NANOTEC PD4-C5918M4204-E-01 Manual
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NANOTEC PD4-C5918M4204-E-01 Manual

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Manual PD4-C
Fieldbus: USB
For use with the following devices:
· PD4-C5918M4204-E-01
· PD4-C5918L4204-E-01
· PD4-C6018L4204-E-01
· PD4-CB59M024035-E-01
Valid with firmware version FIR-v1626
and since hardware version W005
NANOTEC ELECTRONIC GmbH & Co. KG
Kapellenstraße 6
85622 Feldkirchen/Munich, Germany
Manual Version: 1.4.1
Tel. +49 (0)89-900 686-0
Fax +49 (0)89 900 686-50
info@nanotec.com

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Summary of Contents for NANOTEC PD4-C5918M4204-E-01

  • Page 1 · PD4-C5918L4204-E-01 · PD4-C6018L4204-E-01 · PD4-CB59M024035-E-01 Valid with firmware version FIR-v1626 Manual Version: 1.4.1 and since hardware version W005 NANOTEC ELECTRONIC GmbH & Co. KG Tel. +49 (0)89-900 686-0 Kapellenstraße 6 Fax +49 (0)89 900 686-50 85622 Feldkirchen/Munich, Germany info@nanotec.com...

  • Page 2: Table Of Contents

    Manual PD4-C (USB) Contents Contents 1 Editorial....................... 7 2 Release notes..................... 8 3 Safety instructions and warnings.............9 3.1 Important information..........................9 3.2 Personnel qualifications.........................9 3.3 General danger and warning notes.....................10 3.4 Danger and warning signs........................10 3.5 Other information..........................10 4 About this manual..................11 4.1 Introduction............................
  • Page 3 Manual PD4-C (USB) Contents 9.5 Homing..............................53 9.6 Clock/direction mode........................... 61 9.7 Analogue Mode........................... 62 10 Special functions..................64 10.1 Digital inputs and outputs........................64 10.2 I t motor overload protection......................72 10.3 Save Objects............................. 74 11 Programming with NanoJ..............75 11.1 Introduction............................75 11.2 Available computing time........................
  • Page 4 Manual PD4-C (USB) Contents 2059h Encoder Configuration........................114 205Ah Encoder Boot Value........................114 205Bh Clock Direction Or Clockwise/Counter Clockwise Mode..............115 2060h Compensate Polepair Count......................115 2061h Velocity Numerator........................116 2062h Velocity Denominator........................116 2063h Acceleration Numerator........................ 117 2064h Acceleration Denominator......................117 2065h Jerk Numerator..........................
  • Page 5 Manual PD4-C (USB) Contents 6046h Vl Velocity Min Max Amount......................186 6048h Vl Velocity Acceleration........................187 6049h Vl Velocity Deceleration....................... 188 604Ah Vl Velocity Quick Stop......................... 189 604Ch Vl Dimension Factor........................190 605Ah Quick Stop Option Code......................191 605Bh Shutdown Option Code........................191 605Ch Disable Option Code........................192 605Dh Halt Option Code.........................
  • Page 6 13 Copyright notice................... 226 13.1 Introduction............................226 13.2 AES..............................226 13.3 Arcfour (RC4)..........................226 13.4 MD5..............................227 13.5 uIP..............................227 13.6 DHCP...............................227 13.7 CMSIS DSP Software Library......................228 13.8 FatFs..............................228 13.9 Protothreads............................ 228 13.10 lwIP..............................229...

  • Page 7: Editorial

    © Copyright 2013, 2014, 2015, 2016 Nanotec Electronic GmbH & Co. KG. All rights reserved. The firmware in our motor controllers may contain software components produced by third parties. The licensing conditions and copyrights of these code components can be found in the "Copyright notice"...

  • Page 8: Release Notes

    Manual PD4-C (USB) 2 Release notes 2 Release notes Version Version Date Changes Manual Frimware 1.0.0 FIR-v1403 03.03.2014 First release 1.0.3 FIR-v1419 12.05.2014 Minor corrections, field "Specified Value" in object dictionary description now used 1.1.0 FIR-v1426 23.07.2014 • Added chapter "Save Objects", added "Persistent" to the object description •...

  • Page 9: Safety Instructions And Warnings

    (see Personnel qualifications). Nanotec accepts no responsibility for the integration of the products in the end system. Under no circumstances may a Nanotec product be integrated as the sole safety control in a product or construction. All positioning controls without exception must be designed so that errors are detected dynamically and fail- safe under all circumstances.

  • Page 10: General Danger And Warning Notes

    Manual PD4-C (USB) 3 Safety instructions and warnings 3.3 General danger and warning notes WARNING Only use this controller with the - by connectors and power - intended 2-phase stepper and BLDC motors. Otherwise there is a danger of fire or malfunction. Do not use the product in areas where they are exposed to water, corrosive gases, flammable or explosive gases or fuel.

  • Page 11: About This Manual

    4.1 Introduction This manual is directed toward programmers intending to program a motor controller using the motor ® controller from Nanotec 4.2 Numerical values Numerical values are always presented in decimal notation. If hexadecimal notation must be used, this is indicated by a subscript "h" at the end of the number.

  • Page 12: Technical Data And Pin Configuration

    Manual PD4-C (USB) 5 Technical data and pin configuration 5 Technical data and pin configuration 5.1 Dimensioned drawings 5.1.1 PD4-C5918M4204-E-01 Front view and mounting Side view Rear view Y 5.1.2 PD4-C6018L4204-E-01 Front view and mounting Side view Rear view Y 5.1.3 PD4-CB59M024035-E-01...

  • Page 13: Overtemperature Protection

    Manual PD4-C (USB) 5 Technical data and pin configuration PD4-C PD4-CB Operating voltage 12 V to 48 V 12 V to 24 V Phase current eff. 4.2 A RMS for 1s Max. 6.3 A Max. 20 A 5.2.2 Technical data of I/O Version Operating modes Torque, speed, position, homing...
  • Page 14 Manual PD4-C (USB) 5 Technical data and pin configuration recommend always performing a long-term test in a realistic environment for applications with problematic levels of current and ambient temperature. Temperature tests were performed under the following conditions: • Operating voltage: 24 V / 48 V DC •...

  • Page 15: Led Signaling

    Manual PD4-C (USB) 5 Technical data and pin configuration PD4-CB: Controller temperature at 25° Celsius ambient temperature and 8A motor current 1 000 1 500 2 000 2 500 3 000 3 500 4 000 4 500 time in seconds PD4-CB: Controller temperature at 45°...

  • Page 16: Pin Configuration

    Manual PD4-C (USB) 5 Technical data and pin configuration Amount Flash Error General information Voltage Temperature Overcurrent Control Note A considerably more exact error code is stored in object 1003 for every error that has occurred. 5.5 Pin configuration 5.5.1 Overview 5.5.2 Analogue input (connector X1) Connections for analogue mode Function...
  • Page 17 Manual PD4-C (USB) 5 Technical data and pin configuration Connection data Conductor cross section solid min. 0.14 mm 0.5 mm Conductor cross section flexible min. 0.14 mm 0.5 mm Conductor cross section flexible, with ferrule without plastic sleeve min. 0.25 mm 0.5 mm Conductor cross section AWG min.
  • Page 18 Manual PD4-C (USB) 5 Technical data and pin configuration Connection data Conductor cross section flexible, with ferrule without plastic sleeve min. 0.25 mm 0.5 mm Conductor cross section AWG min. Minimum AWG according to UL/CUL 5.5.4 Voltage supply (connector X3) Safety instruction CAUTION Danger of electrical overvoltage!
  • Page 19 Manual PD4-C (USB) 5 Technical data and pin configuration Connection data Conductor cross section flexible min. 0.2 mm 1.5 mm Conductor cross section flexible, with ferrule without plastic sleeve min. 0.25 mm 1.5 mm Conductor cross section flexible, with ferrule with plastic sleeve min. 0.25 mm 0.75 mm Conductor cross section AWG min.

  • Page 20: Configuration

    Manual PD4-C (USB) 6 Configuration 6 Configuration 6.1 General information The following options exist for configuring the motor controller: DIP switches Four DIP switches are fitted on the rear. More information can be found in the section "DIP switches". Configuration file This file can be stored on the motor controller by using the USB port.

  • Page 21: Usb Port

    Manual PD4-C (USB) 6 Configuration Modus On Off On analogue speed Direction set by "direction" input Maximum revolution speed is 100 rpm On On Off analogue speed Offset 5 V (joystick mode) Maximum revolution speed is 1000 rpm On On On analogue speed Offset 5 V (joystick mode) Maximum revolution speed is...

  • Page 22: Configuration File

    Manual PD4-C (USB) 6 Configuration CAUTION 3. info.bin 4. reset.txt 5. firmware.bin All other files are deleted when the voltage supply for the motor controller is switched on! Note • The controller behaves like a mass storage device ("USB flash drive"), no further drivers are necessary.
  • Page 23 Manual PD4-C (USB) 6 Configuration 4. Open this file with a simple text editor, such as Notepad or Vi. Do not use any programs that use text styles (LibreOffice or suchlike). After you have made changes to the file, take the following action to apply the changes: 1.

  • Page 24: Nanoj Program

    Manual PD4-C (USB) 6 Configuration Note • The number of digits may not be changed. The index must have four digits, the sub-index two. The following assignments are incorrect: 6040:0=6 6040=6 • Empty spaces at the beginning of the line are not admissible. Example Setting object 6040 :00 to the value "6":...
  • Page 25 Manual PD4-C (USB) 6 Configuration You can also copy an empty file reset.txt to the motor controller in order to restart the motor controller. This restarts the motor controller. The file reset.txt is deleted at the restart. Note • The NanoJ program on the motor controller must have the file name "vmmcode.usr". •...

