value encoder connected to X10, which is mounted at the drive-out. When the X10 signal is used as command value, gear transmissions between master and slave can be implemented.

Index	2025_h
Name	encoder_x10_data_field
Object code	RECORD
No. of Elements	4

6. Setting Parameters

Sub-index	01_h
Description	encoder_x10_resolution
Data Type	UINT32
Access	rw
PDO Mapping	no
Units	Increments (4 * resolution)
Value Range	depends on the encoder used
Default Value	depends on the encoder used

Sub-index	02_n
Description	encoder_x10_numerator
Data Type	INT16
Access	rw
PDO Mapping	no
Units	--
Value Range	-32768 ... 32767 (except 0)
Default Value	1

Sub-index	03_h
Description	encoder_x10_divisor
Data Type	INT16
Access	rw
PDO Mapping	no
Units	--
Value Range	1 ... 32767
Default Value	1

Sub-index	04_h
Description	encoder_x10_counter
Data Type	UINT32
Access	ro
PDO Mapping	yes
Units	Increments (4 * resolution)
Value Range	0 ... (encoder_x10_resolution -1)
Default Value	--

6.10 Incremental encoder emulation

6.10.1 Overview

This object group makes it possible to parameterise the incremental encoder output X11. And so master-slave applications, in which the X11 output of the master is connected to the X10 input of the slave, can be parameterised under CANopen.

6.10.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
2028_h	VAR	encoder_emulation_resolution	INT32	rw
201A_h	RECORD	encoder_emulation_data		ro
201A_h\_01_h	VAR	encoder_emulation_resolution	INT32	rw
201A_h\_02_h	VAR	encoder_emulation_offset	INT16	rw

Object 201A _h : encoder\_emulation\_data

The object record encoder_emulation_data encapsulates all setting possibilities for the incremental encoder output X11:

Via the object encoder_emulation_resolution, the number of increments output (= four times the resolution) can be freely set as a multiple of 4. In a master-slave application, this must equal the encoder_X10_resolution of the slave to achieve a ratio of 1:1.

With the object encoder_emulation_offset, the position of the output zero impulse can be moved in comparison to the zero position of the feedback value encoder.

Index	201A_h
Name	encoder_emulation_data
Object code	RECORD
No. of Elements	2

Sub-index	01_h
Description	encoder_emulation_resolution
Data Type	INT32
Access	rw
PDO Mapping	no
Units	Increments (4 * resolution)
Value Range	4 * (1 ... 8192)
Default Value	4096

6. Setting Parameters

Sub-index	02_h
Description	encoder_emulation_offset
Data Type	INT16
Access	rw
PDO Mapping	no
Units	32767 = 180°
Value Range	-32768 ... 32767
Default Value	0

Object 2028 _h : encoder\_emulation\_resolution

The object encoder_emulation_resolution is present only for compatibility reasons. It corresponds to the object 201A_h-01_h .

Index	2028_h
Name	encoder_emulation_resolution
Object code	VAR
Data Type	INT32

Access	rw
PDO Mapping	no
Units	see 201Ah _ 01h
Value Range	see 201Ah _ 01h
Default Value	see 201Ah _ 01h

6.11 Command/feedback value activation

6.11.1 Overview

With the following objects, the source for the command value and the source for the feedback value can be changed. As standard, the motor controller uses the input for the motor encoder X2A or X2B as feedback value for the position controller. When an external positioning encoder is used, e.g. behind a gear, the position value fed in over X10 can be activated as a feedback value for the position controller. In addition, signals coming in over X10 (e.g. of a second controller) can be activated as additional command values, which permits synchronisation operating types.

6.11.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
2021_h	VAR	position_encoder_selection	INT16	rw
2022_h	VAR	synchronisation_encoder_selection	INT16	rw
2023_h	VAR	synchronisation_filter_time	UINT32	rw
202F_h	RECORD	synchronisation_selector_data		ro
202F_h-07_h	VAR	synchronisation_main	UINT16	rw

Object 2021h: position\_encoder\_selection

The object position_encoder_selection specifies the encoder input that is used to determine the actual position (feedback value encoder). This value can be changed to switch to position control over an external endoder (connected to the drive). Switching is possible between X10 and the encoder input selected as commutation encoder (X2A/X2B). If one of the encoder inputs X2A/X2B is selected as position feedback value encoder, the one used as commutation encoder must be selected. If the other encoder is selected, switchover to the commutation encoder takes place automatically.

Index	2021_h
Name	position_encoder_selection
Object code	VAR
Data Type	INT16

Access	rw
PDO Mapping	no
Units	--
Value Range	0 ... 2 (see table)
Default Value	0

Value	Description
0	X2A
1	X2B
2	X10

Selection is possible only between the encoder input X10 and the respective commutation encoder X2A or X2B as position feedback value encoder. It is not possible to use the configuration X2A as commutation encoder and X2B as position feedback value encoder, or vice versa.

6. Setting Parameters

Object 2022h: synchronisation\_encoder\_selection

The object synchronisation_encoder_selection specifies the encoder input that is used as synchronisation command value. Depending on the operation mode, this corresponds to a position command value (profile position mode) or a speed command value (profile velocity mode).

Only X10 can be used as synchronisation input. As a result, the choice is between X10 and no input. The same input as for the feedback value encoder should not be used as synchronisation command value.

Index	2022_h
Name	synchronisation_encoder_selection
Object code	VAR
Data Type	INT16

Access	rw
PDO Mapping	no
Units	--
Value Range	-1, 2 (see table)
Default Value	2

Value	Description
-1	no encoder / undefined
2	X10

Object 202F _h : synchronisation\_selector\_data

A synchronous command value can be activated via the object synchronisation_main. Bit 0 must be set for the synchronous command value to be calculated at all. Bit 1 makes it possible to activate the synchronous position only through the start of a position set. Currently, only 0 can be parameterised, so the synchronous position is always switched on. Setting bit 8 makes the homing run take place without activation of the synchronous position, so master and slave can be referenced separately.

Index	202F_h
Name	synchronisation_selector_data
Object code	RECORD
No. of Elements	1

6. Setting Parameters

Sub-index	07_h
Description	synchronisation_main
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	--
Value Range	see table
Default Value	--

Bit	Value	Meaning
0	0001_h	0: Synchronization inactive1: Synchronization active
1	0002_h	"Flying saw" not possible
8	0100_h	0: Synchronization during homing run1: No synchronisation during homing run

Object 2023 _h : synchronisation\_filter\_time

The object synchronisation_filter_time sets the filter time constant of a PT1 filter, with which the synchronisation speed is smoothed. This can be necessary especially at low resolutions, since small changes of the input value already correspond to high speeds. On the other hand, the drive at high filter times may no longer be able to follow a dynamic input signal quickly enough.

Index	2023_h
Name	synchronisation_filter_time
Object code	VAR
Data Type	UINT32

Access	rw
PDO Mapping	no
Units	μs
Value Range	10 ... 50000
Default Value	600

6.12 Analogue inputs

6.12.1 Overview

The motor controllers of the CMMP series have three analogue inputs over which, for example, command values can be specified to the motor controller. For all these analogue inputs, the following objects offer the possibility to read out the current input voltage (analog_input_voltage) and set an offset (analog_input_offset).

6.12.2 Description of the Objects

Index	Object	Name	Type	Attr.
2400_h	ARRAY	analog_input_voltage	INT16	ro
2401_h	ARRAY	analog_input_offset	INT32	rw

2400_h : analog\_input\_voltage (input voltage)

The object group analog_input_voltage supplies the current input voltage of the respective channel in millivolts, taking the offset into account.

Index	2400_h
Name	analog_input_voltage
Object code	ARRAY
No. of Elements	3
Data Type	INT16

Sub-index	01_h
Description	analog_input_voltage_ch_0
Access	ro
PDO Mapping	no
Units	mV
Value Range	--
Default Value	--

Sub-index	02_h
Description	analog_input_voltage_ch_1
Access	ro
PDO Mapping	no
Units	mV
Value Range	--
Default Value	--

6. Setting Parameters

Sub-index	03_h
Description	analog_input_voltage_ch_2
Access	ro
PDO Mapping	no
Units	mV
Value Range	--
Default Value	--

Object 2401 _h : analog\_input\_offset (offset analogue inputs)

With the object group analog_input_offset, the offset voltage in millivolts can be set or read for the respective inputs. With the offset, any direct voltage present can be compensated for. A positive offset thereby compensates for a positive input voltage.

Index	2401_h
Name	analog_input_offset
Object code	ARRAY
No. of Elements	3
Data Type	INT32

Sub-index	01_h
Description	analog_input_offset_ch_0
Access	rw
PDO Mapping	no
Units	mV
Value Range	-10000 ... 10000
Default Value	0

Sub-index	02_n
Description	analog_input_offset_ch_1
Access	rw
PDO Mapping	no
Units	mV
Value Range	-10000 ... 10000
Default Value	0

6. Setting Parameters

Sub-index	03_h
Description	analog_input_offset_ch_2
Access	rw
PDO Mapping	no
Units	mV
Value Range	-10000 ... 10000
Default Value	0

6.13 Digital inputs and outputs

6.13.1 Overview

All digital inputs of the motor controller can be read via the CAN bus, and almost all digital outputs can be set as desired. Moreover, status messages can be assigned to the digital outputs of the motor controller.

6.13.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
60FD_h	VAR	digital_inputs	UINT32	ro
60FE_h	ARRAY	digital_outputs	UINT32	rw
2420_h	RECORD	digital_output_state_mapping		ro
2420_h\_01_h	VAR	dig_out_state_mapp_dout_1	UINT8	rw
2420_h\_02_h	VAR	dig_out_state_mapp_dout_2	UINT8	rw
2420_h\_03_h	VAR	dig_out_state_mapp_dout_3	UINT8	rw

Object 60FD _h : digital\_inputs

The digital outputs can be triggered via the object 60FD_h .

Index	60FDh
Name	digital_inputs
Object code	VAR
Data Type	UINT32

Access	ro
PDO Mapping	yes
Units	--
Value Range	according to table below
Default Value	0

6. Setting Parameters

Bit	Value	Digital input
0	00000001_h	Negative limit switch
1	00000002_h	Positive limit switch
2	00000004_h	Homing switch
3	00000008_h	Interlock – (controller or final stage activation missing)
16 ... 23	00FF0000_h	Reserved
24 ... 27	0F000000_h	DINO ... DIN3
28	10000000_h	DIN8
29	20000000_h	DIN9

Object 60FE _h : digital\_outputs

The digital outputs can be triggered via the object 60FE_h . To do this, specify in the object digital_outputs_mask which of the digital outputs should be actuated. The selected outputs can then be set as desired via the object digital_outputs_data. It should be noted that a delay of up to 10 ms may occur in triggering the digital outputs. When the outputs are really set can be determined by reading back the object 60FE_h .

Index	60FE _h
Name	digital_outputs
Object code	ARRAY
No. of Elements	2
Data Type	UINT32

Sub-index	01_h
Description	digital_outputs_data
Access	rw
PDO Mapping	yes
Units	--
Value Range	--
Default Value	(dependant on the condition of the brake)

Sub-index	02_h
Description	digital_outputs_mask
Access	rw
PDO Mapping	yes
Units	--
Value Range	--
Default Value	00000000_h

Bit	Value	Digital output
0	00000001_h	1 = Apply brake
16 ... 23	0E000000_h	Reserved
25 ... 27	0E000000_h	DOUT1 ... DOUT3

Warning

When brake actuation is enabled via digital_output_mask, the holding brake is manually vented by election of bit 0 in digital_output_data!

This can result in a sagging of the axis if hanging.

Object 2420 _h : digital\_output\_state\_mapping

Various status messages of the motor controller can be output through the digital outputs using the object group digital_outputs_state_mapping.

For the integrated digital outputs of the motor controller, each output must have its own subindex. As a result, for each output there is a byte in which the function number must be entered.

When such a function has been assigned to a digital output and the output is then switched on or off directly over digital_outputs (60FE _h ), the object digital_outputs_state_mapping is also set to OFF (0) or ON (12).

Index	2420_h
Name	digital_outputs_state_mapping
Object code	RECORD
No. of Elements	5

Sub-index	01_h
Description	dig_out_state_mapp_dout_1
Data Type	UINT8
Access	rw
PDO Mapping	no
Units	--
Value Range	0 ... 16, see table
Default Value	0

6. Setting Parameters

Sub-index	02_h
Description	dig_out_state_mapp_dout_2
Data Type	UINT8
Access	rw
PDO Mapping	no
Units	--
Value Range	0 ... 16, see table
Default Value	0

Sub-index	03_h
Description	dig_out_state_mapp_dout_3
Data Type	UINT8
Access	rw
PDO Mapping	no
Units	--
Value Range	0 ... 16, see table
Default Value	0

Value	Description
0	Off (output is low)
1	Position X_command = X_target
2	Position X_feedback = X_target
3	Reserved
4	Remaining path
5	Homing run active
6	Comparison speed reached
7	I2t monitoring active
8	Drag error
9	Low voltage intermediate circuit
10	Locking brake vented
11	Final stage active
12	On (output is high)
13	Reserved
14	Reserved
15	Linear motor identified
16	Homing position valid

6. Setting Parameters

6.14 Limit switch/homing switch

6.14.1 Overview

For the definition of the homing position of the motor controller, either the limit switch or homing switch can be used. You can find more detailed information on the possible homing run methods in chapter 8.2, Operating Mode Reference Travel (Homing Mode).

6.14.2 Description of the Objects

Index	Object	Name	Type	Attr.
6510_h	RECORD	drive_data		rw

Object 6510 _h — 11 _h : limit\_switch\_polarity

The polarity of the limit switch can be programmed through the object 6510_h-11_h (limit_switch_polarity). A zero is entered in this object for opening limit switches, a one when closing contacts are used.

Index	6510_h
Name	drive_data
Object code	RECORD
No. of Elements	51

Sub-index	11_h
Description	limit_switch_polarity
Data Type	INT16
Access	rw
PDO Mapping	no
Units	--
Value Range	0, 1
Default Value	1

Value	Meaning
0	Normally closed contact
1	N/O contact

6. Setting Parameters

Object 6510 _h 12 _h : limit\_switch\_selector

With the object 6510_h-12_h (limit_switch_selector), the assignment of the limit switches (negative, positive) can be exchanged without having to change the cabling. Enter a one to exchange the assignment of the limit switches.

Sub-index	12_h
Description	limit_switch_selector
Data Type	INT16
Access	rw
PDO Mapping	no
Units	--
Value Range	0, 1
Default Value	0

Value	Meaning
0	DIN6 = E0 (limit switch negative)DIN7 = E1 (limit switch positive)
1	DIN6 = E1 (limit switch positive)DIN7 = E0 (limit switch negative)

Tab. 6.1: Please insert description of table

Object 6510 _h \_ 14 _h : homing\_switch\_polarity

The polarity of the homing switch can be programmed through the object 6510_h-14_h (homing_switch_polarity). A "0" is entered in this object for an opening homing switches, a "1" when closing contacts are used.

Sub-index	14_h
Description	homing_switch_polarity
Data Type	INT16
Access	rw
PDO Mapping	no
Units	--
Value Range	0, 1
Default Value	1

Value	Meaning
0	Normally closed contact
1	N/O contact

6. Setting Parameters

Object 6510 _h \_ 13 _h : homing\_switch\_selector

The object 6510_h-13_h (homing_switch_selector) establishes whether DIN8 or DIN9 should be used as a homing switch.

Sub-index	13_h
Description	homing_switch_selector
Data Type	INT16
Access	rw
PDO Mapping	no
Units	--
Value Range	0, 1
Default Value	0

Value	Meaning
0	DIN9
1	DIN8

Object 6510 _h \_ 15 _h : limit\_switch\_deceleration

The object limit_switch_deceleration establishes the braking deceleration when the limit switch is reached during normal operation (Limit switch emergency stop ramp).

Sub-index	15_h
Description	limit_switch_deceleration
Data Type	INT32
Access	rw
PDO Mapping	no
Units	acceleration units
Value Range	0 ... 3 000 000 min^-1/s
Default Value	2 000 000 min^-1/s

6.15 Sampling of positions

6.15.1 Overview

The CMMP family offers the possibility to save the position feedback value on the rising or falling edge of a digital input. This position value can then be read out, such as for calculation within a controller.