  • Page 26: Setup And Commissioning

    Manual PD4-C (USB) 7 Setup and commissioning 7 Setup and commissioning 7.1 Safety instructions WARNING Operation: • Never touch rotating parts of the motor while the motor is running. Otherwise there is a danger of injury. • The motor shaft must be disconnected from the machine in order to prevent unpredictable accidents.
  • Page 27 Manual PD4-C (USB) 7 Setup and commissioning • Voltage supply in accordance with the data sheet • Additional voltage source unit for "enable" input Corresponding to the mode to be used: • For analogue mode: An additional voltage source 0 V to 10 V •...
  • Page 28 Manual PD4-C (USB) 7 Setup and commissioning CAUTION Complex computations are performed during auto setup. Often this results in a lack of sufficient computing power to operate the field buses in a timely manner. The buses may be impaired during auto setup.

  • Page 29: General Concepts

    Manual PD4-C (USB) 8 General concepts 8 General concepts 8.1 DS402 Power State machine 8.1.1 State machine CANopen DS402 To switch the motor controller to an operational state, a state machine must be run through. This is defined in CANopen standard DS402. State changes are requested in object 6040 (control word).
  • Page 30 Manual PD4-C (USB) 8 General concepts The following table lists the bit combinations for the control word that lead to the corresponding state transitions. An X corresponds to a bit state that is no longer to be considered. The single exception is the fault reset: The transition is only requested by the rising flank of the bit.
  • Page 31 Manual PD4-C (USB) 8 General concepts Note: If an error that cannot be corrected occurs, the motor controller changes to the "Not ready to switch on" state and stays there. These errors includes an encoder error (e.g. due to missing shielding, cable breakage) 8.1.2 Behavior after the "Operation enabled"...
  • Page 32 Manual PD4-C (USB) 8 General concepts Value in object 605A Description Braking with "slow down ramp" (deceleration depending on operating mode) and subsequent state change to "Switch on disabled" Braking with "quick stop ramp" and subsequent state change to "Switch on disabled" 3 to 32767 Reserved Ready to switch on...

  • Page 33: User-Defined Units

    Manual PD4-C (USB) 8 General concepts Fault If an error should occur, the motor is braked as stored in object 605E Value in object 605E Description -32768 to -1 Reserved Immediate stop with short-circuit braking Braking with "slow down ramp" (deceleration depending on operating mode) Braking with "quick stop ramp"...
  • Page 34 Manual PD4-C (USB) 8 General concepts Motor revolution (6091 h :1) Gear ratio = Shaft revolution (6091 h :2) If object 6091 or object 6091 are set to "0", the firmware sets the value to "1". Feed constant The feed constant is calculated from the feed (6092 (Feed Constant) per revolution of the drive axis (6092 (Shaft Revolutions) as follows:...
  • Page 35 Manual PD4-C (USB) 8 General concepts If object 2061 or 2062 is to be set to "0", the firmware sets the value to "1". Acceleration The acceleration can also be output in user units: Object Mode Meaning 609A Homing mode Acceleration 6083 Profile Position Mode...
  • Page 36 Manual PD4-C (USB) 8 General concepts Positional data All positional values in the open loop and closed loop mode are specified in the resolution of the virtual position encoder. This is calculated from the encoder cycles (608F (Encoder Increments)) per motor revolutions (608F (Motor Revolutions)) multiplied by the polarity of the axis in object 607E bit 0.

  • Page 37: Operating Modes

    Manual PD4-C (USB) 9 Operating modes 9 Operating modes 9.1 Profile Position 9.1.1 Special feature PD4C USB Note Because this motor controller is not fitted with a field bus, the following operating mode is only usable with a NanoJ program. Further information on programming and use of a NanoJ program can be found in the "Programming with NanoJ"...
  • Page 38 Manual PD4-C (USB) 9 Operating modes See the figure in "Setting move commands". CAUTION The bit 9 in the controlword will get ignored, when the velocity will fell below in the target set point. In this case the controller would need to back up and take a run-up to reach the target. Status word The following bits in object 6041 (status word) have a special function:...
  • Page 39 Manual PD4-C (USB) 9 Operating modes Destination point (607A h ) Actual Speed New destination point (6040 , Bit 4) Destination point confirmation (6041 , Bit 12) Destination point reached (6041 , Bit 10) The controller is able to release bit 4 in the object 6040 (Controlword) autonomously.
  • Page 40 Manual PD4-C (USB) 9 Operating modes Times Destination point (6040 h , Bit 4) Apply changes immediately (6040 h , Bit 5) Destination point (607A h ) Saved Destination point Destination point Destination point confirmation (6041 , Bit 12) Destination point reached (6041 h , Bit 10) Transition procedure for second target position...
  • Page 41 Manual PD4-C (USB) 9 Operating modes Destination point (607A h ) Actual Speed New destination point (6040 h , Bit 4) Destination point confirmation (6041 h , Bit 12) Destination point reached (6041 h , Bit 10) Options for moving to a target position If bit 9 in object 6040 (control word) is "0", the actual target position is first moved to completely.
  • Page 42 Manual PD4-C (USB) 9 Operating modes The following images assume: • A double arrow marks a new positioning command. • The first command from start is always an absolute positioning move to the position 1100. • The second move is done with a slower speed in order to get a clearly represented graph. - Relative to the preceding target position (60F2 :00 = 0) - Change on setpoint (6040...
  • Page 43 Manual PD4-C (USB) 9 Operating modes - Relative to the actual position (60F2 :00 = 1) - Change on setpoint (6040 :00 Bit 5 = 0) - Move absolute (6040 :00 Bit 6 = 0) - Target position: 300 Target position: 1100 (absolute) 1100 1400...
  • Page 44 Manual PD4-C (USB) 9 Operating modes • 607E (Polarity): Direction of rotation • 6081 (Profile Velocity): Maximum speed with which the position should be moved to • 6082 (End Velocity): Speed when reaching the target position • 6083 (Profile Acceleration): Required acceleration •...
  • Page 45 Manual PD4-C (USB) 9 Operating modes Set point (607A Profile velocity (6081 End velocity (6082 Max. acceleration (60C5 Profile acceleration (6083 Profile deceleration (6084 Max. deceleration (60C6 Begin acceleration End deceleration jerk (60A4 h :1) jerk (60A4 h :4) End acceleration Begin deceleration jerk (60A4 h :2) jerk (60A4 h :3)

  • Page 46: Velocity

    Manual PD4-C (USB) 9 Operating modes the target position will count as the new offset for the next movement. Therefore the next movement may be bit longer than expected. 9.1.6 Jerk-limited and non-jerk-limited mode Description Two basic modes exist: the "jerk-limited" and "non-jerk-limited" mode. Jerk-limited mode A jerk-limited positioning is achieved by setting object 6086 to "3".
  • Page 47 Manual PD4-C (USB) 9 Operating modes 9.2.5 Status word The following bits in object 6041 (status word) have a special function: • Bit 11: Limit exceeded: The target speed exceeds or undercuts the entered limit values. 9.2.6 Object entries The following objects are required to control this mode: •...

  • Page 48: Profile Velocity

    Manual PD4-C (USB) 9 Operating modes Speeds in Velocity Mode VL velocity max amount 6046 VL target velocity 6042 Delta speed Delta speed 6048 6049 VL velocity min Delta time Delta time amount 6046 6048 6049 Objects for the Velocity Mode The ramp generator follows the target speed while adhering to the set speed and acceleration limits.
  • Page 49 Manual PD4-C (USB) 9 Operating modes 9.3.4 Control word The following bits in object 6040 (control word) have a special function: • Bit 2 is used to trigger an quick stop. If it is set to "0", the motor carries out a quick stop with the ramp set in object 6085 .
  • Page 50 Manual PD4-C (USB) 9 Operating modes The four jerk values are specified here if a jerk-limited ramp is set. • 60FF (Target Velocity): Specifies the target speed to be attained. • 2031 (Peak Current): Maximum current in mA Objects in Profile Velocity Mode Target velocity 60FFh Profile acceleration 6083h Profile deceleration 6084h...

  • Page 51: Profile Torque

    Manual PD4-C (USB) 9 Operating modes Velocity window (606D Profile velocity (60FF Velocity window (606D Max. acceleration (60C5 Profile acceleration (6083 Profile deceleration (6084 Max. deceleration (60C6 9.4 Profile Torque 9.4.1 Special feature PD4C USB Note Because this motor controller is not fitted with a field bus, the following operating mode is only usable with a NanoJ program.
  • Page 52 Manual PD4-C (USB) 9 Operating modes Description 6040 6041 Bit 8 Bit 10 Specified torque not attained Specified torque attained Axis accelerated Speed of axis is 0 • Bit 11 (Torque limit active): In case the maximum torque and target torque values exceed the peak current required to achieve the desired torque (i.e., the required torque exceeds the maximum torque that can be generated) this bit will be set.