6. Setting Parameters

All necessary objects are brought together in the record sample_data: The object sample_mode establishes the type of sampling: Should only a one-time sample event be recorded, or should sampling be continuous? With the sample_status object, the controller can be queried, whether a sample event has occurred. This is signaled by a set bit, which can also be displayed in the statusword if the object sample_status_mask is set accordingly.

The object sample_control serves to control the sample event and, finally, the sampled positions can be read out over the objects sample_position_rising_edge and sample_position_falling_edge.

Which digital input is used can be set with the parameterisation software under Parameter / IOs / Digital Inputs / Sample Input.

6.15.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
204A_h	RECORD	sample_data		ro
204A_h\_01_h	VAR	sample_mode	UINT16	rw
204A_h\_02	VAR	sample_status	UINT8	ro
204A_h\_03_h	VAR	sample_status_mask	UINT8	rw
204A_h\_04_h	VAR	sample_control	UINT8	wo
204A_h\_05_h	VAR	sample_position_rising_edge	INT32	ro
204A_h\_06_h	VAR	sample_position_falling_edge	INT32	ro

Object 204A _h : sample_data

Index	204A_h
Name	sample_data
Object code	RECORD
No. of Elements	6

The following object can be used to select whether, for each occurrence of a sample event, the position should be determined (continuous sampling) or whether the sampling should be blocked after a sample event until sampling is enabled again. Please note that even one bounce can dissolve both edges!

6. Setting Parameters

Sub-index	01_h
Description	sample_mode
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	--
Value Range	0 ... 1, see table
Default Value	0

Value	Description
0	Continuous sampling
1	Autolock sampling

The following object shows a new sample event.

Sub-index	02_h
Description	sample_status
Data Type	UINT8
Access	ro
PDO Mapping	yes
Units	--
Value Range	0 ... 3, see table
Default Value	0

Bit	Value	Name	Manual
0	01_h	falling_edge_occurred	= 1: New sample position (falling edge)
1	02_h	rising_edge_occurred	= 1: New sample position (rising edge)

The following object can be used to establish the bits of the object sample_status, which should also result in setting bit 15 of the statusword. As a result, the information "Sample event occurred" is present in the statusword, which normally has to be transmitted anyway, so the controller has to read the object sample_status only in this case to determine, if applicable, which edge has appeared.

Sub-index	03_h
Description	sample_status_mask
Data Type	UINT8
Access	rw
PDO Mapping	yes
Units	--
Value Range	0 ... 1, see table
Default Value	0

6. Setting Parameters

Bit	Value	Name	Manual
0	01_h	rising_edge_visible	Wenn rising_edge_occured = 1 => statusword bit 15 = 1
1	02_h	falling_edge_visible	When falling_edge_occured = 1 => statusword bit 15 = 1

Setting of the respective bits in sample_control resets the corresponding status bit in sample_status and enables sampling again in case of sampling "autolock".

Sub-index	04_h
Description	sample_control
Data Type	UINT8
Access	wo
PDO Mapping	yes
Units	--
Value Range	0 ... 1, see table
Default Value	0

Bit	Value	Name	Manual
0	01_h	falling_edge_enable	Sampling in case of falling edge
1	02_h	rising_edge_enable	Sampling in case of rising edge

The following objects contain the sampled positions.

Sub-index	05_h
Description	sample_position_rising_edge
Data Type	INT32
Access	ro
PDO Mapping	yes
Units	position units
Value Range	--
Default Value	--

Sub-index	06_h
Description	sample_position_falling_edge
Data Type	INT32
Access	ro
PDO Mapping	yes
Units	position units
Value Range	--
Default Value	--

6.16 Brake triggering

6.16.1 Overview

The following objects are used to parameterise how the motor controller triggers the holding brake, if integrated in the motor. The holding brake is always enabled as soon as the controller enable is switched on. For holding brakes with high mechanical inertia, a delay time can be parameterised so that the holding brake intervenes before the final stage is switched off (sagging of vertical axes). This deceleration is parameterised with the object brake_delay_time. As can be seen in the sketch, when the controller enable is switched on, the speed command value is released only after the brake_delay_time and, when the controller enable is switched off, switch-off is delayed by this time.

Fig. 6.8: Function of the brake delay (with speed control/positioning)

6.16.2 Description of the Objects

Index	Object	Name	Type	Attr.
6510_h	RECORD	drive_data		rw

Object 6510 _h - 18 _h : brake\_delay\_time

With the object brake_delay_time, the brake delay time can be parameterised.

Index	6510_h
Name	drive_data
Object code	RECORD
No. of Elements	51
Sub-index	18_h
Description	brake_delay_time
Data Type	UINT16
Access	rw
PDO Mapping	no
Units	ms
Value Range	0 ... 32000
Default Value	0

6.17 Device Information

Index	Object	Name	Type	Attr.
1018_h	RECORD	identity_object		rw
6510_h	RECORD	drive_data		rw

Via numerous CAN objects, the most varied of information, such as motor controller type, firmware used, etc. can be read out of the device.

6.17.1 Description of the Objects

Object 1018h: identity\_object

With the identity_object established in the DS301, the motor controller can be uniquely identified in a CANopen network. For this purpose, the manufacturer's code (vendor_id), a unique product code (product_code), the revision number of the CANopen – implementation (revision_number) and the serial number of the device (serial_number) can be read out.

Index	1018_h
Name	identity_object
Object code	RECORD
No. of Elements	4

Sub-index	01_h
Description	vendor_id
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	--
Value Range	000000E4
Default Value	000000E4

6. Setting Parameters

Sub-index	02_h
Description	product_code
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	--
Value Range	see below
Default Value	see below

Value	Meaning
2005_h	CMMP-AS-C2-3A
2006_n	CMMP-AS-C5-3A
200A_n	CMMP-AS-C5-11A-P3
200B_n	CMMP-AS-C10-11A-P3

Sub-index	03_h
Description	revision_number
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	MMMMSSSS_h (M: main version, S: sub version)
Value Range	--
Default Value	--

Sub-index	04_h
Description	serial_number
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	--
Value Range	--
Default Value	--

6. Setting Parameters

6.17.1.2 Object 6510 _h \_A0 _h : drive\_serial\_number

With the object drive_serial_number, the serial number of the controller can be read. This object serves compatibility with earlier versions.

Index	6510_h
Name	drive_data
Object code	RECORD
No. of Elements	51

Sub-index	A0_h
Description	drive_serial_number
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	--
Value Range	--
Default Value	--

6.17.1.3 Object 6510 _h \_A1 _h : drive\_type

With the object drive_type, the device type of the controller can be read out. This object serves compatibility with earlier versions.

Sub-index	A1_h
Description	drive_type
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	--
Value Range	see 1018_h\_02_h , product_code
Default Value	see 1018_h\_02_h , product_code

6. Setting Parameters

Object 6510 _h \_A9 _h : firmware\_main\_version

The main version number of the firmware (product stage) can be read out via the object firmware_main_version.

Sub-index	A9_h
Description	firmware_main_version
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	MMMMSSSS_h (M: main version, S: sub version)
Value Range	--
Default Value	--

Object 6510 _h \_AA _h : firmware\_custom\_version

The version number of the customer-specific variants of the firmware can be read out via the object firmware_custom_version.

Sub-index	AA_h
Description	firmware_custom_version
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	MMMMSSSS_h (M: main version, S: sub version)
Value Range	--
Default Value	--

6.17.1.6 Object 6510 _h \_AD _h : km\_release

The version number of the km_release is used to differentiate between firmware status of the same product stage.

Sub-index	AD_h
Description	km_release
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	--
Value Range	MMMMSSSSh (M: main version, S: sub version)
Default Value	--

6. Setting Parameters

Object 6510 _h \_AC _h : firmware\_type

The object firmware_type is used to read out which device family and angle encoder type the loaded firmware is suitable for. Since for the CMMP family the angle encoder interface is no longer pluggable actual, all bits are set in the parameter G ( F_h ).

Sub-index	AC_h
Description	firmware_type
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	000000 GX_h
Value Range	00000 F2_h
Default Value	00000 F2_h

Value (x)	Meaning
0_h	IMD-F
1_h	CMMP-AS
2_h	CMMP-AS-C2-3A

Object 6510 _h \_ B0 _h : cycletime\_current\_controller

The cycle time in microseconds of the current controller can be read out via the object cycletime_current_controller.

Sub-index	B0_h
Description	cycletime_current_controller
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	μs
Value Range	--
Default Value	00000068h

6. Setting Parameters

Object 6510 _h \_ B1 _h : cycletime\_velocity\_controller

The cycle time in microseconds of the velocity controller can be read out via the object cycletime_velocity_controller.

Sub-index	B1_h
Description	cycletime_velocity_controller
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	μs
Value Range	--
Default Value	000000 D0_h

Object 6510 _h \_ B2 _h : cycletime\_position\_controller

The cycle time in microseconds of the position controller can be read out via the object cycletime_position_controller.

Sub-index	B2_h
Description	cycletime_position_controller
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	μs
Value Range	--
Default Value	000001A0h

Object 6510 _h \_ B3 _h : cycletime\_trajectory\_generator

The cycle time in microseconds of the positioning controller can be read out via the object cycletime_trajectory_generator.

Sub-index	B3_h
Description	cycletime_trajectory_generator
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	μs
Value Range	--
Default Value	00000341h

Object 6510 _h \_CO _h : commissioning\_state

The object commissioning_state is written by the parameterisation software when certain parameterisations have been performed (e.g. of the nominal current). After delivery and after restore_default_parameter, this object contains a zero. In this case, an "A" is displayed on the 7-segment display of the motor controller to show that this device has not been parameterised yet. If the motor controller is completely parameterised under CANopen, at least one bit in this object must be set to suppress the display "A". Of course, it is also possible to use this object to note the condition of controller parametering as needed. In this case, not that the parameterisation software also accesses this object.

Sub-index	CO_h
Description	commissioning_state
Data Type	UINT32
Access	rw
PDO Mapping	no
Units	--
Value Range	--
Default Value	0

Value	Meaning
0	Rated current valid
1	Maximum current valid
2	Number of poles of the motor valid
3	Offset angle / direction of rotation valid
4	Reserved
5	Offset angle / direction of rotation of Hall encoder valid
6	Reserved
7	Absolute position of encoder system valid
8	Current controller parameter valid
9	Reserved
10	Physical units valid
11	Velocity controller valid
12	Position controller valid
13	Safety parameter valid
14	Reserved
15	Limit switch polarity valid
16 ... 31	Reserved

6. Setting Parameters

Caution

This object contains no information whatsoever about whether the motor controller has been properly parameterised for the motor and application, but only whether the named points were at least parameterised at all after delivery.

"A" in the 7-segment display

Note that at least one bit in the object commissioning_state must be set to suppress the "A" on the display of your motor controller.

6.18 Error management

6.18.1 Overview

The motor controllers of the CMMP family offer the possibility to change the error reaction of individual events, such as the occurrence of a following error. As a result, the motor controller reacts differently when a certain event occurs: Depending on the setting, the brake can be engaged, the final stage can be switched off immediately, or just a warning may be shown on the display.

For each event, a minimum reaction is defined by the manufacturer, which cannot be fallen below. And so "critical" errors, such as 06-0 Short circuit final stage, cannot be reparameterised, since here an immediate shut-down is necessary to protect the motor controller from possible destruction.

If a lower error reaction is entered than permitted for the respective error, the value is limited to the lowest permissible error reaction. A list of all error codes can be found in the software manual "Motor Controller CMMP".

6.18.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
2100_h	RECORD	error_management		ro
2100\_01_h	VAR	error_number	UINT8	rw
2100\_02_h	VAR	error_reaction_code	UINT8	rw
200F_h	VAR	last_warning_code	UINT16	ro

6. Setting Parameters

Object 2100 _h : error_management

Index	2100_h
Name	error_management
Object code	RECORD
No. of Elements	2

The main error number whose reaction is to be changed must be specified in the object error_number. The main error number is normally specified in front of the hyphen (e.g. error 08-2, main error number 8). For possible error numbers, see also chapter 5.5.

Sub-index	01_h
Description	error_number
Data Type	UINT8
Access	rw
PDO Mapping	no
Units	--
Value Range	1 ... 96
Default Value	1

The error reaction can be changed in the object error_reaction_code. It is limited to not less than the manufacturer's minimum reaction. The actual reaction set can be determined by reading it back.

Sub-index	02_h
Description	error_reaction_code
Data Type	UINT8
Access	rw
PDO Mapping	no
Units	--
Value Range	0, 1, 3, 5, 7, 8
Default Value	depend on error_number

Value	Meaning
0	No action
1	Entry in the buffer
3	Warning on the 7-segment display
5	Controller enable off
7	Braking with maximum current
8	Final stage off

6. Setting Parameters

Object 200F _h : last\_warning\_code

Warnings are remarkable events of the drive (e.g. a following error), which in contrast to an error do not result in shut-down of the drive. Warnings are displayed on the 7-segment display of the controller and then automatically reset by the controller.

The last warning that occurred can be read out via the following object: Bit 15 shows whether the warning is still active.

Index	200F_h
Name	last_warning_code
Object code	VAR
Data Type	UINT16

Access	ro
PDO Mapping	yes
Units	--
Value Range	--
Default Value	--

Bit	Value	Manual
0 ... 3	000F_h	Warning sub-number
4 ... 11	OFFO_h	Warning main number
15	8000_h	Warning is active

7. Device control

7.1 Condition diagram (state machine)

7.1.1 Overview

The following chapter describes how the motor controller can be regulated under CANopen, that is, how the final stage is switched on or an error is acknowledged, for example.

Under CANopen, the entire regulation of the motor controller is achieved via two objects: The host can regulate the motor controller via the controlword, while the status of the motor controller can be read back in the object statusword. The following terms are used to explain controller regulation:

Condition:(state)	The motor controller is in different states, depending on whether the final stage is switched on or an error has occurred, for example. The conditions defined under CANopen are presented in the course of the chapter.Example: SWITCH_ON_DISABLED
Condition transition(state transition)	Just as with the conditions, CANopen also defines how to go from one condition to another (e.g. to acknowledge an error). Condition transitions are triggered by the host by setting bits in the controlword or internally through the motor controller, when it recognises an error, for example.
Command	To trigger condition transitions, certain combinations of bits must be set in the controlword. Such a combination is designated a command.Example: Enable operation
Condition diagram(state machine)	The conditions and condition transitions together form the condition diagram, that is, the overview of all conditions and the transitions possible from there.

7.1.2 The Condition Diagram of the Motor Controller (State Machine)

graph TD
    A["0"] --> B["NOT_READY_TO_SWITCH_ON"]
    B --> C["1"]
    C --> D["SWITCH_ON_DISABLED"]
    D --> E["2"]
    D --> F["7"]
    E --> G["READY_TO_SWITCH_ON"]
    F --> G
    G --> H["3"]
    G --> I["6"]
    H --> J["SWITCHED_ON"]
    I --> J
    J --> K["4"]
    J --> L["5"]
    K --> M["OPERATION_ENABLE"]
    L --> M
    M --> N["11"]
    N --> O["QUICK_STOP_ACTIVE"]
    P["13"] --> Q["FAULT_REACTION_ACTIVE"]
    Q --> R["14"]
    R --> S["FAULT"]
    T["15"] --> D
    U["9"] --> V["8"]
    V --> W["Switched_ON"]
    W --> X["10"]
    X --> Y["12"]
    Y --> Z["QUICK_STOP_ACTIVE"]
    AA["Fault (Fehler)"] --> AB["13"]
    AC["Power disabled (Endstufe aus)"] --> AD["0"]

Fig. 7.1: Condition diagram of the motor controller

The condition diagram can be roughly divided into three areas: "Power Disabled" means that the final stage is switched off and "Power Enabled" that the final stage is switched on. The conditions needed for handling errors are summarised in the "Fault" area.