  • Page 53: Homing

    Manual PD4-C (USB) 9 Operating modes Torque curve Target torque 6071 1sec Torque slope Torque slope 6087 6087 1sec 9.5 Homing 9.5.1 Special feature PD4C USB Note Because this motor controller is not fitted with a field bus, the following operating mode is only usable with a NanoJ program.
  • Page 54 Manual PD4-C (USB) 9 Operating modes Bit 13 Bit 12 Bit 10 Description Homing procedure is interrupted or not started Homing is attained, but target is not reached Homing procedure is completed successfully Homing error occurred, velocity is not 0 Homing error occurred, velocity is 0 Object entries The following objects are required to control this mode:...
  • Page 55 Manual PD4-C (USB) 9 Operating modes Index pulse Reference switch 6099 6099 609A 609A Tolerance bands of the limit switches Forbidden Tolerance- Forbidden Tolerance- area zone 2056h area zone 2056h negative positive direction direction negative limit reference Positive limit switch switch switch The previous image displays the setup of the tolerance areas next to the limit switches:...
  • Page 56 Manual PD4-C (USB) 9 Operating modes limit switches. The index pulses come from the encoder, which is connected with the motor shaft and motor controller. For methods that use homing on block, the same illustrations apply as for the methods with limit switch. New illustrations are not shown as nothing changes except for the missing limit switches.
  • Page 57 Manual PD4-C (USB) 9 Operating modes Index pulse Negative limit switch Method 2 references a positive limit switch and index pulse: Index pulse Positive limit switch Methods 3 to 6 These methods reference the switch flank of the reference switch and index pulse. In the methods 3 and 4, the left switch flank of the reference switch is used as a reference: Index pulse Reference...
  • Page 58 Manual PD4-C (USB) 9 Operating modes For these methods, the actual position relative to the reference switch is unimportant. With method 10, referencing is for instance always to the index pulse on the right next to the right flank of the reference switch.
  • Page 59 Manual PD4-C (USB) 9 Operating modes Positive limit switch Methods 19 to 22 These methods reference the switch flank of the reference switch without the index pulse. In the methods 19 and 20 (equivalent to methods 3 and 4), the left switch flank of the reference switch is used as a reference: Reference switch...
  • Page 60 Manual PD4-C (USB) 9 Operating modes Reference switch Positive limit switch The methods 27 to 30 take the negative limit switch into account: Reference switch Negative limit switch Methods 33 and 34 Reference the next index pulse. For these methods, referencing is only to respective next index pulse: Index pulse Method 35 References to the actual position.

  • Page 61: Clock/Direction Mode

    Manual PD4-C (USB) 9 Operating modes Note For the mode 35 it is not necessary to switch the DS402 Power state machine up to the status "Operation Enabled", the status "Switched on" is sufficient. 9.6 Clock/direction mode 9.6.1 Description This mode is equivalent to the velocity mode but uses pules of two input pins as target. The analogue mode is only controlled by the "enable"-input: as long as the "enable"-input is not set to logical "high"...

  • Page 62: Analogue Mode

    Manual PD4-C (USB) 9 Operating modes • Bit 13 (Following Error): This bit is set in closed loop mode if the following error is greater than the set limits is (6065 (Following Error Window) and 6066 (Following Error Time Out)). 9.6.5 Sub modes of the clock/direction mode Clock/direction-mode (CD mode) In this mode the clock pulses have to be put to the "clock input", the direction signal is affection the...
  • Page 63 Manual PD4-C (USB) 9 Operating modes 9.7.2 Activation The activation is not done via the object dictionary but a DIP-switch. For the settings of the switches see chapter "DIP switches". 9.7.3 Accounting of analogue voltages There are two modes of accounting of the analogue voltages. This mode is selected by the DIP switch number 2 (see chapter "DIP switches").

  • Page 64: Special Functions

    Manual PD4-C (USB) 10 Special functions 10 Special functions 10.1 Digital inputs and outputs The motor controller has digital inputs and outputs. 10.1.1 Bit assignment The software in the controller assigns to bits to every output and input: 1. The first bit corresponds to a special function of an input or output. These functions are always accessible at bit 0 to bit 15 inclusive.
  • Page 65 Manual PD4-C (USB) 10 Special functions Bits of any object for controlling inputs Values of inputs Special functions of inputs Special function Value of (e.g. limit switch) the input Input 1 Overview Note The digital inputs are sampled only once a millisecond. Changes in the input signal shorter than one millisecond cannot be processed.
  • Page 66 Manual PD4-C (USB) 10 Special functions This bit switches on software simulation of the input values when it is set to "1". In this case, the actual values are no longer used; the values set in object 3240 for the respective input are used instead.
  • Page 67 Manual PD4-C (USB) 10 Special functions Note With activating the input routing the values in the object 3242 get changed. These values corresponds to the function of the inputs without the input routing. The controller's inputs are behaving identically with activating the input routing. Therefore you should not switch between normal mode and input routing back and forth.
  • Page 68 Manual PD4-C (USB) 10 Special functions Number Signal source Signal is always "1" Inverted physical input 1 Inverted physical input 2 Inverted physical input 3 Inverted physical input 4 Inverted physical input 5 Inverted physical input 6 Inverted physical input 7 Inverted physical input 8 Inverted physical input 9 Inverted physical input 10...
  • Page 69 For that purpose a circuit like to one shown in the following image is necessary. Supply voltage extern Nanotec Controller Output signal On / Off of 10 kΩ recommended. At a supply voltage of +24 V a resistor value of R...
  • Page 70 Manual PD4-C (USB) 10 Special functions • 3250 If a bit is set in 3250 , the output is manually controlled. The value for the output is then contained in object 3250 , which is also possible for the brake output. •...
  • Page 71 Manual PD4-C (USB) 10 Special functions Selection of source with 3252:NN high byte Signal Ouput sources Selection of control bit with 3252:NN low byte Bits of 60FE Activation This mode is activated by setting the object 3250 (Routing Enable) to "1". Note The entries 3250 to 3250:04...

  • Page 72: I 2 T Motor Overload Protection

    Manual PD4-C (USB) 10 Special functions Number in 3252:01 to 05 04XX Encoder signal with frequency divider 4 05XX Encoder signal with frequency divider 8 06XX Encoder signal with frequency divider 16 07XX Encoder signal with frequency divider 32 08XX Encoder signal with frequency divider 64 09XX Position Actual Value (6064...
  • Page 73 Manual PD4-C (USB) 10 Special functions The function is only available when the motor controller is in closed loop operating mode (bit 0 of object 3202 set to "1") and the motor is not in profile torque mode or cycle synchronous torque mode. There is a single exception: If I t is activated in open loop mode, the current is limited to the set nominal current even when the set maximum current is greater.

  • Page 74: Save Objects

    Manual PD4-C (USB) 10 Special functions current Maximum current Nominal current In the first section t1, the current value is higher than the nominal current. At time t1 is reached and the current is limited to the nominal current. During the following time period t2, a current comes that corresponds to the maximum current.

  • Page 75: Programming With Nanoj

    Manual PD4-C (USB) 11 Programming with NanoJ 11 Programming with NanoJ 11.1 Introduction The VMM (Virtual Machine Monitor) is a protected execution environment within the firmware. The user can load his or her own programs ("User Program") in this environment via USB . These can trigger functions in the motor controller, for example by reading or writing entries in the object directory.
  • Page 76 Manual PD4-C (USB) 11 Programming with NanoJ • Direct reading and writing of object dictionary values via system calls • Calling up of other system calls (e.g. write debug output) Via a PDO mapping, object dictionary values in the form of variables are made available to the user program.

  • Page 77: Object Dictionary Entries For Controlling And Configuring The Vmm

    Manual PD4-C (USB) 11 Programming with NanoJ 11.4 Object dictionary entries for controlling and configuring the VMM 11.4.1 Object dictionary entries The VMM is controlled and configured by means of object dictionary entries in the object range 2300 to 2330 object dictionary Index Name 2300...
  • Page 78 Manual PD4-C (USB) 11 Programming with NanoJ The code to be executed can then be stored in the void user() function. The file names of the user programs must not be longer than eight characters and contains three characters in the extension; for example, "main.cpp" is admissible while "alongerfilename.cpp" is not. Example Programming a square wave signal in the object 2500 1.
  • Page 79 Manual PD4-C (USB) 11 Programming with NanoJ The data type of the variable, i.e. U32, U16, U08, S32, S16 or S08. <NAME> • The name of the variable that is later used in the user program. <input|output|inout> • The write and read authorization of a variable: A variable can either be declared as input, output, or inout.

  • Page 80: System Calls

    Manual PD4-C (USB) 11 Programming with NanoJ 11.6 System calls 11.6.1 Introduction With system calls, it is possible to call up functions integrated in the firmware directly in a user program. Because a direct code execution is only possible in the protected area of the sandbox, this is implemented via so-called Cortex-Supervisor-Calls (Svc Calls).
  • Page 81 Manual PD4-C (USB) 11 Programming with NanoJ 11.6.4 Debug output The following functions output a value in the debug console. They differ only in the data type of the parameter being output. • bool VmmDebugOutputString(const char *outstring) • bool VmmDebugOutputInt(const U32 val) •...

  • Page 82: Object Directory Description

    Manual PD4-C (USB) 12 Object directory description 12 Object directory description 12.1 Overview You can find a description of objects in this section of the manual. Here you will find information on the following: • Functions • Object descriptions ("Index") •...
  • Page 83 Manual PD4-C (USB) 12 Object directory description • RECORD: These objects always consist of one subentry with sub-index 0 – which specifies the quantity of valid subentries – and the subentries themselves from index 1. As opposed to an ARRAY, the data type of subentries may vary, meaning, for example, that subentry 1 may have a different data type than subentry 2.

  • Page 84: Value Description

    Manual PD4-C (USB) 12 Object directory description 12.4 Value description Note For reasons of clarity, some subentries have been summarized here when all the entries have the same name. All data for subentries with sub-index 1 or higher are listed in the table with the heading "Value description".

  • Page 85: 1000H Device Type

    VARIABLE Data type UNSIGNED32 Saveable Access Read only PDO Mapping Admissible Values Specified Value • : 00000000 • PD4-C5918M4204-E-01: 00040192 • PD4-C6018L4204-E-01: 00040192 • PD4-CB59M024035-E-01: 00020192 • PD4-C5918L4204-E-01: 00040192 • PD4-C5918M4204-KSAR2: 00040192 Firmware Version FIR-v1426 Change History Version: 1.4.1 / 22.07.2016 / FIR-v1626...