The most important conditions of the motor controller are shown highlighted in the diagram. After it is switched on, the motor controller initialises itself and then reaches the condition SWITCH_ON_DISABLED. In this condition, the CAN communication is completely function capable and the motor controller can be parameterised (e.g. the "RPM regulation" operating mode is set). The final stage is switched off and the shaft is thus freely rotatable. Through the condition transitions 2, 3, 4 – which correspond in principle to the CAN controller enable – one reaches the condition OPERATION_ENABLE. In this condition, the final stage is switched on and the motor regulated in accordance with the set operating mode. Therefore, you should always make sure beforehand that the drive is correctly parameterised and that a corresponding nominal value equals zero.

7. Device control

The condition transition 9 corresponds to removal of the release, that is, a motor that is still running would fizzle out unregulated.

If an error occurs (regardless from which condition), the system ultimately branches into the FAULT condition. Depending on the severity of the error, certain actions, such as emergency braking, can still be performed (FAULT_REACTION_ACTIVE).

In order to perform the named condition transitions, certain bit combinations must be set in the controlword (see below). The lower 4 bits of the controlword are jointly evaluated in order to trigger a condition transition. In the following, first only the most important condition transitions 2, 3, 4, 9 and 15 are explained. A table of all possible conditions and condition transitions is found at the end of this chapter.

The following table contains the desired condition transition in the 1st column and in the 2nd column the prerequisites necessary for it (usually a command through the host, here depicted with frame). How this command is generated, that is, which bits must be set in the controlword, is evident in the 3rd column (x = not relevant).

No.	Is performed when	Bit combination (controlword)					Action
		Bit	3	2	1	0
2	Final stage and regulator activated prev. + command Shutdown	Shutdown	x	1	1	0	None
3	Command Switch On	Switch On	x	1	1	1	Switching on the final stage
4	Command Enable Operation	Enable Operation	1	1	1	1	Control in accordance with set operating mode
9	Command Disable Voltage	Disable Voltage	x	x	0	x	Final stage is blocked.Motor rotates freely.
15	Error resolved + command Fault Reset	Fault Reset	Bit 7 = ↑				Acknowledge fault

Tab. 7.1: Most important condition transitions of the motor controller

EXAMPLE

After the motor controller has been parameterised, the motor controller should be "activated", that is, the final stage switched on:

1.) The motor controller is in the condition SWITCH_ON_DISABLED
2.) The motor controller should be in the condition OPERATION ENABLE
3.) The transitions 2, 3 and 4 are to be carried out according to the condition diagram (Fig. 7.1).

4.) From Tab. 7.1 follows:

Transition 2: controlword = 0006h New condition: READY_TO_SWITCH_ON *1)
Transition 3: controlword = 0007h New condition: SWITCHED_ON *1)
Transition 4: controlword = 000Fh New condition: OPERATION_ENABLE *1) 

7. Device control

Notes:

1.) The example assumes that no other bits are set in the controlword (for the transitions, only bits 0...3 are important).
2.) Transitions 3 and 4 can be combined by setting the controlword immediately to 000F_h . For condition transition 2, the set bit 3 is not relevant.
^*1) The host must wait until the condition in the statusword can be read back. This is explained in detail below.

Condition diagram: states

The following table lists all conditions and their meaning:

Name	Meaning
NOT_READY_TO_SWITCH_ON	The motor controller performs a self-test. The CAN communication does not work yet.
SWITCH_ON_DISABLED	The motor controller has completed its self-test. CAN communication is possible.
READY_TO_SWITCH_ON	The motor controller waits until the digital inputs "final stage" and "controller enable" are at 24 V. (Controller enable logic "Digital input and CAN").
SWITCHED_ON *1)	The final stage is switched on.
OPERATION_ENABLE *1)	Voltage to the motor is on, and the motor is regulated according to the operating mode.
QUICKSTOP_ACTIVE *1)	The quick stop function is carried out (see: quick_stop_option_code). Voltage to the motor is on, and the motor is regulated according to the quick stop function.
FAULT_REACTION_ACTIVE *1)	An error has occurred. In case of critical errors, the system immediately switches into the Fault status. Otherwise, the action specified in the fault_reaction_option_code is carried out. Voltage to the motor is on, and the motor is regulated according to the fault reaction function.
FAULT	An error has occurred. No voltage is applied to the motor.
*1) The final stage is switched on.

Condition diagram: Condition transitions

The following table lists all conditions and their meaning:

No.	Is performed when	Bit combination (controlword)					Action
		Bit	3	2	1	0
0	Switched on or reset occurs	Internal transition					Execute self-test
1	Self-test successful	Internal transition					Activation of CAN communication
2	Final stage and regulator activated prev. + command Shutdown	Shutdown	x	1	1	0	-
3	Command Switch On	Switch On	x	1	1	1	Switching on the final stage
4	Command Enable Operation	Enable Operation	1	1	1	1	Control in accordance with set operating mode
5	Command Disable Operation	Disable Operation	0	1	1	1	Final stage is blocked.Motor rotates freely
6	Command Shutdown	Shutdown	x	1	1	0	Final stage is blocked.Motor rotates freely
7	Command Quick Stop	Quick Stop	x	0	1	x	-
8	Command Shutdown	Shutdown	x	1	1	0	Final stage is blocked.Motor rotates freely
9	Command Disable Voltage	Disable Voltage	x	x	0	x	Final stage is blocked.Motor rotates freely.
10	Command Disable Voltage	Disable Voltage	x	x	0	x	Final stage is blocked.Motor rotates freely
11	Command Quick Stop	Quick Stop	x	0	1	x	Braking is introduced in accordance with quick_stop_option_code.
12	Braking ended or command Disable Voltage	Disable Voltage	x	x	0	x	Final stage is blocked.Motor rotates freely
13	Error occurred	Internal transition					In case of uncritical errors, reaction according to fault_reaction_option_code.For critical errors, transition 14 occurs
14	Error resolution is ended	Internal transition					Final stage is blocked.Motor rotates freely
15	Error resolved+command Fault Reset	Fault Reset	Bit 7 = ↑				Acknowledge error(with rising edge)

7. Device control

Caution

Final stage blocked...

...means that the power semiconductors (transistors) can no longer be actuated. If this condition is taken with a turning motor, it fizzles out unbraked. If a mechanical motor brake is present, it is automatically triggered.

The signal does not guarantee that the motor is really voltage-free.

Caution

Final stage enabled...

...means that the motor is actuated and regulated according to the chosen operating mode. If a mechanical motor brake is present, it is automatically triggered. In case of a defect or incorrect parameterisation (motor current, number of poles, resolver offset angle, etc.), this can result in uncontrolled behaviour of the drive.

7.1.3 Controlword (control word)

Object 6040h: controlword

With the controlword, the current condition of the motor controller can be changed or a certain action (e.g. start of reference travel) can be directly triggered. The function of bits 4, 5, 6 and 8 depends on the current operating mode (modes_of_operation) of the motor controller, which is explained after this chapter.

Index	6040_h
Name	controlword
Object code	VAR
Data Type	UINT16

Access	rw
PDO Mapping	yes
Units	--
Value Range	--
Default Value	0

7. Device control

Bit	Value	Function
0	0001_h	Control of the condition transitions.(These bits are evaluated together)
1	0002_h
2	0004_h
3	0008_h
4	0010_h	new_set_point / start_homing_operation / enable_ip_mode
5	0020_h	change_set_immediately
6	0040_h	absolute/relative
7	0080_h	reset_fault
8	0100_h	Halt
9	0200_h	reserved - set to 0
10	0400_h	reserved - set to 0
11	0800_h	reserved - set to 0
12	1000_h	reserved - set to 0
13	2000_h	reserved - set to 0
14	4000_h	reserved - set to 0
15	8000_h	reserved - set to 0

Tab. 7.2: Bit arrangement of the controlword

As already comprehensively described, condition transitions can be carried out with bits 0 ... 3. The commands necessary for this are presented again here in an overview. The Fault Reset command is generated by a positive edge change (from 0 to 1) of bit 7.

Command:	Bit 7	Bit 3	Bit 2	Bit 1	Bit 0
	0080_h	0008_h	0004_h	0002_h	0001_h
Shutdown	×	×	1	1	0
Switch On	×	×	1	1	1
Disable Voltage	×	×	×	0	×
Quick Stop	×	×	0	1	×
Disable Operation	×	0	1	1	1
Enable Operation	×	1	1	1	1
Fault Reset		×	×	×	×

Tab. 7.3: Overview of all commands (x = not relevant)

Since some status changes take a certain time, all status changes triggered via the controlword must be read back via the statusword. Only when the requested status can also be read in the statusword may an additional command be written via the controlword.

7. Device control

The remaining bits of the controlword are explained in the following. Some bits have a different meaning, depending on the operating mode (modes_of_operation), that is, whether the motor controller is speed- or torque-controlled:

Bit 4		Dependent on modes_of_operation:
	new_set_point	In the Profile Position Mode:A rising edge signals to the motor controller that a new positioning task should be undertaken.Also see chapter 8.3 on this.
	start_homing_operation	In the Homing Mode:A rising edge causes the parameterised reference travel to start. A falling edge interrupts a running reference travel prematurely.
	enable_ip_mode	In the Interpolated Position Mode:This bit must be set when the interpolation data - records are supposed to be evaluated. The bit ip_mode_active is acknowledged in the statusword. See also chapter 8.4.
Bit 5	change_set_immediately	Only in the Profile Position Mode:If this bit is not set, any positioning tasks currently running will be worked off before any new one is begun. If the bit is set, an ongoing positioning is interrupted immediately and replaced by the new positioning task. Also see chapter 8.3 on this.
Bit 6	relative	Only in the Profile Position Mode:If the bit is set, the motor controller refers the target position (target_position) of the current positioning task to the nominal position (position_demand_value) of the position controller.
Bit 7	reset_fault
		In the transition from zero to one, the motor controller tries to acknowledge the existing faults. This is only successful if the cause of the error has been resolved.

Bit 8	Dependent on modes_of_operation:
Halt	In the Profile Position Mode:If the bit is set, the ongoing positioning is interrupted. Here, braking takes place with the profile_deceleration. After the process is ended, the bit target_reached is set in the statusword.Deletion of the bit has no effect.
Halt	In the Profile Velocity Mode:If the bit is set, the speed is reduced to zero.Here, braking takes place with the profile_deceleration. Deletion of the bit causes the motor controller to accelerate again.
Halt	In the Profile Torque Mode:If the flag is set, the torque is lowered to zero . This occurs with the torque_slope. Deletion of the bit causes the motor controller to accelerate again.
Halt	In the Homing Mode:If the bit is set, the ongoing reference travel is interrupted. Deletion of the bit has no effect.

7.1.4 Read-Out of the Motor Controller Condition

Just as various condition transitions can be triggered via the combination of several bits of the controlwords, the condition of the motor controller can be read out via the combination of various bits of the statusword.

The following table lists the possible conditions of the condition diagram as well as the related bit combination, with which they are displayed in the statusword.

Condition	Bit 6	Bit 5
	0040_h	0020_h
Not_Ready_To_Switch_On	0	×
Switch_On_Disabled	1	×
Ready_to_Switch_On	0	1
Switched_On	0	1
OPERATION_ENABLE	0	1
QUICK_STOP_ACTIVE	0	0
Fault_Reaction_Active	0	×
Fault	0	×
FAULT (in accordance with DS402) 1)	0	×

Bit 3	Bit 2	Bit 1	Bit 0	Mask	Value
0008_h	0004_h	0002_h	0001_h
0	0	0	0	004Fh	0000h
0	0	0	0	004Fh	0040h
0	0	0	1	006Fh	0021h
0	0	1	1	006Fh	0023h
0	1	1	1	006Fh	0027h
0	1	1	1	006Fh	0007h
1	1	1	1	004Fh	000Fh
1	1	1	1	004Fh	0008h
1	0	0	0	004Fh	0008h

Tab. 7.4: Device status (x = not relevant)

EXAMPLE

The above example shows which bits in the controlword need to be set in order to enable the motor controller. Now the newly written condition should be read out of the statusword: Transition from SWITCH_ON_DISABLED to OPERATION_ENABLE:

1.) Write condition transition 2 into the controlword.
2.) Wait until the condition READY_TO_SWITCH_ON is displayed in the statusword.
3.) Transitions 3 and 4 can be written together into the controlword.
4.) Wait until the condition OPERATION_ENABLE is displayed in the statusword.
Note:
The example assumes that no other bits are set in the controlword (for the transitions, only bits 0 ... 3 are important).
^*1) To identify the conditions, bits that are not set must also be evaluated (see table). For that reason, the statusword must be masked accordingly.

Transition 2: controlword = 0006 h Wait until (statusword & 006F h ) = 0021 _h *1)

Transition 3+4: controlword = 000F h Wait until (statusword & 006F h ) = 0027 _h *1)

7.1.5 Statuswords (status word)

Object 6041 _h : statusword

Index	6041h
Name	statusword
Object code	VAR
Data Type	UINT16

Access	ro
PDO Mapping	yes
Units	--
Value Range	--
Default Value	--

7. Device control

Bit	Value	Function
0	0001_h	Condition of the motor controller (see Tab. 7.4).(These bits must be evaluated together)
1	0002_h
2	0004_h
3	0008_h
4	0010_h	voltage_enabled
5	0020_h	Condition of the motor controller (see Tab. 7.4).
6	0040_h
7	0080_h	warning
8	0100_h	drive_is_moving
9	0200_h	remote
10	0400_h	target_reached
11	0800_h	internal_limit_active
12	1000_h	set_point_acknowledge / speed_0 / homing_attained /ip_mode_active
13	2000_h	following_error / homing_error
14	4000_h	manufacturer_statusbit
15	8000_h	Drive referenced

Tab. 7.5: Bit arrangement in the statusword

All bits of the statusword are unbuffered. They represent the current device status.

Besides the motor controller status, various events are displayed in the statusword, that is, to each bit is assigned a specific event, such as contouring error. The individual bits have the following meaning thereby:

Bit 4 voltage\_enabled

This bit is set when the final stage transistors are switched on.

Applies when in the object 6510_h F0 _h (compatibility_control) bit 7 is set (see chapter 6.2):

This bit is set when the final stage transistors are switched on.

Warning

In case of a defect, the motor can still be under voltage.

Bit 5	quick_stop
		If the bit is deleted, the drive carries out a quick stop in accordance with the quick_stop_option_code.
Bit 7	warning
		This bit shows that a direction of rotation is blocked because one of the limit switches has been triggered. The nominal value lock is deleted again when an error acknowledgement is performed (see controlword, fault_reset).
Bit 8	drive_is_moving	Manufacturer-specific
		The bit is set - regardless of modes_of_operation - when the actual velocity (velocity_actual_value) of the drive is outside the related tolerance window (velocity_threshold).
Bit 9	remote
		This bit shows that the final stage of the motor controller can be enabled via the CAN network. It is set when the controller enable logic is correspondingly set via the object enable_logic.
Bit 10		Dependent on modes_of_operation:
	target_reached	In the Profile Position ModeThe bit is set when the current target position is reached and the current position (position_actual_value) is located in the parameterised position window (position_window).It is also set when the drive comes to a standstill with set Halt bit.It is deleted as soon as a new target is specified.
	target_reached	In the Profile Velocity ModeThe bit is set when the speed (velocity_actual_value) of the drive is within the tolerance window (velocity_window, velocity_window_time).
Bit 11	internal_limit_active
		This bit shows that the I2t limitation is active.

Bit 12	Dependent on modes_of_operation:
set_point_acknowledge	In the Profile Position ModeThis bit is set when the motor controller has recognised the set bit new_set_point in the controlword. It is deleted again after the bit new_set_point in the controlword has been set to zero. Also see chapter 8.3 on this.
speed_0	In the Profile Velocity ModeThe bit is set when the currentspeed (velocity_actual_value) of the drive is within the related tolerance window (velocity_threshold).
homing_attained	In the Homing ModeThis bit is set when the reference travel has ended without error.
ip_mode_active	In the Interpolated Position ModeThis bit shows that interpolation is active and the interpolation data records have been evaluated. It is set when requested by the bit enable_ip_mode in the controlword. See also chapter 8.4.
Bit 13	Dependent on modes_of_operation:
following_error	In the Profile Position ModeThe bit is set when the current actual position (position_actual_value) differs from the target position (position_demand_value) so much that the difference lies outside the parameterised tolerance window (following_error_window, following_error_time_out).
homing_error	In the Homing ModeThis bit is set when reference travel is interrupted - (Halt bit), both limit switches are triggered simultaneously or the limit switch search travel already performed is greater than the specified positioning space (min_position_limit, max_position_limit).

Bit 14	manufacturer_statusbit	Manufacturer-specificThe meaning of this bit is configurable:It can be set if any desired bit of the manufacturer_statusword_1 is set or reset.See also chapter 7.1.5, Object 2000_h
Bit 15	trigger_result	Manufacturer-specificThe meaning of this bit is configurable:It is set when a sample event occurs and the sample mask is set accordingly. See also chapter 6.15.

Object 2000h: manufacturer\_statuswords

To be able to depict other controller conditions that do not have to be present in the – frequently cyclically queried – statusword, the object group manufacturer_statuswords was introduced.

Index	2000_h
Name	manufacturer_statuswords
Object code	RECORD
No. of Elements	1

Sub-index	01_h
Description	manufacturer_statusword_1
Data Type	UINT32
Access	ro
PDO Mapping	yes
Units	--
Value Range	--
Default Value	--

Bit	Valency	Name
0	00000001_h	is_referenced
1	00000002_h	commutation_valid
2	00000004_h	ready_for_enable
...
31	80000000_h	---

Tab. 7.6: Bit assignment in the manufacturer_statusword_1

Bit 0 is\_referenced

The bit is set when the controller is referenced. This is the case when either a homing run has been successfully performed or when no homing run is necessary due to the connected encoder system (e.g. with an absolute value encoder).

Bit 1 commutation\_valid

The bit is set when the commutation information is referenced. It is especially helpful with encoder systems without commutation information (e.g. linear motors), since there the automatic commutation process can take some time. If this bit is monitored, a timeout of the controller with controller enable can be prevented, for example.

Bit 2 ready\_for\_enable

The bit is set when all conditions are present to enable the controller and only the controller enable itself is missing. The following conditions must exist:

• The drive is error-free
• The intermediate circuit is charged
• The angle encoder evaluation is ready. No processes are active (e.g. serial transmission) that prevent an enable.
• No blocking process is active (e.g. the automatic motor parameter identification).

With the help of the objects manufacturer_status_masks and manufacturer_status_invert, one or more bits of the manufacturer_statuswords in bit 14 (manufacturer_statusbit) of the statusword (6041_h) can be shown. All bits of the manufacturer_statusword_1 can be inverted through the corresponding bit in manufacturer_status_invert_1. As a result, bits in the "reset" condition can also be monitored. After inversion, the bits are masked, that is, the bit is evaluated further only when the corresponding bit in manufacturer_status_mask_1 is set. If at least one bit is set after masking, bit 14 of the statusword is also set.

The following illustration shows this as an example:

7. Device control

EXAMPLE

A) Bit 14 of the statusword should be set when the drive is referenced.
Drive referenced is bit 0 of the manufacturer_statusword_1
manufacturer_status_invert = 0x00000000
manufacturer_status_mask = 0x00000001 (bit 0)
B) Bit 14 of the statusword should be set if the drive has no valid commutation position.
Valid commutation position is bit 1 of the manufacturer_statusword_1.
This bit must be inverted so it will be set when the commutation information is invalid:
manufacturer_status_invert = 0x00000002 (bit 1)
manufacturer_status_mask = 0x00000002 (bit 1)
C) Bit 14 of the statusword should be set when the drive is not ready for enable OR the drive is referenced.
Valid commutation position is bit 2 of the manufacturer_statusword_1. 

Drive referenced Bit 2 must be inverted so it will be set when the drive is not ready for enable:
manufacturer_status_invert = 0x00000004 (bit 2)
manufacturer_status_mask = 0x00000005 (bit 2, bit 0) 

Object 2005h: manufacturer\_status\_masks

This object group determines which set bits of the manufacturer_statuswords are superimposed in the statusword. See also chapter 7.1.5.

Index	2005_h
Name	manufacturer_status_masks
Object code	RECORD
No. of Elements	1

Sub-index	01_h
Description	manufacturer_status_mask_1
Data Type	UINT32
Access	rw
PDO Mapping	yes
Units	--
Value Range	--
Default Value	0x00000000

Object 200A _h : manufacturer\_status\_invert

This object group determines which bits of the manufacturer_statuswords are superimposed inverted in the statusword. See also chapter 7.1.5.

Index	200A_n
Name	manufacturer_status_invert
Object code	RECORD
No. of Elements	1

Sub-index	01_h
Description	manufacturer_status_invert_1
Data Type	UINT32
Access	rw
PDO Mapping	yes
Units	--

7. Device control

Value Range	--
Default Value	0x00000000

7.1.6 Description of the other objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
605B_h	VAR	shutdown_option_code	INT16	rw
605C_h	VAR	disable_operation_option_code	INT16	rw
605A_h	VAR	quick_stop_option_code	INT16	rw
605E_h	VAR	fault_reaction_option_code	INT16	rw

Object 605Bh: shutdown\_option\_code

The object shutdown_option_code specifies how the motor controller acts in condition transition 8 (from OPERATION ENABLE to READY TO SWITCH ON). The object shows the implemented behaviour of the motor controller. It cannot be changed.

Index	605B_h
Name	shutdown_option_code
Object code	VAR
Data Type	INT16

Access	rw
PDO Mapping	no
Units	--
Value Range	0
Default Value	0

Value	Meaning
0	Final stage is switched off, motor rotates freely

7. Device control

Object 605C _h : disable\_operation\_option\_code

The object disable_option_code specifies how the motor controller acts in condition transition 5 (from OPERATION ENABLE to SWITCHED ON). The object shows the implemented behaviour of the motor controller. It cannot be changed.

Index	605C_h
Name	disable_operation_option_code
Object code	VAR
Data Type	INT16

Access	rw
PDO Mapping	no
Units	--
Value Range	-1
Default Value	-1

Value	Meaning
-1	Brake with quickstop_deceleration

Object 605A _h : quick\_stop\_option\_code

The parameter quick_stop_option_code specifies how the motor controller acts in a Quick Stop. The object shows the implemented behaviour of the motor controller. It cannot be changed.

Index	605A_n
Name	quick_stop_option_code
Object code	VAR
Data Type	INT16

Access	rw
PDO Mapping	no
Units	--
Value Range	2
Default Value	2

Value	Meaning
2	Brake with quickstop_deceleration

7. Device control

Object 605E _h : fault\_reaction\_option\_code

The object fault_reaction_option_code specifies how the motor controller acts in case of error (fault). Since the error reaction of the CMMP series depends on the respective error, this object cannot be parameterised and always returns 0. To change the error reaction of the individual errors, see chapter 6.18, Error management.

Index	605Eh
Name	fault_reaction_option_code
Object code	VAR
Data Type	INT16

Access	rw
PDO Mapping	no
Units	--
Value Range	0
Default Value	0

8. Operating modes

8. Operating modes

8.1 Setting the operating mode

8.1.1 Overview

The motor controller can be placed into a number of operating modes.

Only some are specified in detail under CANopen:

• torque-controlled mode
• profile torque mode
• velocity-controlled mode
• profile velocity mode
• reference run (homing)
• homing mode
• positioning mode
• profile position mode
• synchronous position specification
• interpolated position mode

8.1.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
6060_h	VAR	modes_of_operation	INT8	wo
6061_h	VAR	modes_of_operation_display	INT8	ro

Object 6060 _h : modes\_of\_operation

The object modes_of_operation sets the operating mode of the motor controller.

Index	6060_h
Name	modes_of_operation
Object code	VAR
Data Type	INT8

Access	rw
PDO Mapping	yes
Units	--
Value Range	1, 3, 4, 6, 7
Default Value	--

8. Operating modes

Value	Meaning
1	Profile Position Mode (position controller with positioning mode)
3	Profile Velocity Mode (velocity controller with nominal value ramp)
4	Torque Profile Mode (torque regulator with nominal value ramp)
6	Homing Mode (reference travel)
7	Interpolated position mode

The current operating mode can only be read in the object modes_of_operation_display!

Since a change in operating mode can take some time, one must wait until the newly selected mode appears in the object modes_of_operation_display.

Object 6061h: modes\_of\_operation\_display

In the object modes_of_operation_display, the current operating mode of the motor controller can be read. If an operating mode is set via the object 6060 _h , besides the actual operating mode, the nominal value activations (nominal value selector) needed for operation of the motor controller under CANopen must also be made. These are:

Selector	Profile velocity mode	Profile torque mode
A	Velocity command value (field bus 1)	Torque command value (field bus 1)
B	Torque limitation, if necessary	inactive
C	Velocity command value (synchronous velocity)	inactive

In addition, the command value ramp is always switched on. Only if these activations are set in the stated way will one of the CANopen operating modes be returned. If these settings are changed, for example, with the parameterisation software, a respective "user" operating mode is returned to show that the selectors have been changed.

Index	6061h
Name	modes_of_operation_display
Object code	VAR
Data Type	INT8

Access	ro
PDO Mapping	yes
Units	--
Value Range	see table
Default Value	3

8. Operating modes

Value	Meaning
-1	Unknown operating mode / change in operating mode
-11	User Position Mode
-13	User Velocity Mode
-14	User Torque Mode
1	Profile Position Mode (position controller with positioning mode)
3	Profile Velocity Mode (velocity controller with nominal value ramp)
4	Torque Profile Mode (torque regulator with nominal value ramp)
6	Homing Mode (reference travel)
7	Interpolated position mode

The operating mode can only be set via the object modes_of_operation. Since a change in operating mode can take some time, one must wait until the newly selected mode appears in the object modes_of_operation_display. During this time, "Invalid operating mode" (-1) may be displayed briefly.

8.2 Operating Mode Reference Travel (Homing Mode)

8.2.1 Overview

This chapter describes how the motor controller searches for the initial position (also called reference point, homing point or zero point). There are various methods to determine this position, whereby either the limit switch at the end of the positioning range can be used or a homing switch (zero point switch) inside the possible positioning path. To achieve as much reproducibility as possible, the zero impulse of the used angle encoder (resolver, incremental encoder, etc.) must be included with some methods.

graph LR
    A["controlword"] --> B["Homing"]
    C["homing speeds"] --> B
    D["homing acceleration"] --> B
    E["home_offset"] --> B
    B --> F["statusword"]
    B --> G["position_demand_value"]

Fig. 8.1: Reference travel

The user can determine the speed, acceleration and type of homing run. With the object home_offset, the zero position of the drive can be moved to any desired position.

8. Operating modes

There are two reference travel speeds. The higher search velocity (speed_during_search_for_switch) is used to find the limit switch or the reference switch. Then, to exactly determine the position of the switch edge, the system switches to crawl speed (speed_during_search_for_zero).

If the drive should not be newly referenced but only the position set to a specified value, the object 2030_h (set_position_absolute) can be used.

See Object 2030 _h : set_position_absolute on page 97.

The drive to the zero position under CANopen is normally not a component of the reference travel. If all necessary variables are known to the motor controller (e.g. because it already knows the position of the zero pulse), no physical movement is performed.

This behaviour can be changed via the object 6510_h – F0_h (compatibility_control see chapter 6.2), so that a run to zero is always carried out.

8.2.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
607C_h	VAR	home_offset	INT32	rw
6098_h	VAR	homing_method	INT8	rw
6099_h	ARRAY	homing.speeds	UINT32	rw
609A_h	VAR	homing_acceleration	UINT32	rw
2045_h	VAR	homing_timeout	UINT16	rw

Affected objects from other chapters

Index	Object	Name	Type	Chapter
6040_h	VAR	controlword	UINT16	7.1.3 Controlword (control word)
6041_h	VAR	statusword	UINT16	7.1.5 Statuswords (status word)

8. Operating modes

Object 607C _h : home\_offset

The object home_offset establishes the displacement of the zero position compared to the determined homing position.

Fig. 8.2: Home Offset

Index	607C_h
Name	home_offset
Object code	VAR
Data Type	INT32
Access	rw
PDO Mapping	yes
Units	position units
Value Range	--
Default Value	0

Object 6098 _h : homing\_method

A series of different methods are provided for a homing run. Through the object homing_method, the variant needed for the application can be selected. There are four possible homing run signals: the negative and positive limit switch, the homing switch and the (periodic) zero pulse of the angle encoder. In addition, the motor controller can reference itself to the negative or positive stop completely without an additional signal. When a referencing method is determined via the object homing_method, the following settings are made:

• the homing source (neg./pos. limit switch, the homing switch, neg./pos. stop)
• the direction and process of the homing run
• the type of evaluation of the zero pulse from the angle encoder used.

8. Operating modes

Index	6098_h
Name	homing_method
Object code	VAR
Data Type	INT8
Access	rw
PDO Mapping	yes
Units
Value Range	-18, -17, -2, -1, 1, 2, 7, 11, 17, 18, 23, 27, 32, 33, 34, 35
Default Value	17

Value	Direction	Objective	Reference point for zero
-18	positive	Stop	Stop
-17	negative	Stop	Stop
-2	positive	Stop	Zero pulse
-1	negative	Stop	Zero pulse
1	negative	Limit switch	Zero pulse
2	positive	Limit switch	Zero pulse
7	positive	Homing switch	Zero pulse
11	negative	Homing switch	Zero pulse
17	negative	Limit switch	Limit switch
18	positive	Limit switch	Limit switch
23	positive	Homing switch	Homing switch
27	negative	Homing switch	Homing switch
33	negative	Zero pulse	Zero pulse
34	positive	Zero pulse	Zero pulse
35		No travel	Current actual position

The homing_method can only be set when the reference travel is not active. Otherwise, an error message (see chapter 5.5) is returned.

The process of the individual methods is described in detail in chapter 0.

8. Operating modes

Object 6099 _h : homing speeds

This object determines the speeds used during the homing run.

Index	6099_h
Name	homing speeds
Object code	ARRAY
No. of Elements	2
Data Type	UINT32

Sub-index	01_h
Description	speed_during_search_for_switch
Access	rw
PDO Mapping	yes
Units	speed units
Value Range	--
Default Value	100 min^-1

Sub-index	02_n
Description	speed_during_search_for_zero
Access	rw
PDO Mapping	yes
Units	speed units
Value Range	--
Default Value	10 min^-1

If bit 6 is set in the object compatibility_control (see chapter 6.2), a run to zero follows the homing run.

If this bit is set and the object speed_during_search_for_switch is written, both the velocity for the switch search and the velocity for the run to zero are written.

8. Operating modes

Object 609A _h : homing\_acceleration

The object homing_acceleration determines the acceleration that is used during the reference travel for all acceleration and braking processes.

Index	609A_h
Name	homing_acceleration
Object code	VAR
Data Type	UINT32

Access	rw
PDO Mapping	yes
Units	acceleration units
Value Range	--
Default Value	1000 min^-1/s

Object 2045 _h : homing\_timeout

The homing run can be monitored for its maximum execution time. The maximum execution time can be specified with the object homing_timeout. If this time is exceeded without the homing run being ended, error 11-3 is triggered.

Index	2045_h
Name	homing_timeout
Object code	VAR
Data Type	UINT16

Access	rw
PDO Mapping	no
Units	ms
Value Range	0 (off), 1 ... 65535
Default Value	60000

1. Operating modes

8.2.3 Reference Travel Processes

The various homing run methods are depicted in the following illustrations. The circled numbers correspond to the code to be entered in the object homing_method.

Method 1: Negative limit switch with zero pulse evaluation

With this method, the drive first moves relatively quickly in a negative direction until it reaches the negative limit switch. This is depicted in the diagram through the rising edge. After that, the drive moves back slowly and searches for the exact position of the limit switch. The zero position refers to the first zero pulse of the angle transmitter in the positive direction from the limit switch.

graph TD
    A["Terminal Block"] --> B["Switch 1"]
    B --> C["Index Pulse"]
    B --> D["Negative Limit Switch"]

Fig. 8.3: Reference travel to the negative limit switch with evaluation of the zero pulse

Method 2: Positive limit switch with zero pulse evaluation

With this method, the drive first moves relatively quickly in a positive direction until it reaches the positive limit switch. This is depicted in the diagram through the rising edge. After that, the drive moves back slowly and searches for the exact position of the limit switch. The zero position refers to the first zero pulse of the angle transmitter in the negative direction from the limit switch.