  • Page 86: 1001H Error Register

    Manual PD4-C (USB) 12 Object directory description Description Motor Type [16] Device profile number [16] Motor Type[16] Describes the supported motor type. The following values are possible: • Bit 23 to Bit 16: value "1": Servo drive • Bit 23 to Bit 16: value "2": Stepper motor •...

  • Page 87: 1003H Pre-Defined Error Field

    Manual PD4-C (USB) 12 Object directory description Voltage TEMP Temperature Communication PROF Pertains to the device profile Reserved, always "0" Manufacturer specific: engine turned in the wrong direction. 1003h Pre-defined Error Field Function This object contains an error stack with up to eight entries. Object description Index 1003...
  • Page 88 Manual PD4-C (USB) 12 Object directory description Sub-index Name Standard Error Field Data type UNSIGNED32 Access Read only PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Standard Error Field Data type UNSIGNED32 Access Read only PDO Mapping Admissible Values Specified Value 00000000 Sub-index...
  • Page 89 Manual PD4-C (USB) 12 Object directory description Name Standard Error Field Data type UNSIGNED32 Access Read only PDO Mapping Admissible Values Specified Value 00000000 Description General operation If a new error occurs, it is entered in sub-index 1. The existing entries in the subindices 1 to 7 are shifted back by one.

  • Page 90: 1008H Manufacturer Device Name

    Object description Index 1008 Object Name Manufacturer Device Name Object Code VARIABLE Data type VISIBLE_STRING Saveable Access Read only PDO Mapping Admissible Values Specified Value • • PD4-C5918M4204-E-01: PD4-C5918M4204-E-01 • PD4-C6018L4204-E-01: PD4-C6018L4204-E-01 • PD4-CB59M024035-E-01: PD4-CB59M024035-E-01 Version: 1.4.1 / 22.07.2016 / FIR-v1626...

  • Page 91: 1009H Manufacturer Hardware Version

    Manual PD4-C (USB) 12 Object directory description • PD4-C5918L4204-E-01: PD4-C5918L4204-E-01 • PD4-C5918M4204-KSAR2: PD4-C5918M4204-KSAR2 Firmware Version FIR-v1426 Change History 1009h Manufacturer Hardware Version Function This object contains the hardware version as a string. Object description Index 1009 Object Name Manufacturer Hardware Version Object Code VARIABLE Data type...
  • Page 92 Manual PD4-C (USB) 12 Object directory description Object description Index 1010 Object Name Store Parameters Object Code ARRAY Data type UNSIGNED32 Saveable Firmware Version FIR-v1426 Change History Firmware Version FIR-v1436: Entry "Object Name" modified from "Store Parameter" to "Store Parameters". Firmware Version FIR-v1436: Amount of subentries has changed from 3 to 4.

  • Page 93: 1011H Restore Default Parameters

    Manual PD4-C (USB) 12 Object directory description Specified Value 00000001 Sub-index Name Save Customer Parameters To Non-volatile Memory Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000001 Sub-index Name Save Drive Parameters To Non-volatile Memory Data type UNSIGNED32 Access Read/write...
  • Page 94 Manual PD4-C (USB) 12 Object directory description Firmware Version FIR-v1512: Entry "Name" modified from "Restore The Application Default Parameters" to "Restore Application Default Parameters". Firmware Version FIR-v1540: Amount of subentries has changed from 5 to 7. Value description Sub-index Name Highest Sub-index Supported Data type UNSIGNED8...

  • Page 95: 1018H Identity Object

    Manual PD4-C (USB) 12 Object directory description Name Restore Drive Default Parameters Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000001 Sub-index Name Restore Tuning Default Parameters Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 1018h Identity Object Function...

  • Page 96: 1020H Verify Configuration

    Sub-index Name Product Code Data type UNSIGNED32 Access Read only PDO Mapping Admissible Values Specified Value • : 00000000 • PD4-C5918M4204-E-01: 00000001 • PD4-C6018L4204-E-01: 00000002 • PD4-CB59M024035-E-01: 00000003 • PD4-C5918L4204-E-01: 00000017 • PD4-C5918M4204-KSAR2: 00000027 Sub-index Name Revision Number Data type...

  • Page 97: 2028H Modbus Slave Address

    Manual PD4-C (USB) 12 Object directory description Value description Sub-index Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Sub-index Name Configuration Date Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name...

  • Page 98: 202Ah Modbus Rtu Baudrate

    Manual PD4-C (USB) 12 Object directory description 202Ah MODBUS RTU Baudrate Funktion This object contains the baudrate of modbus in Bd. Object description Index 202A Object Name MODBUS RTU Baudrate Object Code VARIABLE Data type UNSIGNED32 Saveable yes, category: communication Access Read/write PDO Mapping...

  • Page 99: 202Dh Modbus Rtu Parity

    VARIABLE Data type UNSIGNED32 Saveable yes, category: tuning Access Read/write PDO Mapping Admissible Values Specified Value • : 00000032 • PD4-C5918M4204-E-01: 00000032 • PD4-C6018L4204-E-01: 00000032 • PD4-CB59M024035-E-01: 00000003 • PD4-C5918L4204-E-01: 00000032 • PD4-C5918M4204-KSAR2: 00000032 Version: 1.4.1 / 22.07.2016 / FIR-v1626...

  • Page 100: 2031H Maximum Current

    Data type UNSIGNED32 Saveable yes, category: tuning Access Read/write PDO Mapping Admissible Values Specified Value • : 00000000 • PD4-C5918M4204-E-01: 00000834 • PD4-C6018L4204-E-01: 00000834 • PD4-CB59M024035-E-01: 00001F40 • PD4-C5918L4204-E-01: 00000834 • PD4-C5918M4204-KSAR2: 00000834 Firmware Version FIR-v1426 Change History Firmware Version FIR-v1614: Entry "Saveable" modified from "yes, category: application"...

  • Page 101: 2033H Plunger Block

    Manual PD4-C (USB) 12 Object directory description Saveable yes, category: tuning Access Read/write PDO Mapping Admissible Values Specified Value • : 00030D40 • PD4-C5918M4204-E-01: 00030D40 • PD4-C6018L4204-E-01: 00030D40 • PD4-CB59M024035-E-01: 00001770 • PD4-C5918L4204-E-01: 00030D40 • PD4-C5918M4204-KSAR2: 00030D40 Firmware Version FIR-v1426 Change History Firmware Version FIR-v1614: Entry "Saveable"...

  • Page 102: 2034H Upper Voltage Warning Level

    VARIABLE Data type UNSIGNED32 Saveable yes, category: application Access Read/write PDO Mapping Admissible Values Specified Value • : 00006590 • PD4-C5918M4204-E-01: 0000C92C • PD4-C6018L4204-E-01: 0000C92C • PD4-CB59M024035-E-01: 00007530 • PD4-C5918L4204-E-01: 0000C92C • PD4-C5918M4204-KSAR2: 0000C92C Firmware Version FIR-v1426 Change History Description If the input voltage of the motor controller rises above this threshold value, the motor is switched off and an error is output.

  • Page 103: 2036H Open Loop Current Reduction Idle Time

    Manual PD4-C (USB) 12 Object directory description Description If the input voltage of the motor controller drops below this threshold value, the motor is switched off and an error is output. This error is automatically reset when the input voltage is greater than (voltage of the object 2035 plus 2 volts).

  • Page 104: 2039H Motor Currents

    Manual PD4-C (USB) 12 Object directory description Description Value of 2037 greater/equal 0 and smaller than value in 2031 The current is reduced to the value entered in object 2037 . The value is in mA and used as root mean square (RMS).

  • Page 105: 203Ah Homing On Block Configuration

    Manual PD4-C (USB) 12 Object directory description PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Sub-index Name Data type INTEGER32 Access Read only PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Sub-index Name Data type INTEGER32 Access Read only PDO Mapping...
  • Page 106 Name Minimum Current For Block Detection Data type INTEGER32 Access Read/write PDO Mapping Admissible Values Specified Value • : FFFFFFBA • PD4-C5918M4204-E-01: 000004EC • PD4-C6018L4204-E-01: 000004EC • PD4-CB59M024035-E-01: 000015E0 • PD4-C5918L4204-E-01: 000004EC • PD4-C5918M4204-KSAR2: 000004EC Sub-index Name Block Detection Time...

  • Page 107: 203Bh I2T Parameters

    Specified Value Sub-index Name Nominal Current Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value • : 00000000 • PD4-C5918M4204-E-01: 00000000 • PD4-C6018L4204-E-01: 00000000 • PD4-CB59M024035-E-01: 00000FA0 • PD4-C5918L4204-E-01: 00000000 • PD4-C5918M4204-KSAR2: 00000000 Version: 1.4.1 / 22.07.2016 / FIR-v1626...
  • Page 108 Name Maximum Duration Of Peak Current Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value • : 00000000 • PD4-C5918M4204-E-01: 00000000 • PD4-C6018L4204-E-01: 00000000 • PD4-CB59M024035-E-01: 000003E8 • PD4-C5918L4204-E-01: 00000000 • PD4-C5918M4204-KSAR2: 00000000 Sub-index Name Threshold Data type...

  • Page 109: 203Dh Torque Window

    Manual PD4-C (USB) 12 Object directory description Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Description The subentries are divided into two groups: sub-index 01 and 02 holding parameter for controlling, sub-index 03 to 06 are status values. The functions are as follows: •...

  • Page 110: 2050H Encoder Alignment

    Manual PD4-C (USB) 12 Object directory description Object description Index 203E Object Name Torque Window Time Object Code VARIABLE Data type UNSIGNED16 Saveable yes, category: application Savable Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 0000 Firmware Version FIR-v1540 Change History Firmware Version FIR-v1614: Entry "Saveable"...
  • Page 111 Manual PD4-C (USB) 12 Object directory description Object description Index 2051 Object Name Encoder Optimization Object Code ARRAY Data type INTEGER32 Saveable yes, category: tuning Firmware Version FIR-v1426 Change History Firmware Version FIR-v1540: Entry "Saveable" modified from "No" to "yes, category: tuning". Value description Sub-index Name...

  • Page 112: 2052H Encoder Resolution

    Data type INTEGER32 Saveable yes, category: tuning Access Read/write PDO Mapping Admissible Values Specified Value • : 00000000 • PD4-C5918M4204-E-01: 00001000 • PD4-C6018L4204-E-01: 00001000 • PD4-CB59M024035-E-01: 00001000 • PD4-C5918L4204-E-01: 00001000 • PD4-C5918M4204-KSAR2: 00001000 Firmware Version FIR-v1426 Change History Firmware Version FIR-v1540: Entry "Saveable" modified from "No" to "yes, category: tuning".

  • Page 113: 2057H Clock Direction Multiplier

    Manual PD4-C (USB) 12 Object directory description Specified Value 000001F4 Firmware Version FIR-v1426 Change History 2057h Clock Direction Multiplier Function The clock counting value in the clock/direction mode is multiplied by this value before it is processed further. Object description Index 2057 Object Name...

  • Page 114: 2059H Encoder Configuration

    Manual PD4-C (USB) 12 Object directory description 2059h Encoder Configuration Function This object specifies the supply voltage of the encoder. Object description Index 2059 Object Name Encoder Configuration Object Code VARIABLE Data type UNSIGNED32 Saveable yes, category: tuning Access Read/write PDO Mapping Admissible Values Specified Value...

  • Page 115: 205Bh Clock Direction Or Clockwise/Counter Clockwise Mode

    Manual PD4-C (USB) 12 Object directory description Saveable Access Read only PDO Mapping Admissible Values Specified Value 00000000 Firmware Version FIR-v1446 Change History Firmware Version FIR-v1512: Table entry "Access" at sub-index 00 modified from "Read/write" to "Read only". 205Bh Clock Direction Or Clockwise/Counter Clockwise Mode Function With this object the clock/direction-mode (value = "0") can be switched to clockwise/counterclockwise mode (value = "1").

  • Page 116: 2061H Velocity Numerator

    Manual PD4-C (USB) 12 Object directory description Description If this entry is set to 1, the pole pair count is automatically set for all position, speed, acceleration, and jerk parameters. If the value is 0, the pole pair count enters into the set values and must be taken into account when the motor is changed, as is the case with conventional stepper motor controllers.

  • Page 117: 2063H Acceleration Numerator

    Manual PD4-C (USB) 12 Object directory description Change History Description The internal operand pertains to full mechanical (2060 =1) or electrical (2060 =0) revolutions per second. Thus, by setting object 2061 =1 and object 2062 =60, for example, the speed can be specified in rpm in profile position mode.

  • Page 118: 2065H Jerk Numerator

    Manual PD4-C (USB) 12 Object directory description Admissible Values Specified Value 0000003C Firmware Version FIR-v1426 Change History Description The internal operand pertains to full mechanical (2060 =1) or electrical (2060 =0) revolutions per second. Thus, by setting object 2063 =1 and object 2064 =60, for example, the acceleration can be specified in (revolutions/min)/s in profile position mode.

  • Page 119: 2067H Jerk Limit (Internal)

    Manual PD4-C (USB) 12 Object directory description Access Read/write PDO Mapping Admissible Values Specified Value 0000003C Firmware Version FIR-v1426 Change History Description The internal operand pertains to full mechanical (2060 =1) or electrical (2060 =0) revolutions per second. Thus, by setting object 2065 =1 and object 2066 =60, for example, the acceleration can be specified in (revolutions/min)/s...

  • Page 120: 2101H Fieldbus Module Availability

    Manual PD4-C (USB) 12 Object directory description Object Code VARIABLE Data type UNSIGNED32 Saveable yes, category: application Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Firmware Version FIR-v1426 Change History 2101h Fieldbus Module Availability Function Shows the type of mounted field bus module. Object description Index 2101...

  • Page 121: 2102H Fieldbus Module Control

    Manual PD4-C (USB) 12 Object directory description Value = "1": A CANopen interface is available. E-NET Value = "1": An EtherNET interface is available. E-CAT Value = "1": An EtherCAT interface is available. Value = "1": A SPI interface is available. MRTU Value = "1": The protocol used is Modbus RTU.

  • Page 122: 2103H Fieldbus Module Status

    Manual PD4-C (USB) 12 Object directory description E-IP MTCP MRTU E-CAT E-NET CAN RS232 RS485 USB USB interface RS-485 RS-485 interface RS-232 RS-232 interface CANopen interface E-NET EtherNET interface E-CAT EtherCAT interface SPI interface MRTU Modbus RTU protocol MTCP Modbus TCP protocol E-IP ™...
  • Page 123 Manual PD4-C (USB) 12 Object directory description Firmware Version FIR-v1540 Change History Value description Sub-index Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Sub-index Name Fieldbus Module Disable Mask Data type UNSIGNED32 Access Read only PDO Mapping...

  • Page 124: 2200H Sampler Control

    Manual PD4-C (USB) 12 Object directory description RS-232 RS-232 interface CANopen interface E-NET EtherNET interface E-CAT EtherCAT interface SPI interface MRTU Modbus RTU protocol MTCP Modbus TCP protocol E-IP ™ EtherNet/IP protocol 2200h Sampler Control Function Controls the installed sampler used to cyclically record any values from the "Dictionary" object. Object description Index 2200...

  • Page 125: 2201H Sampler Status

    Manual PD4-C (USB) 12 Object directory description Value = "1": The sampler will be activated 2201h Sampler Status Function Shows the operating state of the installed sampler. Object description Index 2201 Object Name Sampler Status Object Code VARIABLE Data type UNSIGNED32 Saveable Access...
  • Page 126 Manual PD4-C (USB) 12 Object directory description Saveable yes, category: application Firmware Version FIR-v1426 Change History Firmware Version FIR-v1626: Entry "Saveable" modified from "No" to "yes, category: application". Value description Sub-index Name Highest Sub-index Supported Data type UNSIGNED8 Access Read/write PDO Mapping Admissible Values Specified Value...
  • Page 127 Manual PD4-C (USB) 12 Object directory description Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Sample Value #6 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Sample Value #7 Data type UNSIGNED32 Access...

  • Page 128: 2203H Sampler Buffer Information

    Manual PD4-C (USB) 12 Object directory description 2203h Sampler Buffer Information Function This object makes additional information available to the sampler. Object description Index 2203 Object Name Sampler Buffer Information Object Code ARRAY Data type UNSIGNED32 Saveable Firmware Version FIR-v1426 Change History Firmware Version FIR-v1626: Table entry "Access"...

  • Page 129: 2204H Sample Time In Ms

    Manual PD4-C (USB) 12 Object directory description Data type UNSIGNED32 Access Read only PDO Mapping Admissible Values Specified Value 00000000 Description The subindices have the following functions: • specifies the maximum size of the sampler buffer in bytes. • contains the momentary filling level of the sampler buffer in bytes. •...

  • Page 130: 2301H Nanoj Status

    Manual PD4-C (USB) 12 Object directory description Specified Value 00000000 Firmware Version FIR-v1426 Change History Firmware Version FIR-v1436: Entry "Object Name" modified from "VMM Control" to "NanoJ Control". Description Switches the VMM on (value = "1") or off (value = "0"). When there is a rising flank in bit 0, the program is first reloaded and the variable range is reset.

  • Page 131: 2302H Nanoj Error Code

    Manual PD4-C (USB) 12 Object directory description Description Status [3] Specifies the actual status of the VMM. Value = "0": Program has been stopped, value = "1": Program is running Reserved. Program was closed with an error. The cause of the error can be read out in object 2302 2302h NanoJ Error Code Function Indicates which error occurred when the user program was executed.

  • Page 132: 230Fh Uptime Seconds

    Manual PD4-C (USB) 12 Object directory description Number Description 0006 Illegal access on system resource 0007 Too many variables on the stack (stack overflow) 0100 Bad NanoJ program file Error codes regarding the access of objects: Number Description 1000 Access to an object that doesn't exist in object dictionary 1001 Write access to a read only (write protected) object Object access errors:...

  • Page 133: 2310H Nanoj Input Data Selection

    Manual PD4-C (USB) 12 Object directory description Saveable Access Read only PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Firmware Version FIR-v1436 Change History 2310h NanoJ Input Data Selection Function Specifies the object dictionary entries that are copied into the input PDO mapping of the VMM program. Object description Index 2310...
  • Page 134 Manual PD4-C (USB) 12 Object directory description Admissible Values Specified Value 00000000 Sub-index Name Mapping #3 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Mapping #4 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index...
  • Page 135 Manual PD4-C (USB) 12 Object directory description Specified Value 00000000 Sub-index Name Mapping #9 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Mapping #10 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name...

  • Page 136: 2320H Nanoj Output Data Selection

    Manual PD4-C (USB) 12 Object directory description Sub-index Name Mapping #15 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Mapping #16 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Description Each sub-index (1-16) describes a mapped object.
  • Page 137 Manual PD4-C (USB) 12 Object directory description Firmware Version FIR-v1436: Entry "Object Name" modified from "VMM Output Data Selection" to "NanoJ Output Data Selection". Value description Sub-index Name Highest Sub-index Supported Data type UNSIGNED8 Access Read/write PDO Mapping Admissible Values Specified Value Sub-index Name...
  • Page 138 Manual PD4-C (USB) 12 Object directory description PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Mapping #6 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Mapping #7 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000...
  • Page 139 Manual PD4-C (USB) 12 Object directory description Admissible Values Specified Value 00000000 Sub-index Name Mapping #12 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Mapping #13 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index...