Fig. 8.4: Reference travel to the positive limit switch with evaluation of the zero pulse

8. Operating modes

Methods 7 and 11: Homing switch and zero impulse evaluation

These two methods use the homing switch that is active over only a part of the section. These homing methods are especially useful for round-axis applications, where the homing switch is activated once per revolution.

With method 7, the drive first moves in a positive direction and with method 11 in a negative direction. Depending on the direction of travel, the zero position refers to the first zero pulse in the negative or positive direction from the homing switch. This can be seen in the two following depictions.

Fig. 8.5: Homing run to the homing switch with evaluation of the zero pulse with positive initial movement

For homing runs to the homing switch, the limit switches first serve to reverse the search direction. If the opposite limit switch is then reached, an error is triggered.

graph TD
    A["Input"] --> B["11"]
    B --> C["11"]
    C --> D["Output"]
    E["Index Pulse"] --> F["Home Switch"]
    G["Ground"] --> H["Ground"]

Fig. 8.6: Homing run to the homing switch with evaluation of the zero pulse with negative initial movement

1. Operating modes

Method 17: Reference travel to the negative limit switch

With this method, the drive first moves relatively quickly in a negative direction until it reaches the negative limit switch. This is depicted in the diagram through the rising edge. After that, the drive moves back slowly and searches for the exact position of the limit switch. The zero position refers to the falling edge from the negative limit switch.

Fig. 8.7: Reference travel to the negative limit switch

Method 18: Reference travel to the positive limit switch

With this method, the drive first moves relatively quickly in a positive direction until it reaches the positive limit switch. This is depicted in the diagram through the rising edge. After that, the drive moves back slowly and searches for the exact position of the limit switch. The zero position refers to the falling edge from the positive limit switch.

Fig. 8.8: Reference travel to the positive limit switch

8. Operating modes

Methods 23 and 27: Homing run to the homing switch

These two methods use the homing switch that is active over only a part of the section. This homing method is especially useful for round-axis applications, where the homing switch is activated once per revolution.

With method 23, the drive first moves in a positive direction and with method 27 a negative direction. The zero position refers to the falling edge from the homing switch. This can be seen in the two following depictions.

Fig. 8.9: Homing run to the homing switch with positive initial movement

For homing runs to the homing switch, the limit switches first serve to reverse the search direction. If the opposite limit switch is then reached, an error is triggered.

Fig. 8.10: Homing run to the homing switch with negative initial movement

8. Operating modes

Method -1: Negative stop with zero pulse evaluation

With this method, the drive first moves in a negative direction until it reaches the stop. The I²t integral of the motor rises hereby to a maximum 90 %. The stop must be mechanically dimensioned so that it does not suffer damage in the parameterised maximum current. The zero position refers to the first zero pulse of the angle transmitter in the positive direction from the stop.

Fig. 8.11: Reference travel to the negative stop with evaluation of the zero pulse

Method -2: Positive stop with zero pulse evaluation

With this method, the drive first moves in a positive direction until it reaches the stop. The I^2t integral of the motor rises hereby to a maximum 90 %. The stop must be mechanically dimensioned so that it does not suffer damage in the parameterised maximum current. The zero position refers to the first zero pulse of the angle transmitter in the negative direction from the stop.

Fig. 8.12: Reference travel to the positive stop with evaluation of the zero pulse

Method -17: Reference travel to the negative stop

With this method, the drive first moves in a negative direction until it reaches the stop. The I^2t integral of the motor rises hereby to a maximum 90 %. The stop must be mechanically dimensioned so that it does not suffer damage in the parameterised maximum current. The zero position refers directly to the stop.

Fig. 8.13: Reference travel to the negative stop

8. Operating modes

Method -18: Reference travel to the positive stop

With this method, the drive first moves in a positive direction until it reaches the stop. The I^2t integral of the motor rises hereby to a maximum 90 %. The stop must be mechanically dimensioned so that it does not suffer damage in the parameterised maximum current. The zero position refers directly to the stop.

Pure mechanical diagram showing a shaft with two plates and a pressure gauge labeled -18 (no text or symbols beyond basic labels)

Fig. 8.14: Reference travel to the positive stop

Methods 33 and 34: Reference travel to the zero pulse

The zero position refers to the first zero pulse of the angle transmitter in the direction of search.

Fig. 8.15: Reference travel only with reference to the zero pulse

Method 35: Reference travel to the current position

With method 35, the zero position refers to the current position.

If the drive should not be newly referenced but only the position set to a specified value, the object 2030_h (set_position_absolute) can be used. See chapter 6.7.2.

8.2.4 Control of Reference Travel

Reference travel is controlled and monitored through the controlword/statusword. The start is made by setting bit 4 in the controlword. The successful completion of the travel is shown by a set bit 12 in the object statusword. A set bit 13 in the object statusword shows that an error has occurred during the reference travel. The cause of the error can be determined via the objects error_register and pre_defined_error_field.

Bit 4	Meaning
0	Homing run is not active
0 →	Start homing
1	Homing run is active
1 →0	Homing run interrupted

Tab. 8.1: Description of the bits in the controlword

8. Operating modes

Bit 13	Bit 12	Meaning
0	0	Homing run is not completed yet
0	1	Homing run successfully completed
1	0	Homing run not successfully completed
1	1	Prohibited condition

Tab. 8.2: Description of the bits in the statusword

8.3 Positioning Operating Mode (Profile Position Mode)

8.3.1 Overview

The structure of this operating mode is evident in Fig. 8.16:

The target position (target_position) is passed on to the curve generator. This generates a nominal position value (position_demand_value) for the position controller, which is described in the Position Controller chapter (Position Control Function, chapter 0). These two function blocks can be set independently of each other.

graph TD
    A["target_position 607Ah"] --> B["Trajectory Generator"]
    C["trajectory Generator Parameters"] --> B
    D["position Control Law Parameters"] --> E["Position Control Function"]
    B --> E
    E --> F["control_effort (60FAh)"]
    G["target_position (607Ah)"] --> H["[position units"]]
    H --> I["Limit Function"]
    I --> J["Multiplier"]
    J --> K["position"]
    I --> L["position_range_limit (607Bh)<br>software_position_limit (607Dh)<br>home_offset (607Ch)"]
    J --> M["position_factor (6093h)<br>polarity (607Eh)"]

Fig. 8.16: Curve generator and position controller

All input variables of the curve generator are converted with the variables of the factor group (see chapter 6.3) into the internal units of the regulator. The internal variables are marked here with an asterisk and are normally not needed by the user.

8.3.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
607A_h	VAR	target_position	INT32	rw
6081_h	VAR	profile_velocity	UINT32	rw
6082_h	VAR	end_velocity	UINT32	rw
6083_h	VAR	profile_acceleration	UINT32	rw
6084_h	VAR	profile_deceleration	UINT32	rw
6085_h	VAR	quick_stop_deceleration	UINT32	rw
6086_h	VAR	motion_profile_type	INT16	rw

Affected objects from other chapters

Index	Object	Name	Type	Chapter
6040_h	VAR	controlword	INT16	7.1.3 Controlword (control word)
6041_h	VAR	statusword	UINT16	7.1.5 Statuswords (status word)
605A_h	VAR	quick_stop_option_code	INT16	7 Device control
607E_h	VAR	polarity	UINT8	6.3 Conversion factors
6093_h	ARRAY	position_factor	UINT32	6.3 Conversion factors
6094_h	ARRAY	velocity_encoder_factor	UINT32	6.3 Conversion factors
6097_h	ARRAY	acceleration_factor	UINT32	6.3 Conversion factors

Object 607A _h : target\_position

The object target_position (target position) determines to which position the motor controller should travel. The current setting for speed, acceleration, brake delay and type of travel profile (motion_profile_type) etc. must be considered thereby. The target position (target_position) is interpreted either as an absolute or relative statement (controlword, bit 6).

Index	607A_h
Name	target_position
Object code	VAR
Data Type	INT32

Access	rw
PDO Mapping	yes
Units	position units
Value Range	--
Default Value	0

8. Operating modes

Object 6081h: profile\_velocity

The object profile_velocity specifies the speed that is normally reached at the end of the acceleration ramp during positioning. The object profile_velocity is specified in speed units.

Index	6081_h
Name	profile_velocity
Object code	VAR
Data Type	UINT32

Access	rw
PDO Mapping	yes
Units	speed_units
Value Range	--
Default Value	1000

Object 6082 _h : end\_velocity

The object end_velocity (end speed) defines the speed the drive must have when it reaches the target position (target_position). Normally, this object must be set to zero so that the motor controller stops when it reaches the target position (target_position). For continuous positioning, a speed different from zero can be specified. The object end_velocity is specified in the same units as the object profile_velocity.

Index	6082_h
Name	end_velocity
Object code	VAR
Data Type	UINT32

Access	rw
PDO Mapping	yes
Units	speed units
Value Range	--
Default Value	0

8. Operating modes

Object 6083 _h : profile\_acceleration

The object profile_acceleration specifies the acceleration with which the motor accelerates to the nominal value. It is specified in user-defined acceleration units, (see chapter 6.3, Factor Group).

Index	6083_h
Name	profile_acceleration
Object code	VAR
Data Type	UINT32

Access	rw
PDO Mapping	yes
Units	acceleration units
Value Range	--
Default Value	10000 min^-1/s

Object 6084 _h : profile\_deceleration

The object profile_deceleration specifies the deceleration with which the motor is braked. It is specified in user-defined acceleration units, (see chapter 6.3, Factor Group).

Index	6084h
Name	profile_deceleration
Object code	VAR
Data Type	UINT32

Access	rw
PDO Mapping	yes
Units	acceleration units
Value Range	--
Default Value	10000 min^-1/s

Object 6085h: quick\_stop\_deceleration

The object quick_stop_deceleration specifies with which brake delay the motor stops when a quick stop is carried out (see chapter 0). The object quick_stop_deceleration is specified in the same unit as the object profile_deceleration.

Index	6085_h
Name	quick_stop_deceleration
Object code	VAR
Data Type	UINT32

8. Operating modes

Access	rw
PDO Mapping	yes
Units	acceleration units
Value Range	--
Default Value	14100 min^-1/s

Object 6086 _h : motion\_profile\_type

The object motion_profile_type is used to select the type of positioning profile. The object motion_profile_type.

Index	6086_h
Name	motion_profile_type
Object code	VAR
Data Type	INT16
Access	rw
PDO Mapping	yes
Units	--
Value Range	0, 2
Default Value	0

Value	Curve chape
0	Linear ramp
2	Jerk-free ramp

8.3.3 Functional description

There are two possibilities for passing on a target position to the motor controller:

Simple positioning task

If the motor controller has reached a target position, it signals this to the host with the bit target_reached (bit 10 in the object statusword). In this operating mode, the motor controller stops when it has reached the goal.

Sequence of positioning tasks

After the motor controller has reached a target, it immediately begins travelling to the next target. This transition can occur smoothly, without the motor controller meanwhile coming to a standstill.

These two methods are controlled through the bits new_set_point and change_set_immediately in the object controlword and set_point_acknowledge in the object statusword. These bits are in a question-answer relationship to each other. This makes it possible to prepare a positioning task while another is still running.

8. Operating modes

Fig. 8.17: Positioning task transmittal from a host

In Fig. 8.17, you can see how the host and the motor controller communicate with each other via the CAN bus:

First, the positioning data (target position, travel speed, end speed and acceleration) are transmitted to the motor controller. When the positioning data set has been completely written (1), the host can start positioning by setting the bit new_set_point in the controlword to "1" (2). After the motor controller recognises the new data and takes it over into its buffer, it reports this to the host by setting the bit set_point_acknowledge in the statusword (3).

Then the host can begin to write a new positioning data set into the motor controller (4) and delete the bit new_set_point again (5). Only when the motor controller can accept a new positioning task (6) does it signal this through a "0" in the set_point_acknowledge bit. Before this, no new positioning may be started by the host (7).

In Fig. 8.18, a new positioning task is only started after the previous one has been completely finished. To determine this, the host evaluates the target_reached bit in the object statusword.

Fig. 8.18: Simple positioning task

8. Operating modes

In Fig. 8.19, a new positioning task is already started while the previous one is still in process. The host already passes the subsequent target on to the motor controller when the motor controller signals with deletion of the bit set_point_acknowledge that it has read the buffer and started the related positioning. In this way, positioning tasks follow each other seamlessly. For this operating mode, the object end_velocity should be written with the same value as the object profile_velocity so that the motor controller does not briefly brake to zero each time between the individual positioning tasks.

Fig. 8.19: Continuous sequence of positioning tasks

If besides the bit new_set_point the bit change_set_immediately is also set to "1" in the controlword, the host instructs the motor controller to start the new positioning task immediately. In this case, a positioning task already in process is interrupted.

8.4 Interpolated position mode

8.4.1 Overview

The interpolated position mode (IP) permits specification of nominal position values in a - multi-axis use of the motor controller. To do this, synchronisation telegrams (SYNC) and nominal position values are specified by a higher-level controller in a fixed time grid - (synchronisation interval). Since the interval is normally greater than one position controller cycle, the motor controller independently interpolates the data values between two specified position values, as shown in the following diagram.

8. Operating modes

Fig. 8.20: Positioning task linear interpolation between two data values

In the following, the objects needed for the interpolated position mode are described first. A subsequent functional description comprehensively covers the activation and sequencing of parameter setting.

8.4.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
60C0_h	VAR	interpolation_submode_select	INT16	rw
60C1_h	REC	interpolation_data_record		rw
60C2_h	REC	interpolation_time_period		rw
60C3_h	ARRAY	interpolation_sync_definition	UINT8	rw
60C4_h	REC	interpolation_data_configuration		rw

Affected objects from other chapters

Index	Object	Name	Type	Chapter
6040_h	VAR	controlword	INT16	7.1.3 Controlword (control word)
6041_h	VAR	statusword	UINT16	7.1.5 Statuswords (status word)

8. Operating modes

Index	Object	Name	Type	Chapter
6093_h	ARRAY	position_factor	UINT32	6.3 Conversion factors
6094_h	ARRAY	velocity_encoder_factor	UINT32	6.3 Conversion factors
6097_h	ARRAY	acceleration_factor	UINT32	6.3 Conversion factors

Object 60C0h: interpolation\_submode\_select

The type of interpolation is established via the object interpolation_submode_select. Currently, only the manufacturer-specific variant "Linear Interpolation without Buffer" is available.

Index	60CO_h
Name	interpolation_submode_select
Object code	VAR
Data Type	INT16

Access	rw
PDO Mapping	yes
Units	--
Value Range	-2
Default Value	-2

Value	Interpolation type
-2	Linear Interpolation without Buffer

Object 60C1h: interpolation\_data\_record

The object record interpolation_data_record represents the actual data record. It consists of an entry for the position value (ip_data_position) and a control word (ip_data_controlword), which specifies whether the position value should be interpreted absolutely or relatively. Specification of the control word is optional. If it is not specified, the position value is interpreted absolutely. If the control word should also be specified, for reasons of data consistency, first subindex 2 (ip_data_controlword) and then subindex 1 (ip_data_position) are written, since data transfer is triggered internally with write access to ip_data_position.

Index	60C1h
Name	interpolation_data_record
Object code	RECORD
No. of Elements	2

8. Operating modes

Sub-index	01_h
Description	ip_data_position
Data Type	INT32
Access	rw
PDO Mapping	yes
Units	position units
Value Range	--
Default Value	--

Sub-index	02_h
Description	ip_data_controlword
Data Type	UINT8
Access	rw
PDO Mapping	yes
Units	--
Value Range	0, 1
Default Value	0

Value	ip_data_position actual
0	Absolute position
1	Relative distance

The internal data transfer takes place with write access to subindex 1. If subindex 2 should also be used, it must be written before subindex 1.

Object 60C2h: interpolation\_time\_period

The synchronisation interval can be set via the object record interpolation_time_period. Via ip_time_index, the unit (ms or 1/10 ms) of the interval is established, which is parameterised via ip_time_units. To achieve synchronisation, the complete controller cascade (current, speed and position controller) is synchronised up to the external cycle. A change in the synchronisation interval is therefore effective only after a reset. Therefore, if the interpolation interval is to be changed via the CAN bus, the parameter set must be saved (see chapter 6.1) and a reset performed (see chapter 5.6) so that the new synchronisation interval becomes effective. The synchronisation interval must be maintained exactly.

8. Operating modes

Index	60C2h
Name	interpolation_time_period
Object code	RECORD
No. of Elements	2

Sub-index	01_h
Description	ip_time_units
Data Type	UINT8
Access	rw
PDO Mapping	yes
Units	according to ip_time_index
Value Range	ip_time_index = -3: 1, 2 ... 9, 10ip_time_index = -4: 10, 20 ... 90, 100
Default Value	--

Sub-index	02_h
Description	ip_time_index
Data Type	INT8
Access	rw
PDO Mapping	yes
Units	--
Value Range	-3, -4
Default Value	-3

Value	ip_time_units is specified in
-3	10^3 seconds (ms)
-4	10^4 seconds (0.1 ms)

A change in the synchronisation interval is effective only after a reset. If the interpolation interval is to be changed via the CAN bus, the parameter set must be saved and a reset performed.

8. Operating modes

Object 60C3h: interpolation\_sync\_definition

The object interpolation_sync_definition sets the type (synchronize_on_group) and number of (ip_sync_every_n_event) of synchronisation telegrams per synchronisation interval. For the CMMP series, only the standard SYNC telegram and 1 SYNC per interval can be set.

Index	60C3_h
Name	interpolation_sync_definition
Object code	ARRAY
No. of Elements	2
Data Type	UINT8

Sub-index	01_h
Description	syncronize_on_group
Access	rw
PDO Mapping	yes
Units	--
Value Range	0
Default Value	0

Value	Meaning
0	use Standard SYNC telegram

Sub-index	02_n
Description	ip_sync_every_n_event
Access	rw
PDO Mapping	yes
Units	--
Value Range	1
Default Value	1

Object 60C4h: interpolation\_data\_configuration

The object record interpolation_data_configuration can be used to configure the type (buffer_organisation) and size (max_buffer_size, actual_buffer_size) of any buffer present as well as access to it (buffer_position, buffer_clear). The size of a buffer element can be read out via the object size_of_data_record. Although no buffer is available for the interpolation type "Linear interpolation without buffer", access via the object buffer_clear must still be enabled in this case as well.

8. Operating modes

Index	60C4h
Name	interpolation_data_configuration
Object code	RECORD
No. of Elements	6

Sub-index	01_h
Description	max_buffer_size
Data Type	UINT32
Access	ro
PDO Mapping	no
Units	--
Value Range	0
Default Value	0

Sub-index	02_h
Description	actual_size
Data Type	UINT32
Access	rw
PDO Mapping	yes
Units	--
Value Range	0 ... max_buffer_size
Default Value	0

Sub-index	03_h
Description	buffer_organisation
Data Type	UINT8
Access	rw
PDO Mapping	yes
Units	--
Value Range	0
Default Value	0

Value	Meaning
0	FIFO

8. Operating modes

Sub-index	04_h
Description	buffer_position
Data Type	UINT16
Access	rw
PDO Mapping	yes
Units	--
Value Range	0
Default Value	0

Sub-index	05_h
Description	size_of_data_record
Data Type	UINT8
Access	wo
PDO Mapping	yes
Units	--
Value Range	2
Default Value	2

Sub-index	06_h
Description	buffer_clear
Data Type	UINT8
Access	wo
PDO Mapping	yes
Units	--
Value Range	0, 1
Default Value	0

Value	Meaning
0	Delete buffer / access to 60C1h not permitted
1	Access to 60C1h enabled

8.4.3 Functional description

Preparatory parameter setting

Before the motor controller can be switched into the operating mode interpolated position mode, various settings must be made: These include setting of the interpolation interval (interpolation_time_period), that is, the time between two SYNC telegrams, the interpolation type (interpolation_submode_select) and the type of synchronisation (interpolation_sync_definition). In addition, access to the position buffer must be activated via the object buffer_clear.

EXAMPLE

Task	CAN-Objekt / COB
Type of -2 interpolation	60C0h, interpolation_submode_select = -2
Time unit 0.1 ms	60C2h_02h, interpolation_time_index = -04
Time interval 4 ms	60C2h_01h, interpolation_time_units = 40
Save parameters	1010h_01h, save_all_parameters
Perform reset	NMT reset node
Waiting for bootup	Bootup message
Buffer activation 1	60C4h_06h, buffer_clear = 1
Generate SYNC	SYNC (matrix 4 ms)

Activation of the interpolated position mode and synchronisation

The IP is activated via the object modes_of_operation (6060h). Starting with this time, the motor controller tries to synchronise itself to the external time grid, which is specified through the SYNC telegrams. If the motor controller is able to synchronise itself, it reports the operating mode interpolated position mode in the object modes_of_operation_display (6061h). During synchronisation, the motor controller reports back invalid mode of operation (-1). If the SYNC-telegrams are not sent in the right time grid after completed synchronisation, the motor controller switches back into the invalid mode of operation.

If the mode of operation is taken up, transfer of position data to the drive can begin. As is logical, the higher-level controller first reads the current actual position out of the regulators and writes it cyclically into the motor controller as a new nominal value (interpolation_data_record). Takeover of data by the motor controller is activated via handshake bits of the controlword and statusword. By setting the bit enable_ip_mode in the controlword, the host shows that evaluation of the position data should begin. The data records are evaluated only when the motor controller acknowledges this via the status bit ip_mode_selected in the statusword.

In detail, therefore, the following assignment and procedure result:

8. Operating modes

Fig. 8.21: Synchronisation and data release

No.	Event	CAN Object
1	Generate SYNC message
2	Request of the ip operating mode	6060_h , modes_of_operation = 07
3	Wait until operating mode is taken	6061_h , modes_of_operation_display = 07
4	Reading out the current actual position	6064_h , position_actual_value
5	Writing back as current nominal position	60C1_h\_01_h , ip_data_position
6	Start of interpolation	6040_h , controlword, enable_ip_mode
7	Acknowledgement by motor controller	6041_h , statusword, ip_mode_active
8	Changing the current nominal position in accordance with trajectory	60C1_h\_01_h , ip_data_position

After the synchronous travel process is ended, deletion of the bit enable_ip_mode prevents further evaluation of position values. Then the system can switch into another operating mode, if necessary.

8. Operating modes

Interruptions of interpolation in case of error

If an ongoing interpolation type (ip_mode_active set) is interrupted by a controller error, the drive first acts as specified for the respective error (e.g. removal of the controller enable and change into the condition SWITCH_ON_DISABLED.

The interpolation can only be continued through a new synchronisation, since the motor controller must be brought back into the condition OPERATION_ENABLE, through which the bit ip_mode_active is deleted.

8.5 RPM Regulation Operating Mode (Profile Velocity Mode)

8.5.1 Overview

The speed-regulated operation (profile velocity mode) contains the following subfunctions:

• Nominal value generation through the ramp generator
• RPM recording through differentiation via the angle transmitter
• RPM regulation with appropriate input and output signals

- Limitation of the torque nominal value (torque_demand_value)

- Monitoring of the actual speed (velocity_actual_value) with the window function/threshold.

The significance of the following parameters is described in the Positioning chapter (Profile Position Mode): profile_acceleration, profile_deceleration, quick_stop.

8. Operating modes

graph TD
    A["target_velocity (60FFh)"] --> B["Multiplier"]
    C["profile_acceleration (6083h)"] --> D["Multiplier"]
    E["profile_deceleration (6084h)"] --> D
    F["quick_stop_deceleration (6085h)"] --> D
    B --> G["Limit Function"]
    D --> G
    G --> H["Profile Velocity*"]
    G --> I["Profile Acceleration*"]
    G --> J["Profile Deceleration*"]
    G --> K["Quick Stop Deceleration*"]
    L["velocity_encoder_factor (6094h)"] --> B
    M["acceleration_factor (6097h)"] --> D
    N["velocity_demand_value (606Bh)"] --> H

graph TD
    A["position_actual_value (6063h)"] --> B["Differentiation d/dt"]
    B --> C["velocity actual_value (606Ch)"]
    D["velocity_demand_value (606Bh)"] --> E["Velocity Controller"]
    F["velocity_control_parameter_set (60F9h)"] --> E
    E --> G["control effort"]
    H["velocity_treshold_time (6070h)"] --> I["Window Comparator"]
    J["velocity_actual_value (606Ch)"] --> I
    K["velocity_treshold (606Fh)"] --> I
    I --> L["Timer"]
    M["velocity_window_time (606Eh)"] --> N["Window Comparator"]
    O["velocity_actual_value (606Ch)"] --> N
    P["velocity_window (606Dh)"] --> N
    N --> Q["Timer"]
    R["status_word (6041h) velocity = 0"] --> L
    S["status_word (6041h) velocity_reached"] --> Q

Fig. 8.22: Structure of the speed-regulated operation (profile velocity mode)

8.5.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
6069_h	VAR	velocity_sensor_actual_value	INT32	ro
606A_h	VAR	sensor_selection_code	INT16	rw
606B_h	VAR	velocity_demand_value	INT32	ro
202E_h	VAR	velocity_demand_sync_value	INT32	ro
606C_h	VAR	velocity_actual_value	INT32	ro
606D_h	VAR	velocity_window	UINT16	rw
606E_h	VAR	velocity_window_time	UINT16	rw
606F_h	VAR	velocity_threshold	UINT16	rw
6080_h	VAR	max_motor_speed	UINT32	rw
60FF_h	VAR	target_velocity	INT32	rw

Affected objects from other chapters

Index	Object	Name	Type	Chapter
6040_h	VAR	controlword	INT16	7.1.3 Controlword (control word)
6041_h	VAR	statusword	UINT16	7.1.5 Statuswords (status word)
6063_h	VAR	position_actual_value*	INT32	6.7 Position controller
6071_h	VAR	target_torque	INT16	8.7 Torque controller
6072_h	VAR	max_torque_value	UINT16	8.7 Torque controller
607E_h	VAR	polarity	UINT8	6.3 Conversion factors
6083_h	VAR	profile_acceleration	UINT32	8.3 Positioning
6084_h	VAR	profile_deceleration	UINT32	8.3 Positioning
6085_h	VAR	quick_stop_deceleration	UINT32	8.3 Positioning
6086_h	VAR	motion_profile_type	INT16	8.3 Positioning
6094_h	ARRAY	velocity_encoder_factor	UINT32	6.3 Conversion factors

8. Operating modes

Object 6069h: velocity\_sensor\_actual\_value

With the object velocity_sensor_actual_value, the value of a possible speed transmitter can be read out in internal units. A separate speed transmitter cannot be connected in the CMMP family. Therefore, to determine the actual speed value, the object 606C_h should be used.

Index	6069_h
Name	velocity_sensor_actual_value
Object code	VAR
Data Type	INT32

Access	ro
PDO Mapping	yes
Units	R / 4096 min
Value Range	--
Default Value	--

Object 606A _h : sensor\_selection\_code

The speed sensor can be selected with this object. Currently, no separate speed sensor is planned. Therefore, only the default angle encoder is accessible.

Index	606A_n
Name	sensor_selection_code
Object code	VAR
Data Type	INT16

Access	rw
PDO Mapping	yes
Units	--
Value Range	0
Default Value	0

Object 606Bh: velocity\_demand\_value

The current nominal speed of the velocity controller can be read with this object. It is acted upon by the nominal value of the ramp and curve generators. If the position controller is activated, its correction speed is also added.

Index	606B_h
Name	velocity_demand_value
Object code	VAR
Data Type	INT32

8. Operating modes

Access	ro
PDO Mapping	yes
Units	speed units
Value Range	--
Default Value	--

Object 202E _h : velocity\_demand\_sync\_value

The command velocity of the synchronisation encoder can be read out via this object. This is defined by the object 2022_h synchronization_encoder_select (see chapter 6.11). This object is specified in user-defined increments.

Index	202E_h
Name	velocity_demand_sync_value
Object code	VAR
Data Type	INT32

Access	ro
PDO Mapping	no
Units	velocity units
Value Range	--
Default Value	--

Objekt 606C _h : velocity\_actual\_value

The actual speed value can be read via the object velocity_actual_value.

Index	606C_h
Name	velocity_actual_value
Object code	VAR
Data Type	INT32

Access	ro
PDO Mapping	yes
Units	speed units
Value Range	--
Default Value	--

8. Operating modes

Object 2074h: velocity\_actual\_value\_filtered

A filtered velocity feedback value can be read out via the object velocity_actual_value_filtered, but it can only be used for display purposes. In contrast to velocity_actual_value, velocity_actual_value_filtered is used not for control, but for turn-through protection of the controller. The filter time constant can be set via the object 2073 h (velocity_display_filter_time). See chapter 6.6.2, Object 2073 h .

Index	2074_h
Name	velocity_actual_value_filtered
Object code	VAR
Data Type	INT32

Access	ro
PDO Mapping	yes
Units	speed units
Value Range	--
Default Value	--

graph TD
    A["velocity_control_filter_time (60F9h_04h)"] --> B["Filter"]
    C["internal velocity value"] --> B
    B --> D["velocity_actual_value (606Ch)"]
    D --> E["speed units"]
    B --> F["filter"]
    F --> G["velocity_actual_value_filtered (2074h)"]
    G --> H["speed units"]
    F --> I["velocity_display_filter_time (2073h)"]

Fig. 8.23: Determination of velocity_actual_value and velocity_actual_value_filtered

8. Operating modes

Object 606D _h : velocity\_window

The object velocity_window is used to set the window comparator. It compares the velocity feedback value with the specified final velocity (object 60FF_h : target_velocity). If the difference is a specific time period less than specified here, bit 10 target_reached in the object statusword is set.

See also: object 606E_h (velocity_window_time).

Index	606D_h
Name	velocity_window
Object code	VAR
Data Type	UINT16

Access	rw
PDO Mapping	yes
Units	speed units
Value Range	0 ... 65536 min^-1
Default Value	4 min^-1

Object 606E _h : velocity\_window\_time

The object velocity_window_time is used to set the window comparator along with the object 606Dh: velocity_window. The velocity must lie within the time specified here in the velocity_window so that bit 10 target_reached is set in the object statusword.

Index	606E_h
Name	velocity_window_time
Object code	VAR
Data Type	UINT16

Access	rw
PDO Mapping	yes
Units	ms
Value Range	0 ... 4999
Default Value	0

8. Operating modes

Object 606F _h : velocity\_threshold

The object velocity_threshold specifies from which velocity feedback value the drive is considered as standing still. If the drive exceeds the velocity value specified here for a certain period of time, bit 12 (velocity = 0) is deleted in the statusword. The time period is determined by the velocity_threshold_time.

Index	606F_h
Name	velocity_threshold
Object code	VAR
Data Type	UINT16

Access	rw
PDO Mapping	yes
Units	speed units
Value Range	0 ... 65536 min ^-1
Default Value	10

Object 6070 _h : velocity\_threshold\_time

The object velocity_threshold_time specifies how long the drive may exceed the specified velocity before bit 12 (velocity = 0) is deleted in the statusword.

Index	6070_h
Name	velocity_threshold_time
Object code	VAR
Data Type	UINT16

Access	rw
PDO Mapping	yes
Units	ms
Value Range	0 ... 4999
Default Value	0

Object 6080h: max\_motor\_speed

The object max_motor_speed specifies the maximum permitted velocity for the motor in min ^-1 . The object is used to protect the motor and can be taken from the motor datasheet. The velocity command value is limited to this value.

Index	6080_n
Name	max_motor_speed
Object code	VAR
Data Type	UINT16

8. Operating modes

Access	rw
PDO Mapping	yes
Units	min^-1
Value Range	0 ... 32768 min^-1
Default Value	32768 min^-1

Objekt 60FF _h : target\_velocity

The object target_velocity is the nominal value specification for the ramp generator.