  • Page 140: 2330H Nanoj In/Output Data Selection

    Manual PD4-C (USB) 12 Object directory description Index [16] SubIndex [8] Length [8] Index [16] Contains the index of the object to be mapped Sub-index [8] Contains the sub-index of the object to be mapped Length [8] Contains the length of the object to be mapped in the bit unit. 2330h NanoJ In/output Data Selection Function Specifies the object dictionary entries that are copied into the input PDO mapping of the VMM program...
  • Page 141 Manual PD4-C (USB) 12 Object directory description Sub-index Name Mapping #2 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Mapping #3 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Mapping #4 Data type...
  • Page 142 Manual PD4-C (USB) 12 Object directory description Name Mapping #8 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Mapping #9 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Mapping #10 Data type UNSIGNED32...

  • Page 143: 2400H Nanoj Inputs

    Manual PD4-C (USB) 12 Object directory description Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Mapping #15 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Mapping #16 Data type UNSIGNED32 Access Read/write...

  • Page 144: 2410H Nanoj Init Parameters

    Manual PD4-C (USB) 12 Object directory description Object Code ARRAY Data type INTEGER32 Saveable Firmware Version FIR-v1426 Change History Amount of subentries has changed from 2 to 33 Firmware Version FIR-v1436: Entry "Object Name" modified from "VMM Inputs" to "NanoJ Inputs". Value description Sub-index Name...

  • Page 145: 2500H Nanoj Outputs

    Manual PD4-C (USB) 12 Object directory description Value description Sub-index Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Sub-index - 20 Name NanoJ Init Parameter #1 - #32 Data type INTEGER32 Access Read/write PDO Mapping RX - PDO...

  • Page 146: 2600H Nanoj Debug Output

    Manual PD4-C (USB) 12 Object directory description Access Read/write PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Description The VMM program can store results here that can then be read out via the field bus. 2600h NanoJ Debug Output Function This object contains debug outputs for a user program.

  • Page 147: 2700H User Storage Area

    Manual PD4-C (USB) 12 Object directory description 2700h User Storage Area Function DANGER The motor has to stand still during the process of saving and is not allowed to get started while saving. In this object up to 8 16 Bit values from NanoJ program can be stored permanently. These data are available even after a restart of the controller.
  • Page 148 Manual PD4-C (USB) 12 Object directory description Sub-index Name Storage #1 Data type UNSIGNED16 Access Read/write PDO Mapping Admissible Values Specified Value 0000 Sub-index Name Storage #2 Data type UNSIGNED16 Access Read/write PDO Mapping Admissible Values Specified Value 0000 Sub-index Name Storage #3 Data type...

  • Page 149: 3202H Motor Drive Submode Select

    UNSIGNED32 Saveable yes, category: drive Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value • : 00000000 • PD4-C5918M4204-E-01: 00000000 • PD4-C6018L4204-E-01: 00000000 • PD4-CB59M024035-E-01: 00000040 • PD4-C5918L4204-E-01: 00000000 • PD4-C5918M4204-KSAR2: 00000000 Firmware Version FIR-v1426 Change History Firmware Version FIR-v1540: Entry "Saveable" modified from "yes, category: application"...

  • Page 150: 320Ah Motor Drive Sensor Display Open Loop

    Manual PD4-C (USB) 12 Object directory description CL/OL Switchover between open loop and closed loop • Value = "0": Open loop • Value = "1": Closed loop Value = "1": Simulate v-control via an S ramp Brake Value = "1": Switch on the brake controller CurRed (Current Reduction) Value = "1": Current reduction activated in open loop Torque...

  • Page 151: 320Bh Motor Drive Sensor Display Closed Loop

    Manual PD4-C (USB) 12 Object directory description Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Torque Data type INTEGER32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name Velocity Data type INTEGER32 Access Read/write PDO Mapping Admissible Values Specified Value 00000001...
  • Page 152 Manual PD4-C (USB) 12 Object directory description Object description Index 320B Object Name Motor Drive Sensor Display Closed Loop Object Code ARRAY Data type INTEGER32 Saveable yes, category: application Firmware Version FIR-v1426 Change History Value description Sub-index Name Highest Sub-index Supported Data type UNSIGNED8 Access...

  • Page 153: 3210H Motor Drive Parameter Set

    Manual PD4-C (USB) 12 Object directory description Specified Value 00000001 Description The following subindices haven a meaning: • : Unused • : Unused • : Changes the source of object 6044 • Value = "-1": The internally calculated value is entered in object 6044 •...
  • Page 154 Position Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping Admissible Values Specified Value • : 00000800 • PD4-C5918M4204-E-01: 00002710 • PD4-C6018L4204-E-01: 00000800 • PD4-CB59M024035-E-01: 00007530 • PD4-C5918L4204-E-01: 00002710 • PD4-C5918M4204-KSAR2: 00002710 Sub-index Name Position Loop, Integral Gain (closed Loop)
  • Page 155 Velocity Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping Admissible Values Specified Value • : 0000001E • PD4-C5918M4204-E-01: 00000064 • PD4-C6018L4204-E-01: 00000004 • PD4-CB59M024035-E-01: 000001F4 • PD4-C5918L4204-E-01: 00000064 • PD4-C5918M4204-KSAR2: 00000064 Sub-index Name Flux Current Loop, Proportional Gain (closed Loop)
  • Page 156 Manual PD4-C (USB) 12 Object directory description Specified Value • : 000668A0 • PD4-C5918M4204-E-01: 0007A120 • PD4-C6018L4204-E-01: 000668A0 • PD4-CB59M024035-E-01: 000061A8 • PD4-C5918L4204-E-01: 0007A120 • PD4-C5918M4204-KSAR2: 0007A120 Sub-index Name Torque Current Loop, Integral Gain (closed Loop) Data type INTEGER32 Access...

  • Page 157: 3212H Motor Drive Flags

    Manual PD4-C (USB) 12 Object directory description Description • Sub-index 00 : Number of entries • Sub-index 01 : Proportional value of the S (position) control • Sub-index 02 : Integral value of the S (position) control • Sub-index 03 : Proportional value of the V (velocity) control •...

  • Page 158: 3220H Analog Inputs

    Manual PD4-C (USB) 12 Object directory description PDO Mapping Admissible Values Specified Value Sub-index Name Enable Legacy Power Mode Data type INTEGER8 Access Read/write PDO Mapping Admissible Values Specified Value Sub-index Name Override Field Inversion Data type INTEGER8 Access Read/write PDO Mapping Admissible Values Specified Value...

  • Page 159: 3221H Analogue Inputs Control

    Manual PD4-C (USB) 12 Object directory description Object description Index 3220 Object Name Analog Inputs Object Code ARRAY Data type INTEGER16 Saveable Firmware Version FIR-v1426 Change History Value description Sub-index Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value...

  • Page 160: 3225H Analogue Inputs Switches

    Manual PD4-C (USB) 12 Object directory description Object Name Analogue Inputs Control Object Code VARIABLE Data type INTEGER32 Saveable yes, category: application Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Firmware Version FIR-v1426 Change History Description In general: If a bit is set to 0, the analog input measures the voltage; if the bit is set to 1, the current is measured.

  • Page 161: 3240H Digital Inputs Control

    Manual PD4-C (USB) 12 Object directory description Value description Sub-index Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Sub-index Name Analogue Input Switch1 Data type UNSIGNED16 Access Read only PDO Mapping TX - PDO Admissible Values Specified Value 0000...
  • Page 162 Manual PD4-C (USB) 12 Object directory description Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Sub-index Name Special Function Enable Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Sub-index...

  • Page 163: 3241H Digital Input Capture

    Manual PD4-C (USB) 12 Object directory description Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Sub-index Name Differential Select Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Sub-index Name...
  • Page 164 Manual PD4-C (USB) 12 Object directory description Saveable yes, category: application Access Read only PDO Mapping Admissible Values Specified Value Firmware Version FIR-v1446 Change History Value description Sub-index Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Sub-index...

  • Page 165: 3242H Digital Input Routing

    Manual PD4-C (USB) 12 Object directory description Description • Sub-index 01 : the type of level change can get selected: • Function deactivated: value "0" • On rising edge: value "1" • On falling edge: value "2" • On both edges: value "3" •...
  • Page 166 Manual PD4-C (USB) 12 Object directory description Description The sub-index 01 holds the source for the bit 0 of the object 60FD. The sub-index 02 holds the soure for bit 2 of the object 60FD and so on. The number written to a sub-index determines the source for the corresponding bit. The the follwoing table for all the possible sources.

  • Page 167: 3250H Digital Outputs Control

    Manual PD4-C (USB) 12 Object directory description Nummer Signal source Inverted physical input 7 Inverted physical input 8 Inverted physical input 9 Inverted physical input 10 Inverted physical input 11 Inverted physical input 12 Inverted physical input 13 Inverted physical input 14 Inverted physical input 15 Inverted physical input 16 Inverted hall input "U"...
  • Page 168 Manual PD4-C (USB) 12 Object directory description Change History Firmware Version FIR-v1426: Sub-index 01 : Entry "Name" changed from "Special Function Disable" auf "Special Function Enable" Firmware Version FIR-v1446: Entry "Name" modified from "Special Function Enable" to "No Function". Firmware Version FIR-v1512: Amount of subentries has changed from 6 to 9.

  • Page 169: 3252H Digital Output Routing

    Manual PD4-C (USB) 12 Object directory description Sub-index Name Raw Value Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Sub-index Name Reserved1 Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Sub-index...

  • Page 170: 3320H Read Analogue Input

    Manual PD4-C (USB) 12 Object directory description Object description Index 3252 Object Name Digital Output Routing Object Code ARRAY Data type UNSIGNED16 Saveable yes, category: application Savable yes, category: application Access Read only PDO Mapping Admissible Values Specified Value Firmware Version FIR-v1540 Change History Value description...

  • Page 171: 3321H Analogue Input Offset

    Manual PD4-C (USB) 12 Object directory description Firmware Version FIR-v1426 Change History Value description Sub-index Name Number Of Analogue Inputs Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Sub-index Name Analogue Input 1 Data type INTEGER32 Access Read only PDO Mapping...

  • Page 172: 3322H Analogue Input Pre-Scaling

    Manual PD4-C (USB) 12 Object directory description Object description Index 3321 Object Name Analogue Input Offset Object Code ARRAY Data type INTEGER32 Saveable yes, category: application Firmware Version FIR-v1426 Change History Value description Sub-index Name Number Of Analogue Inputs Data type UNSIGNED8 Access Read only...

  • Page 173: 3502H Modbus Rx Pdo Mapping

    Manual PD4-C (USB) 12 Object directory description Object Name Analogue Input Pre-scaling Object Code ARRAY Data type INTEGER32 Saveable yes, category: application Firmware Version FIR-v1426 Change History Value description Sub-index Name Number Of Analogue Inputs Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value...
  • Page 174 Manual PD4-C (USB) 12 Object directory description Saveable yes, category: communication Access Read/write PDO Mapping Admissible Values Specified Value Firmware Version FIR-v1614 Change History Value description Sub-index Name Highest Sub-index Supported Data type UNSIGNED8 Access Read/write PDO Mapping Admissible Values Specified Value Sub-index Name...
  • Page 175 Manual PD4-C (USB) 12 Object directory description Sub-index Name 5th Object To Be Mapped Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 607A0020 Sub-index Name 6th Object To Be Mapped Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 60810020...
  • Page 176 Manual PD4-C (USB) 12 Object directory description Name 11th Object To Be Mapped Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name 12th Object To Be Mapped Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index...

  • Page 177: 3602H Modbus Tx Pdo Mapping

    Manual PD4-C (USB) 12 Object directory description 3602h MODBUS Tx PDO Mapping Function Objects for the tx mapping can get written in this object. Object description Index 3602 Object Name MODBUS Tx PDO Mapping Object Code RECORD Data type PDO_MAPPING Saveable yes, category: communication Access...
  • Page 178 Manual PD4-C (USB) 12 Object directory description PDO Mapping Admissible Values Specified Value 60610008 Sub-index Name 4th Object To Be Mapped Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 60640020 Sub-index Name 5th Object To Be Mapped Data type UNSIGNED32 Access...
  • Page 179 Manual PD4-C (USB) 12 Object directory description Admissible Values Specified Value 00000000 Sub-index Name 10th Object To Be Mapped Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Sub-index Name 11th Object To Be Mapped Data type UNSIGNED32 Access Read/write...

  • Page 180: 3700H Following Error Option Code

    Manual PD4-C (USB) 12 Object directory description Specified Value 00000000 Sub-index Name 16th Object To Be Mapped Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 3700h Following Error Option Code Function The object contains the action to be executed if a "following error" is triggered. Object description Index 3700...

  • Page 181: 4040H Drive Serial Number

    Manual PD4-C (USB) 12 Object directory description Object Code ARRAY Data type UNSIGNED32 Saveable Savable Access Read only PDO Mapping Admissible Values Specified Value Firmware Version FIR-v1540 Change History Value description Sub-index Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values...

  • Page 182: 603Fh Error Code

    Manual PD4-C (USB) 12 Object directory description Specified Value Firmware Version FIR-v1450 Change History 603Fh Error Code Function This object contains the error code of the last error occurred. This value corresponds to the lower 16 bit of the object 1003 .

  • Page 183: 6041H Statusword

    Manual PD4-C (USB) 12 Object directory description Description This object controls the " DS402 Power State machine". The function of parts of the object are depending on the currently selected mode. HALT OMS [3] SO (Switched On) Value = "1": Switches to the "Switched on" state EV (Enable Voltage) Value = "1": Switches to the "Enable voltage"...

  • Page 184: 6042H Vl Target Velocity

    Manual PD4-C (USB) 12 Object directory description Description This object controls the " DS402 Power State machine". The function of parts of the object are depending on the currently selected mode. OMS [2] TARG REM SYNC WARN SOD FAULT RTSO RTSO (Ready To Switch On) Value = "1": Motor controller is in the "Ready To Switch On"...

  • Page 185: 6043H Vl Velocity Demand

    Manual PD4-C (USB) 12 Object directory description Object Code VARIABLE Data type INTEGER16 Saveable yes, category: application Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00C8 Firmware Version FIR-v1426 Change History Firmware Version FIR-v1626: Entry "Saveable" modified from "No" to "yes, category: application".

  • Page 186: 6046H Vl Velocity Min Max Amount

    Manual PD4-C (USB) 12 Object directory description PDO Mapping TX - PDO Admissible Values Specified Value 0000 Firmware Version FIR-v1426 Change History 6046h Vl Velocity Min Max Amount Function The minimum speed and maximum speed in user units can be set with this object. Object description Index 6046...

  • Page 187: 6048H Vl Velocity Acceleration

    Manual PD4-C (USB) 12 Object directory description Description Sub-index 1 contains the minimum speed. Sub-index 2 contains the maximum speed. Note If the magnitude of the specified target speed (object 6042 ) is less than the minimum speed, the minimum speed applies. If the target speed is 0, the motor stops. A target speed greater than the maximum speed sets the speed to the maximum speed and sets bit 11 "Limit exceeded"...

  • Page 188: 6049H Vl Velocity Deceleration

    Manual PD4-C (USB) 12 Object directory description Admissible Values Specified Value 0001 Description The acceleration is specified as a fraction: Speed change per time change. Sub-index 01 : Contains the speed change in steps per second (U32). Sub-index 02 : Contains the time change in seconds (U16). 6049h Vl Velocity Deceleration Function Sets the brake ramp in velocity mode (see chapter "...

  • Page 189: 604Ah Vl Velocity Quick Stop

    Manual PD4-C (USB) 12 Object directory description Specified Value 0001 604Ah Vl Velocity Quick Stop Function This object defines the deceleration if the quick stop state is initiated in velocity mode. Object description Index 604A Object Name Vl Velocity Quick Stop Object Code RECORD Data type...

  • Page 190: 604Ch Vl Dimension Factor

    Manual PD4-C (USB) 12 Object directory description 604Ch Vl Dimension Factor Function The unit for the speed specifications for the objects that pertain to the Velocity Mode are defined here. Object description Index 604C Object Name Vl Dimension Factor Object Code ARRAY Data type INTEGER32...

  • Page 191: 605Ah Quick Stop Option Code

    Manual PD4-C (USB) 12 Object directory description 605Ah Quick Stop Option Code Function The object contains the action to be executed when the " DS402 Power State machine" transitions to the Quick Stop state. Object description Index 605A Object Name Quick Stop Option Code Object Code VARIABLE...

  • Page 192: 605Ch Disable Option Code

    Manual PD4-C (USB) 12 Object directory description Change History Description Value Description -32768 to -1 Reserved Immediate stop with short-circuit braking Braking with "slow down ramp" (deceleration depending on operating mode) and subsequent state change to "Switch on disabled" 2 to 32767 Reserved 605Ch Disable Option Code Function...

  • Page 193: 605Eh Fault Option Code

    Manual PD4-C (USB) 12 Object directory description Object Code VARIABLE Data type INTEGER16 Saveable yes, category: application Access Read/write PDO Mapping Admissible Values Specified Value 0001 Firmware Version FIR-v1426 Change History Description Value Description -32768 to 0 Reserved Braking with "slow down ramp" (deceleration depending on operating mode) Braking with "quick stop ramp"...

  • Page 194: 6060H Modes Of Operation

    Manual PD4-C (USB) 12 Object directory description 6060h Modes Of Operation Function The desired operating mode is entered in this object. Object description Index 6060 Object Name Modes Of Operation Object Code VARIABLE Data type INTEGER8 Saveable yes, category: application Access Read/write PDO Mapping...

  • Page 195: 6062H Position Demand Value

    Manual PD4-C (USB) 12 Object directory description Access Read only PDO Mapping TX - PDO Admissible Values Specified Value Firmware Version FIR-v1426 Change History 6062h Position Demand Value Function Specifies the actual set position in user units. Object description Index 6062 Object Name Position Demand Value...

  • Page 196: 6064H Position Actual Value

    Manual PD4-C (USB) 12 Object directory description 6064h Position Actual Value Function Contains the current actual position (encoder position converted acc. to Feed Constant (6092) and Gear Ratio (6091) and reference position) In open loop mode, the source of this object can be set either to the internal, calculated value or to the encoder with object 320A In closed loop mode, the source of this object can be set either to the internal, calculated value or to the encoder with object 320B...

  • Page 197: 6066H Following Error Time Out

    Manual PD4-C (USB) 12 Object directory description Description If the value of the following error window is set to "FFFFFFFF" , the following control is switched off. If the difference between the actual position and the set position is so large that value of this object is exceeded, an error will be noted in the object 1003 .

  • Page 198: 6068H Position Window Time

    Manual PD4-C (USB) 12 Object directory description Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 0000000A Firmware Version FIR-v1426 Change History Firmware Version FIR-v1504: Entry "Saveable" modified from "No" to "yes, category: application". 6068h Position Window Time Function For this time period in milliseconds, the actual position must be within the "Position Window"...