Index	60FF _h
Name	target_velocity
Object code	VAR
Data Type	INT32

Access	rw
PDO Mapping	yes
Units	speed units
Value Range	--
Default Value	--

8.6 Velocity ramps

If profile_velocity_mode is selected as modes_of_operation, the command value ramp is also activated. It is thus possible, via the objects profile_acceleration and profile_deceleration, to limit a jump-shaped command value change to a certain velocity - change per time. The controller makes it possible to not just specify different velocity changes for braking and acceleration, but also to differentiate between positive and negative velocity. The following illustration clarifies this behaviour:

Fig. 8.24: Velocity ramps

8. Operating modes

The object group velocity_ramps exists so these 4 accelerations can be individually parameterised. Care should be taken that the objects profile_acceleration and profile_deceleration change the same internal accelerations as the velocity_ramps. If the profile_acceleration is written, velocity_acceleration_pos and velocity_acceleration_neg are changed together; if the profile_deceleration is written, velocity_deceleration_pos and velocity_deceleration_neg are changed together. Object velocity_ramps_enable determines whether or not the command values are led over the ramp generator.

Index	2090_h
Name	velocity_ramps
Object code	RECORD
No. of Elements	5

Sub-index	01_h
Description	velocity_ramps_enable
Data Type	UINT8
Access	rw
PDO Mapping	no
Units	..
Value Range	0: Command value NOT over the ramp generator1: Command value over the ramp generator
Default Value	1

Sub-index	02_h
Description	velocity_acceleration_pos
Data Type	INT32
Access	rw
PDO Mapping	no
Units	acceleration units
Value Range	..
Default Value	14100 min-1/s

Sub-index	03_h
Description	velocity_deceleration_pos
Data Type	INT32
Access	rw
PDO Mapping	no
Units	acceleration units
Value Range	..
Default Value	14100 min-1/s

8. Operating modes

Sub-index	04_h
Description	velocity_acceleration_neg
Data Type	INT32
Access	rw
PDO Mapping	no
Units	acceleration units
Value Range	..
Default Value	14100 min^-1/s

Sub-index	05_h
Description	velocity_deceleration_neg
Data Type	INT32
Access	rw
PDO Mapping	no
Units	acceleration units
Value Range	--
Default Value	14100 min^-1/s

8.7 Torque Regulation Operating Mode (Profile Torque Mode)

8.7.1 Overview

This chapter describes torque-controlled operation. This operating mode allows an external torque nominal value target_torque, which can be smoothed using the integrated ramp generator, to be specified for the motor controller. It is thus possible for this motor controller to also be used for path control, with which both the position controller and the velocity controller are displaced to an external computer.

graph LR
    A["target_torque (6071h)"] --> B["Limit Function"]
    C["motor_rated_torque (6076h)"] --> B
    D["torque_slope (6087h)"] --> E["Trajectory Generator"]
    F["torque_profile_type (6088h)"] --> E
    G["controlword (6040h)"] --> E
    B --> E
    E --> H["control_effort"]

    I["motor_rated_torque (6076h)"] --> J["Limit Function"]
    K["max_torque (6072h)"] --> J
    L["motor_rated_current (6075h)"] --> M["Limit Function"]
    N["max_current (6073h)"] --> M
    J --> N
    M --> O["Torque Control and Power Stage"]
    P["control_effort"] --> O
    Q["_torque_control_parameters (60F8h)"] --> O
    R["_power_stage_parameters (60F7h)"] --> O
    S["_motor_parameters (60F9h)"] --> O
    O --> T["Motor"]

    U["torque_demand (6074h)"] --> V["Motor"]
    W["torque_actual_value (6077h)"] --> V
    X["current_actual_value (6078h)"] --> V
    Y["DC_link_voltage (6079h)"] --> V

Fig. 8.25: Structure of torque-regulated operation

8. Operating modes

The parameters ramp steepness torque_slope and ramp shape torque_profile_type must be specified for the ramp generator.

If bit 8 Halt is set in the controlword, the ramp generator falls down to zero. It rises correspondingly again to the nominal torque target_torque when bit 8 is deleted again. In both cases, the ramp generator takes into account the ramp steepness torque_slope and the ramp shape torque_profile_type.

All definitions within this document refer to rotatable motors. If linear motors have to be used, all "torque" objects must refer to a "force" instead. For simplicity, the objects do not appear twice and their names should not be changed.

The operating modes positioning mode (profile position mode) and velocity controller (profile velocity mode) need the torque controller to work. That is why it is always necessary to set its parameters.

8.7.2 Description of the Objects

Objects treated in this chapter

Index	Object	Name	Type	Attr.
6071_h	VAR	target_torque	INT16	rw
6072_h	VAR	max_torque	UINT16	rw
6074_h	VAR	torque_demand_value	INT16	ro
6076_h	VAR	motor_rated_torque	UINT32	rw
6077_h	VAR	torque_actual_value	INT16	ro
6078_h	VAR	current_actual_value	INT16	ro
6079_h	VAR	DC_link_circuit_voltage	UINT32	ro
6087_h	VAR	torque_slope	UINT32	rw
6088_h	VAR	torque_profile_type	INT16	rw
60F7_h	RECORD	power_stage_parameters		rw
60F6_h	RECORD	torque_control_parameters		rw

Affected objects from other chapters

Index	Object	Name	Type	Chapter
6040_h	VAR	controlword	INT16	7.1.3 Controlword (control word)
60F9_h	RECORD	motor_parameters		6.5 Current regulator and motor adjustment
6075_h	VAR	motor_rated_current	UINT32	6.5 Current regulator and motor adjustment
6073_h	VAR	max_current	UINT16	6.5 Current regulator and motor adjustment

8. Operating modes

Object 6071h: target\_torque

This parameter is the entry value for the torque regulator in torque-regulated mode (Profile Torque Mode). It is specified in thousandths of the nominal torque (object 6076 _h ).

Index	6071_h
Name	target_torque
Object code	VAR
Data Type	INT16

Access	rw
PDO Mapping	yes
Units	motor_rated_torque / 1000
Value Range	-32768 ... 32768
Default Value	0

This value represents the highest permissible torque of the motor. It is specified in thousandths of the nominal torque (object 6076 _h ). If, for example, a double overload of the motor is permissible for a short time, the value 2000 is entered here.

The Object 6072 h : max_torque corresponds with the object 6073 h : max_current and may only be written when the object 6075 _h : motor_rated_current was previously written with a valid value.

Index	6072_h
Name	max_torque
Object code	VAR
Data Type	UINT16

Access	rw
PDO Mapping	yes
Units	motor_rated_torque / 1000
Value Range	1000 ... 65536
Default Value	2023

8. Operating modes

Object 6074h: torque\_demand\_value

By means of this object, the current nominal torque can be read out in thousands of the nominal torque (6076 _h ). The internal limitations of the controller (current limit values and I ^2 t monitoring) are hereby taken into account.

Index	6074_h
Name	torque_demand_value
Object code	VAR
Data Type	INT16

Access	ro
PDO Mapping	yes
Units	motor_rated_torque / 1000
Value Range	--
Default Value	--

Object 6076 _h : motor\_rated\_torque

This object specifies the nominal torque of the motor. This can be taken from the motor's name plate. It is entered in the unit 0.001 Nm.

Index	6076_h
Name	motor_rated_torque
Object code	VAR
Data Type	UINT32

Access	rw
PDO Mapping	yes
Units	0.001 Nm
Value Range	--
Default Value	296

Object 6077h: torque\_actual\_value

By means of this object, the motor's actual torque can be read out in thousands of the nominal torque (object 6076 _h ).

Index	6077_h
Name	torque_actual_value
Object code	VAR
Data Type	INT16

8. Operating modes

Access	ro
PDO Mapping	yes
Units	motor_rated_torque / 1000
Value Range	--
Default Value	--

Object 6078 _h : current\_actual\_value

By means of this object, the motor's actual torque can be read out in thousands of the nominal torque (object 6075 _h ).

Index	6078h
Name	current_actual_value
Object code	VAR
Data Type	INT16

Access	ro
PDO Mapping	yes
Units	motor_rated_current / 1000
Value Range	--
Default Value	--

Object 6079h: dc\_link\_circuit\_voltage

The intermediate circuit voltage of the controller can be read out via this object. The voltage is specified in the unit millivolt.

Index	6079h
Name	dc_link_circuit_voltage
Object code	VAR
Data Type	UINT32

Access	ro
PDO Mapping	yes
Units	mV
Value Range	--
Default Value	--

8. Operating modes

Object 6087 _h : torque\_slope

This parameter describes the velocity change of the command value ramp. This is specified in thousandths of the nominal torque per second. For example, the torque-command value target_torque is raised from 0 Nm to the value motor_rated_torque. If the output value of the inserted torque ramp is to reach this value in one second, the value 1000 must be written in this object.

Index	6087h
Name	torque_slope
Object code	VAR
Data Type	UINT32

Access	rw
PDO Mapping	yes
Units	motor_rated_torque / 1000 s
Value Range	--
Default Value	E310F94_h

Object 6088 _h : torque\_profile\_type

The object torque_profile_type specifies with which curve shape a command value jump should be carried out. Currently, only the linear ramp is implemented in this controller, so this object can only be written with the value 0.