  • Page 199: 606Ch Velocity Actual Value

    Manual PD4-C (USB) 12 Object directory description Firmware Version FIR-v1426 Change History Description This object contains the output of the ramp generator which is the specified value for the speed controller at the same time. 606Ch Velocity Actual Value Function The current actual speed in the profile velocity mode.

  • Page 200: 606Eh Velocity Window Time

    Manual PD4-C (USB) 12 Object directory description Description This value specifies by how much the actual speed may vary from the set speed for bit 10 "Target reached" in status word (6041 ) to be set to "1". 606Eh Velocity Window Time Function For this time period in milliseconds, the actual velocity must be within the "Velocity Window"...

  • Page 201: 6072H Max Torque

    Manual PD4-C (USB) 12 Object directory description Change History Firmware Version FIR-v1626: Entry "Saveable" modified from "No" to "yes, category: application". Description The nominal current in object 203B is equal to a nominal torque. This object is expressed as per thousand of this nominal torque, e.g.

  • Page 202: 6077H Torque Actual Value

    Manual PD4-C (USB) 12 Object directory description Firmware Version FIR-v1426 Change History Description The nominal current in object 203B is equal to a nominal torque. This object is expressed as per thousand of this nominal torque, e.g. the value "500" means "50%" of the nominal torque, "1100" is equal to 110%.

  • Page 203: 607Bh Position Range Limit

    Manual PD4-C (USB) 12 Object directory description Admissible Values Specified Value 00000FA0 Firmware Version FIR-v1426 Change History Firmware Version FIR-v1626: Entry "Saveable" modified from "No" to "yes, category: application". 607Bh Position Range Limit Function Contains the minimum and maximum position. Object description Index 607B...

  • Page 204: 607Ch Home Offset

    Manual PD4-C (USB) 12 Object directory description Description If this range is exceeded or undercut, an overflow occurs. Limit values for the target position can be set in object 607D ("Software Position Limit") to prevent this overflow. 607Ch Home Offset Function Specifies the difference between the zero position of the application and the reference point of the machine.

  • Page 205: 607Eh Polarity

    Manual PD4-C (USB) 12 Object directory description Sub-index Name Min Position Limit Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 80000000 Sub-index Name Max Position Limit Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 7FFFFFFF...

  • Page 206: 6081H Profile Velocity

    Manual PD4-C (USB) 12 Object directory description VEL (Velocity) Reversal of the direction of rotation in the following modes: • Profile Velocity Mode • Cyclic Synchronous Velocity Mode • Velocity Mode POS (Position) Reversal of the direction of rotation in the following modes: •...

  • Page 207: 6083H Profile Acceleration

    Manual PD4-C (USB) 12 Object directory description Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Firmware Version FIR-v1426 Change History 6083h Profile Acceleration Function Specifies the maximum acceleration in revolutions within a second. Object description Index 6083 Object Name Profile Acceleration...

  • Page 208: 6085H Quick Stop Deceleration

    Manual PD4-C (USB) 12 Object directory description 6085h Quick Stop Deceleration Function Specifies the maximum Quick Stop deceleration in revolutions/s Object description Index 6085 Object Name Quick Stop Deceleration Object Code VARIABLE Data type UNSIGNED32 Saveable yes, category: application Access Read/write PDO Mapping RX - PDO...

  • Page 209: 608Fh Position Encoder Resolution

    Manual PD4-C (USB) 12 Object directory description Object description Index 6087 Object Name Torque Slope Object Code VARIABLE Data type UNSIGNED32 Saveable yes, category: application Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Firmware Version FIR-v1426 Change History Description The nominal current in object 203B...

  • Page 210: 6091H Gear Ratio

    Manual PD4-C (USB) 12 Object directory description Admissible Values Specified Value 000007D0 Sub-index Name Motor Revolutions Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000001 Description Position encoder resolution = encoder cycles (608F )/motor revolutions (608F 6091h Gear Ratio Function Number of motor revolutions per revolution of the output axis.

  • Page 211: 6092H Feed Constant

    Manual PD4-C (USB) 12 Object directory description Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000001 Description Gear ratio = motor revolutions (6091 ) / shaft revolutions (6091 6092h Feed Constant Function Feed per revolution for a linear drive. Object description Index 6092...

  • Page 212: 6098H Homing Method

    Manual PD4-C (USB) 12 Object directory description Specified Value 00000001 Description Feed Constant = Feed (6092 )/Shaft Revolutions (6092 6098h Homing Method Function This object selects the homing mode. Object description Index 6098 Object Name Homing Method Object Code VARIABLE Data type INTEGER8 Saveable...

  • Page 213: 609Ah Homing Acceleration

    Manual PD4-C (USB) 12 Object directory description Admissible Values Specified Value Sub-index Name Speed During Search For Switch Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000032 Sub-index Name Speed During Search For Zero Data type UNSIGNED32 Access...

  • Page 214: 60A4H Profile Jerk

    Manual PD4-C (USB) 12 Object directory description Change History Description The ramp is only used when starting off. When the switch is reached, the unit is automatically switched to the lower speed and is stopped as soon as it reaches the limit position. 60A4h Profile Jerk Function In case of a jerk-limited ramp, the magnitude of the jerk can be entered in this object.

  • Page 215: 60C1H Interpolation Data Record

    Manual PD4-C (USB) 12 Object directory description Specified Value 000003E8 Sub-index Name End Acceleration Jerk Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 000003E8 Sub-index Name End Deceleration Jerk Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 000003E8 60C1h Interpolation Data Record...

  • Page 216: 60C2H Interpolation Time Period

    Manual PD4-C (USB) 12 Object directory description Sub-index Name 1st Set-point Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Description The next target position can be written in the sub-index 1 for the "Interpolated Position". At the next synchronisation point in time (depending of the type of field bus) this value gets valid.

  • Page 217: 60C4H Interpolation Data Configuration

    Manual PD4-C (USB) 12 Object directory description Sub-index Name Interpolation Time Index Data type INTEGER8 Access Read/write PDO Mapping Admissible Values Specified Value Description The subindices have the following functions: • : Interpolation time, units: Specifies the interpolation time. • : Interpolation time, index: must hold the value of -3 (corresponds to the time basis in milliseconds).
  • Page 218 Manual PD4-C (USB) 12 Object directory description Admissible Values Specified Value Sub-index Name MaximumBufferSize Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000001 Sub-index Name ActualBufferSize Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000001 Sub-index Name...

  • Page 219: 60C5H Max Acceleration

    Manual PD4-C (USB) 12 Object directory description Specified Value Description The value of sub-index 01 contains the maximum possible number of interpolation data records. The value of sub-index 02 contains the actual number of interpolation data records. If sub-index 03 is "00"...

  • Page 220: 60F2H Positioning Option Code

    Manual PD4-C (USB) 12 Object directory description Admissible Values Specified Value 00001388 Firmware Version FIR-v1426 Change History 60F2h Positioning Option Code Function This object defines the positioning behaviour in "Profile Position" mode. Object description Index 60F2 Object Name Positioning Option Code Object Code VARIABLE Data type...

  • Page 221: 60F4H Following Error Actual Value

    Manual PD4-C (USB) 12 Object directory description RRO ( Request-Response Option) WARNING These options make the controller modify the object Controlword 6040 These bits determine the behaviour of the controlword 6040 Bit 5 ("new setpoint") - the controller releases the bit itself. Therefore there is no need to set the bit to the value "0" externally.

  • Page 222: 60Fdh Digital Inputs

    Manual PD4-C (USB) 12 Object directory description Data type INTEGER32 Saveable Access Read only PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Firmware Version FIR-v1426 Change History Description This object is computed with user-defined units (see " User-defined units"). 60FDh Digital Inputs Function The digital inputs of the motor can be read with this object.

  • Page 223: 60Feh Digital Outputs

    Manual PD4-C (USB) 12 Object directory description 60FEh Digital Outputs Function The digital outputs of the motor can be written with this object. Object description Index 60FE Object Name Digital Outputs Object Code ARRAY Data type UNSIGNED32 Saveable yes, category: application Firmware Version FIR-v1426 Change History...

  • Page 224: 60Ffh Target Velocity

    Manual PD4-C (USB) 12 Object directory description 60FFh Target Velocity Function The target speed for the "Profile Velocity" the "Cyclic Synchronous Torque" mode is entered in this object. This object is computed with user-defined units (see " User-defined units"). The motor controller is delivered with the units set to revolutions per minute.

  • Page 225: 6505H Http Drive Catalogue Address

    This object contains the web address of the manufacturer as a string. Object description Index 6505 Object Name Http Drive Catalogue Address Object Code VARIABLE Data type VISIBLE_STRING Saveable Access Read only PDO Mapping Admissible Values Specified Value http://www.nanotec.de Firmware Version FIR-v1426 Change History Version: 1.4.1 / 22.07.2016 / FIR-v1626...

  • Page 226: Copyright Notice

    13 Copyright notice 13 Copyright notice 13.1 Introduction Components from external software manufacturers are integrated in the Nanotec software. In this section you will find copyright information on the external sources of software components. 13.2 AES FIPS-197 compliant AES implementation Based on XySSL: Copyright (C) 2006-2008 Christophe Devine Copyright (C) 2009 Paul Bakker <polarssl_maintainer at polarssl dot org>...

  • Page 227: Md5

    Manual PD4-C (USB) 13 Copyright notice (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

  • Page 228: Cmsis Dsp Software Library

    Manual PD4-C (USB) 13 Copyright notice 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

  • Page 229: Lwip

    Manual PD4-C (USB) 13 Copyright notice 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the Institute nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

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