Index	6088_h
Name	torque_profile_type
Object code	VAR
Data Type	INT16

Access	rw
PDO Mapping	yes
Units	--
Value Range	0
Default Value	0

Value	Meaning
0	Linear ramp

9. Index

A

A in 7-segment display .... 130

Acceleration

Brake (positioning) 171

Quick stop (positioning) 171

With of the Reference travel ...... 161

acceleration_factor 65

Actual Intermediate circuit voltage ..... 73

Actual position value (position units) .. 93

Actual speed value 188

Actual torque value 198

Actual value

position in position_units (position_actual_value) 93

torque (torque_actual_value) ...... 198

actual_dc_link_circuit_voltage 73

actual_size 180

analog_input_offset 112

analog_input_offset_ch_0 112

analog_input_offset_ch_1 112

analog_input_offset_ch_2 112

analog_input_voltage 111

analog_input_voltage_ch_0 111

analog_input_voltage_ch_1 111

analog_input_voltage_ch_2 111

Analogue inputs 111

Input voltage channel 0 ...... 111

Input voltage channel 1 ...... 111

Input voltage channel 2 ...... 111

Input voltages 111

Offset voltages 112

Offset voltages channel 0 ...... 112

Offset voltages channel 1 ...... 112

Offset voltages channel 2 ...... 112

Angle transmitter offset 81

B

Brake

delay time 124

Brake delay time 124

brake_delay_time 124

buffer_clear 181

buffer_organisation 180

buffer_position 180

C

cob_id_sync 40

cob_id_used_by_pdo 34

commissioning_state 130

Condition

Not Ready to Switch On 137

Ready to Switch On 137

Switch On Disabled 137

Switched On 137

Contouring error 86

Definition 86

Error window 93

Timeout time 94

contouring error time-out time ..... 94

Contouring window 93

Control of the regulator 134

control_effort 94

Controller enable 69

Controller enable logic! 69

Controlword 139

Bit assignment 136, 140

Commands 140

Object description 139

Controlword for interpolation data .... 177

Conversion factors 59

Choice of algebraic sign 68

Position factor 61

Correction velocity 91

Current controller

Gain 83

Parameter 83

Time constant 84

Current limitation.... 98

Current nominal value 198

current_actual_value 199

current_limitation 98

Curve generator 168

Cycle time

Current controller 128

Position controller 129

Positioning control 129

Cycle time PDOs.... 34

cycletime_current_controller 128

cycletime_position_controller ...... 129

cycletime_trajectory_generator ...... 129

cycletime_velocity_controller ...... 129

D

dc_link_circuit_voltage 199

Default parameter values 56

Device control 134

Device nominal current 75

Device nominal voltage 72

dig_out_state_mapp_dout_1 115

dig_out_state_mapp_dout_2 ...... 115

dig_out_state_mapp_dout_3 ...... 116

Digital inputs 113

Digital outputs

Mapping of DOUT1 115

Mapping of DOUT2 115

Mapping of DOUT3 116

Digital outputs 114

Conditions 114

Mapping 115

Mask 114

digital_inputs 113

digital_outputs 114

digital_outputs_data 114

digital_outputs_mask 114

digital_outputs_state_mapping ..... 115

disable_operation_option_code ...... 152

Divisor

acceleration_factor 65

velocity_encoder_factor 63

drive_data ...... 69, 80, 95, 117, 123

E

EMERGENCY 42

EMERGENCY Message 42

Structure of the 42

Enable logic 70

enable_dc_link_undervoltage_error .... 74

enable_enhanced_modulation 70

enable_logic 69

encoder_emulation_data...... 106

encoder_emulation_offset 107

encoder_emulation_resolution.. 106, 107

encoder_offset_angle 81

encoder_x10_counter 105

encoder_x10_data_field 104

encoder_x10_divisor 105

encoder_x10_numerator 105

encoder_x10_resolution 104

encoder_x2a_data_field 102

encoder_x2a_divisor 102

encoder_x2a_numerator 102

encoder_x2a_resolution 102

encoder_x2b_counter 104

encoder_x2b_data_field 103

encoder_x2b_divisor 103

encoder_x2b_numerator 103

encoder_x2b_resolution 103

end_velocity 170

Error

Controller error 42

SDO error messages 28

Error management 132

Error register 42

error_management 132

Extended sinus modulation .... 70

F

Factor Group 59

acceleration_factor 65

polarity 68

velocity_encoder_factor 63

fault_reaction_option_code 153

Filter time constants synchronisation

speed 110

Final stage enable 69

Final stage parameters 69

device nominal current 75

device nominal voltage 72

enable logic 70

intermediate circuit voltage 73

max. Intermediate circuit voltage ..... 73

min. Intermediate circuit voltage ..... 74

PWM frequency 70

firmware_custom_version 127

firmware_main_version 127

first_mapped_object 35

Following error

limit value exceeded 96

following_error 86

following_error_time_out 94

following_error_window 93

fourth_mapped_object 36

G

Gain 83

H

home_offset 158

Homing Mode 156

homing mode home_offset 158

homing mode homing_acceleration .. 161

homing mode homing_method ...... 159

homing mode homing speeds ..... 160

Homing run

Timeout 161

homing_acceleration 161

homing_method 159

homing speeds 160

homing_switch_polarity 118

homing_switch_selector 119

homing_timeout 161

|

I^2t capacity utilisation ...... 79

l^2t time 79

Identification of the device 124

Identifier for PDO 34

identity_object 124

iit error trigger 80

iit_error_enable 80

iit_ratio_motor 79

iit_time_motor 79

Incremental encoder emulation

Offset...... 107

Resolution 106, 107

inhibit_time 34

Inputs, analogue 111

Intermediate circuit

Monitoring of the 74

Intermediate circuit monitoring ..... 73, 74

Intermediate circuit voltage

actual 73

maximum 73

minimal 74

Interpolation data 176

Interpolation type 176

interpolation_data_configuration ..... 179

interpolation_data_record 176

interpolation_submode_select ...... 176

interpolation_sync_definition 179

interpolation_time_period 178

ip_data_controlword 177

ip_data_position 177

ip_sync every n event 179

ip_time_index 178

ip_time_units.... 178

L

Limit switch 117, 162, 164

Limit switches

Emergency stop ramp 119

Polarity 117

Limit value contour error exceeded ..... 96

Limit value following error 95

limit_current 99,100

limit_current_input_channel 99

limit_speed_input_channel 100

limit_switch_deceleration 119

limit_switch_polarity 117

M

Manufacturer code 124

Mapping parameter for PDOs ...... 35

max_buffer_size 180

max_current 78

max_dc_link_circuit_voltage 73

max_motor_speed 191

max_position_range_limit 96

max_torque 197

Maximum current 75

Max. Intermediate circuit voltage ..... 73

Maximum Motor speed 191

Maximum torque 197

min_dc_link_circuit_voltage 74

min_position_range_limit 96

Min. Intermediate circuit voltage ..... 74

Mode of operation

Change of the 154

Read of the 155

Reference travel 156

modes_of_operation 154

modes_of_operation_display 155

motion_profile_type 172

Motor parameter

I^2t time 79

Nominal current 77

Number of pin(pairs) 78

Resolver offset angle 81

Motor peak current 78

motor_data 79,81

motor_rated_current 77

9. Index

motor_rated_torque 198

motor_temperature_sensor_polarity ... 82

N

Nominal current

motor 77

New travelling.... 173

Nominal motor current 77

Nominal speed for RPM regulation .... 192

Nominal torque (torque regulation) ... 197

Nominal value

Current 198

Synchronisation speed (velocity units) 188

Torque 197

nominal_current 75

nominal_dc_link_circuit_voltage ..... 72

Not Ready to Switch On 137

Number of Mapped Objects 35

Number of pin pairs 78

Number of pins 78

number_of_mapped_objects 35

Numerator

acceleration_factor 65

position_factor 61

velocity_encoder_factor 63

0

Objects

Object 1001 _h ...... 42

Object 1003_h 45

Object 1003_h-01_h 45

Object 1003_h-02_h 46

Object 1003_h - 03_h 46

Object 1003_h - 04_h 46

Object 1005_h 40

Object 1010_h 56

Object 1010_h-01_h 56

Object 1011 _h ....56

Object 1011 h –01 h ...... 56

Object 1018 _h .... 124

Object 1018 h –01 h ...... 124

Object 1018 h –03 h ...... 125

Object 1018 h -04 h ...... 125

Object 1401 _h ...... 39

Object 1402_h 39

Object 1403 _h .... 39

Object 1601 _h ....39

Object 1602_h 39

Object 1603 _h ...... 39

Object 1800_h 34,36

Object 1800_h - 01_h 34

Object 1800 h 02 h 34

Object 1800 h –03 h ...... 34

Object 1801_h 37

Object 1802_h 37

Object 1803_h 37

Object 1A00 _h ...... 35, 36

Object 1A00 h _00 h ...... 35

Object 1A00 h –01 h ...... 35

Object 1A00 h –02 h ...... 36

Object 1A00 h –03 h ...... 36

Object 1A00 h _04 h ...... 36

Object 1A01 _h ...... 37

Object 1A02 _h ...... 37

Object 1A03 _h ...... 37

Object 2014 _h ...... 38

Object 2015 _h ...... 38

Object 2016 _h ...... 38

Object 2017 _h ...... 38

Object 201A _n .... 106

Object 201A h –01 h ...... 106

Object 201A h _02 h ...... 107

Object 2021 _h ...... 108

Object 2022 _h ...... 109

Object 2023 _h ....110

Object 2024 _h ...... 102

Object 2024 h –01 h ...... 102

Object 2024 h –02 h ...... 102

Object 2024 h _03 h ...... 102

Object 2025 _h ....104

Object 2025 h –01 h ...... 104

Object 2025 h _02 h ...... 105

Object 2025 h –03 h ...... 105

Object 2025 h –04 h ...... 105

Object 2026 _h ....103

Object 2026 h –01 h ...... 103

Object 2026 h –02 h ...... 103

Object 2026 h –03 h ...... 103

Object 2026 h -04 h ..... 104

Object 2028 _h ...... 107

Object 202D _h ....92

Object 202E_h 188

Object 202F _h ....109

Object 202F h –07 h ....109

9. Index

Object 2045 _h ....161

Object 204A _h .... 120

Object 204A h –01 h ...... 120

Object 204A_h-02_h 121

Object 204A h –03 h ...... 121

Object 204A h –04 h ...... 122

Object 204A h –05 h ...... 122

Object 204A h –06 h ...... 122

Object 2090 _h ....193

Object 2090_h - 01_h 193

Object 2090 h –02 h ...... 193

Object 2090 h –03 h ...... 193

Object 2090 h –04 h ...... 194

Object 2090 h –05 h ...... 194

Object 2100 _h .... 132

Object 2400 _h .... 111

Object 2400h_01 _h ...... 111

Object 2400h_02 _h ...... 111

Object 2400 h –03 h ...... 111

Object 2401 _h .... 112

Object 2401_h - 01_h 112

Object 2401 h –02 h ...... 112

Object 2401 h –03 h ...... 112

Object 2415 _h ....98

Object 2415 h 01 h ....99

Object 2415 h 02 h ....99

Object 2416 _h .... 100

Object 2416_h-01_h 100

Object 2416_h - 02_h 100

Object 2420 _h .... 115

Object 2420_h - 01_h 115

Object 2420 h _02 h ...... 115

Object 2420 h –03 h ...... 116

Object 6040h 139

Object 6041 _h .... 143

Object 604D _h ....78

Object 605A _h ...... 152

Object 605B _h .... 151

Object 605C _h .... 152

Object 605E _h ....153

Object 6060 _h ....154

Object 6061 _h .... 155

Object 6062 _h ....92

Object 6064 _h ....93

Object 6065 _h ...... 93

Object 6066 _h ....94

Object 6067 _h ....94

Object 6068 _h ...... 95

Object 6069 _h ...... 187

Object 606A _n ...... 187

Object 606B _h ...... 187

Object 606C_h 188

Object 606D _h ...... 190

Object 606E_h 190

Object 606F _h ...... 191

Object 6070 _h ....191

Object 6071h 197

Object 6072 _h ...... 197

Object 6073 _h ....78

Object 6074 _h ...... 198

Object 6075 _h ....77

Object 6076 _h ...... 198

Object 6077 _h ....198

Object 6078_h 199

Object 6079 _h ...... 199

Object 607A _n ...... 169

Object 607B_h 96

Object 607Bh - 01h 96

Object 607Bh - 02h 96

Object 607C_h 158

Object 607E _h ...... 68

Object 6080 _h ...... 191

Object 6081 _h ...... 170

Object 6082_h 170

Object 6083 _h ....171

Object 6084 _h ...... 171

Object 6085 _h ...... 171

Object 6086 _h ...... 172

Object 6087 _h ...... 200

Object 6088 _h ...... 200

Object 6093 _h ....60

Object 6093 h _01 h ...... 61

Object 6093 h –02 h ...... 61

Object 6094 _h ...... 63

Object 6094 h –01 h ...... 63

Object 6094_h_02_h 63

Object 6097 _h ....65

Object 6097 h –01 h ...... 65

Object 6097 h –02 h ...... 65

Object 6098 _h ...... 159

Object 6099 _h ....160

Object 6099_h - 01_h 160

Object 6099 h –02 h ...... 160

Object 609A _n ...... 161

Object 60CO_h 176

Object 60C1h 176

Object 60C1 h –01 h ...... 177

Object 60C1h_02h 177

Object 60C2 _h ...... 178

Object 60C2 h –01 h ...... 178

Object 60C2 h –02 h ...... 178

Object 60C3 _h ....179

Object 60C3 h –01 h ...... 179

Object 60C3 h –02 h ...... 179

Object 60C4 _h ....179

Object 60C4 h –01 h ...... 180

Object 60C4 h –02 h ...... 180

Object 60C4h_03h 180

Object 60C4 h –04 h ...... 180

Object 60C4 h –05 h ...... 181

Object 60C4 h –06 h ...... 181

Object 60F6 _h 83

Object 60F6 h –01 h ......83

Object 60F6 h –02 h ...... 84

Object 60F9 _h 84

Object 60F9 h _01 h ....85

Object 60F9 h –02 h ......85

Object 60F9 h –04 h ......85

Object 60FA _h ...... 94

Object 60FB _h ...... 90

Object 60FB h –01 h ......90

Object 60FB h –02 h ....91

Object 60FB h –04 h ....91

Object 60FB h –05 h ....91

Object 60FD _h ....113

Object 60FE _h ....114

Object 60FE h -01 h .... 114

Object 60FEh - 02h 114

Object 60FF _h ...... 192

Object 6410 _h ....79,81

Object 6410_h - 03_h 79

Object 6410 h –04 h ...... 79

Object 6410_h - 10_h 80

Object 6410_h - 11_h 81

Object 6410_h - 11_h 81

Object 6410 h- 14 h 82

Object 6510_h ...... 69, 80, 95, 117, 123

Object 6510_h-10_h 69

Object 6510_h - 11_h 117

Object 6510_h - 13_h 119

Object 6510_h - 14_h 118

Object 6510 h —15 h .... 119

Object 6510 h –18 h ...... 124

Object 6510 h –20 h ...... 97

Object 6510 h 22 h ....95

Object 6510 h –30 h ...... 70

Object 6510 h –31 h ...... 71

Object 6510 h 33 h ....72

Object 6510 h –34 h ...... 73

Object 6510 h –35 h ...... 73

Object 6510 h 36 h ....74

Object 6510 h 37 h ....74

Object 6510 h –38 h ....80

Object 6510 h –3A n ...... 70

Object 6510 h –40 h ...... 75

Object 6510 h 41 h ....75

Object 6510 h -A9 h ...... 127

Object 6510 h -AA h ...... 127

Object 6510 h -B0 n .... 128

Object 6510 h -B1 h ...... 129

Object 6510 h -B2 h ...... 129

Object 6510 h -B3 n ...... 129

Object 6510 h CO h .... 130

Offset 81

Operating mode 154, 155

RPM regulation 184

Setting of the 154

Torque regulations 195

P

Parameter sets

Load and Save 54

Load default values 56

Save parameter set 56

Parameter setting 54

Parameterisation status .... 130

PDO 30, 35, 36, 37, 38, 39

PDO Message 30

Peak current 75

Motor 78

peak_current 75

Permissible torque 197

phase_order 80

polarity 68

Polarity motor temperature sensor ..... 82

pole_number 78

Position control function 86

Position control time constants ..... 91

9. Index

Position controller 86

Dead area 91

Gain 90

Output of the 94

Parameter 90

Time constant 91

Position controller gain 90

Position controller output 94

Position controller parameter 90

Position value interpolation 177

position_actual_value 93

position_control_gain 90

position_control_parameter_set ...... 90

position_control_time 91

position_control_v_max 91

position_demand_sync_value 92

position_demand_value 92

position_encoder_selection 108

position_error_switch_off_limit ...... 95

position_error_tolerance_window ..... 91

position_factor 60

position_range_limit 96

position_range_limit_enable 97

position_reached 87

position_window 94

position_window_time 95

Positioing 173

Positioning profile

Linears 172

Jerk-free 172

Sinusoidal ^2 172

Positioning

Braking deceleration 171

Handshake 173

Quick stop deceleration 171

Target position 169

Velocity in 170

Positioning braking deceleration ..... 171

Positioning speed 170

power_stage_temperature 71

pre_defined_error_field 45

Profile new Mode

profile_deceleration 171

profile_acceleration 171

profile_deceleration 171

profile_velocity 170

Profiles new Mode

end_velocity 170

motion_profile_type 172

profile_acceleration 171

profile_velocity 170

quick_stop_deceleration 171

target_position 169

Profiles Torque Mode 195

current_actual_value 199

dc_link_circuit_voltage 199

max_torque 197

motor_rated_torque 198

target_torque 197

torque_actual_value.... 198

torque_demand_value 198

torque_profile_type 200

torque_slope 200

Profiles Velocity Mode 184

max_motor_speed 191

sensor_selection_code 187

target_velocity 192

velocity_actual_value......188

velocity_demand_value 187

velocity_sensor 187

velocity_threshold 191

velocity_threshold_time 191

velocity_window 190

velocity_window_time 190

PWM frequency 70

Q

quick stop deceleration 171

quick_stop_option_code 152

R

Rated torque of the motor 198

Reaction with Command ‘disable operation .... 152

Reaction with Command 'quick stop .. 152

Reaction with Command ‘shutdown .. 151

Ready to Switch On 137

Receive_PDO_2 39

Receive_PDO_3 39

Receive_PDO_4 39

Reference switch 117, 119

Polarity 118

Reference travel 156

Acceleration 161

Control of the 167

9. Index

Creep speed 160

Method 159

Search speed 160

Speeds 160

Zero point offset 158

Reference travel Methods ...... 162

Referencing 159

Resolver offset angle 81

resolver_offset_angle 81

restore_all_default_parameters ..... 56

restore_parameters 56

Revision number CANopen 125

revision_number...... 125

R-PDO 2 39

R-PDO 3 39

R-PDO 4 39

RPM regulation 184

s

Safety instructions 11

Sample

Control 122

Mode 120

Status 121

Status mask 121

SAMPLE input as homing switch ..... 119

sample_control 122

sample_data..... 120

sample_mode 120

sample_position_falling_edge ..... 122

sample_position_rising_edge 122

sample_status 121

sample_status_mask 121

Sampling position

Falling edge 122

Rising edge 122

Save parameter set 56

save_all_parameters 56

Scaling factors 59

Choice of algebraic sign 68

Position factor 61

SDO 26

Fault messages 28

SDO message 26

second_mapped_object 36

Selection of the position feedback value.... 108

Selection of the synchronisation

source 109

sensor_selection_code 187

serial_number 125

Setting of the operating mode ...... 154

shutdown_option_code 151

size_of_data_record 181

Speed

in positioning.... 170

with of the Reference travel ...... 160

Speed control

Max. Motor speed 191

Nominal speed 192

Standstill threshold 191

Standstill threshold time 191

Target speed.... 192

Target window 190

Target window time 190

Speed limitation 100

Nominal value 100

Scaling 100

Source 100

Speed limited torque mode 100

Speed regulator 84

Filter time constants 85

Gain 85

Parameter 84

Time constant 85

speed_during_search_for_switch ..... 160

speed_during_search_for_zero ...... 160

speed_limitation 100

standard_error_field_0 45

standard_error_field_1 46

standard_error_field_2 46

standard_error_field_3 46

Standstill threshold time with RPM regulation 191

Standstill threshold with

speed control.... 191

START input as homing switch ..... 119

Start positioning 173

State

Not Ready to Switch On 137

Ready to Switch On 137

Switch On Disabled 137

Switched On 137

9. Index

Statusword

Bit assignment.... 144

Object description 143

Stop 166, 167

store_parameters 56

Switch On Disabled 137

SYNC 40

SYNC message 40

Synchronisation speed (velocity units) 188

synchronisation_encoder_selection .. 109

synchronisation_filter_time 110

synchronisation_main 109

synchronisation_selector_data ...... 109

syncronize_on_group 179

T

Target position 169

Target position window 94

Target speed for RPM regulation ..... 192

Target torque (torque regulation) ..... 197

Target window Position window .... 94 Time .... 95

Target window time 95

Target window time with speed control .... 190

Target window with speed control ..... 190

target_position 169

target_torque 196, 197

target_velocity 192

third_mapped_object 36

Time constant of the Current controller 84

Torque limitation 98

Nominal value ....99 Scaling ....99 Source ....99

Torque regulation ...... 197, 198, 200

Torque regulations 195

torque_actual_value 198

torque_control_gain 83

torque_control_parameters 83

torque_control_time 84

torque_demand_value 198

torque_profile_type 200

torque_slope 200

torque-limited speed operation ...... 98

T-PDO 1 36

T-PDO 2 37

T-PDO 3 37

T-PDO 4 37

tpdo_1_transmit_mask 38

tpdo_2_transmit_mask 38

tpdo_3_transmit_mask 38

tpdo_4_transmit_mask 38

Transfer parameters for PDOs ...... 34

transfer_PDO_1 36

transfer_PDO_2 37

transfer_PDO_3 37

transfer_PDO_4 37

transmission_type 34

transmit_pdo_mapping 35

transmit_pdo_parameter 34

Turn-through protection 84

Type of transmission 34

U

Under-voltage monitoring activate ..... 74

Under-voltage monitoring deactivate 74

V

velocity_acceleration_neg 194

velocity_acceleration_pos 193

velocity_actual_value 188

velocity_control_filter_time 85

velocity_control_gain 85

velocity_control_parameter_set ...... 84

velocity_control_time 85

velocity_deceleration_neg 194

velocity_deceleration_pos 193

velocity_demand_sync_value 188

velocity_demand_value 187

velocity_encoder_factor 63

velocity_ramps 193

velocity_ramps_enable 193

velocity_sensor_actual_value ...... 187

velocity_threshold 191

velocity_threshold_time 191

velocity_window 190

velocity_window_time 190

vendor_id 124

Version number of the customer-specific variant .... 127

9. Index

Version number of the firmware ..... 127

X

X10

Counters 105

Drive 105

Drive-out 105

Resolution 104

X2A

Drive 102

Drive-out 102

Resolution 102

X2B

Counters 104

Drive 103

Drive-out 103

Resolution 103

Z

Zero point offset 158