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NANOTEC PD4-E-M Technical Manual

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Technical Manual PD4-E-M
Fieldbus: EtherCAT
For use with the following devices:
PD4-E591L42-M-65-1, PD4-EB59CD-M-65-1
Valid with firmware version FIR-v1748
Technical Manual Version: 1.0.1
and since hardware version W002b

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Summary of Contents for NANOTEC PD4-E-M

  • Page 1 Technical Manual PD4-E-M Fieldbus: EtherCAT For use with the following devices: PD4-E591L42-M-65-1, PD4-EB59CD-M-65-1 Valid with firmware version FIR-v1748 Technical Manual Version: 1.0.1 and since hardware version W002b...

  • Page 2: Table Of Contents

    Technical Manual PD4-E-M (EtherCAT) Contents Contents 1 Introduction....................7 1.1 Version information..........................7 1.2 Copyright, marking and contact......................7 1.3 Intended use............................7 1.4 Warranty and disclaimer........................7 1.5 Specialist staff............................8 1.6 Other applicable regulations........................8 1.7 EU directives for product safety......................8 1.8 Used icons.............................8 1.9 Emphasis in the text..........................
  • Page 3 Technical Manual PD4-E-M (EtherCAT) Contents 6.10 Clock-direction mode......................... 74 6.11 Auto setup............................76 7 Special functions..................78 7.1 Digital inputs and outputs........................78 7.2 I t Motor overload protection.......................87 7.3 Saving objects............................. 88 8 EtherCAT....................93 9 Programming with NanoJ................94 9.1 NanoJ program............................94 9.2 Mapping in the NanoJ program......................
  • Page 4 Technical Manual PD4-E-M (EtherCAT) Contents 203Ah Homing On Block Configuration....................157 203Bh I2t Parameters..........................159 203Dh Torque Window..........................161 203Eh Torque Window Time Out......................162 203Fh Max Slippage Time Out....................... 162 2056h Limit Switch Tolerance Band......................163 2057h Clock Direction Multiplier......................163 2058h Clock Direction Divider......................... 164 2059h Encoder Configuration........................
  • Page 5 Technical Manual PD4-E-M (EtherCAT) Contents 6043h Vl Velocity Demand........................227 6044h Vl Velocity Actual Value....................... 228 6046h Vl Velocity Min Max Amount......................228 6048h Vl Velocity Acceleration........................229 6049h Vl Velocity Deceleration....................... 230 604Ah Vl Velocity Quick Stop......................... 231 604Ch Vl Dimension Factor........................232 605Ah Quick Stop Option Code......................
  • Page 6 60B2h Torque Offset..........................269 60C1h Interpolation Data Record......................269 60C2h Interpolation Time Period......................270 60C4h Interpolation Data Configuration....................271 60C5h Max Acceleration..........................273 60C6h Max Deceleration......................... 274 60E4h Additional Position Actual Value....................274 60E5h Additional Velocity Actual Value....................275 60E6h Additional Position Encoder Resolution - Encoder Increments............276 60E8h Additional Gear Ratio - Motor Shaft Revolutions.................278 60E9h Additional Feed Constant - Feed....................279 60EBh Additional Position Encoder Resolution - Motor Revolutions............

  • Page 7: Introduction

    1 Introduction 1 Introduction The PD4-E-M is a brushless motor with integrated controller in protection class IP65. The integrated absolute encoder makes immediate operation possible in closed loop mode without homing. This manual describes the functions of the controller and the available operating modes. It also shows how you can address and program the controller via the communication interface.

  • Page 8: Specialist Staff

    Technical Manual PD4-E-M (EtherCAT) 1 Introduction Under no circumstances may a Nanotec product be integrated as a safety controller in a product or construction. All products containing a component part manufactured by Nanotec must, upon delivery to the end user, be provided with corresponding warning notices and instructions for safe use and safe operation.

  • Page 9: Numerical Values

    Technical Manual PD4-E-M (EtherCAT) 1 Introduction • The following bits in object 6041 (statusword) have a special function: • A list of available system calls can be found in chapter System calls in a NanoJ program. Text set in italics marks named objects: •...

  • Page 10: Safety And Warning Notices

    Technical Manual PD4-E-M (EtherCAT) 2 Safety and warning notices 2 Safety and warning notices Note • Damage to the controller. • Changing the wiring during operation may damage the controller. • Only change the wiring in a de-energized state. After switching off, wait until the capacitors have discharged.

  • Page 11: Technical Details And Pin Assignment

    Technical Manual PD4-E-M (EtherCAT) 3 Technical details and pin assignment 3 Technical details and pin assignment   3.1 Environmental conditions   Environmental condition Value Protection class IP65 (except for shaft output) Ambient temperature (operation) -10 … +40°C Air humidity (non-condensing) 0 …...

  • Page 12: Electrical Properties And Technical Data

    Technical Manual PD4-E-M (EtherCAT) 3 Technical details and pin assignment 3.2.2 PD4-EB59CD-M-65-1 Front view and mounting Side view Rear view View X 3.3 Electrical properties and technical data 3.3.1 Technical data – motor PD4-E PD4-EB Type High-pole DC servo (stepper...

  • Page 13: Overtemperature Protection

    Technical Manual PD4-E-M (EtherCAT) 3 Technical details and pin assignment Integrated encoder Magnetic multiturn absolute encoder, single-turn resolution: 12 bit (4096 per revolution), number of revolutions: +/-2 Protection circuit Overvoltage and undervoltage protection Overtemperature protection (> 68° Celsius on rear cover) Polarity reversal protection: In the event a polarity reversal, a short- circuit will occur between supply voltage and GND over a power diode;...
  • Page 14 Technical Manual PD4-E-M (EtherCAT) 3 Technical details and pin assignment Summary: At 25°C (+48 V, 4.2/6 A rms, Velocity Mode 30 rpm), the controller was in operation for longer than 2 hours without having been switched off. The temperature on the cover was stable at approx. 60°C.

  • Page 15: Led Signaling

    Technical Manual PD4-E-M (EtherCAT) 3 Technical details and pin assignment Note Aside from the motor, the exact temperature behavior is also dependent on the flange connection and the heat transfer there as well as on the convection in the application. For this reason, we recommend always performing an endurance test in the actual environment for applications in which current level and ambient temperature pose a problem.
  • Page 16 Technical Manual PD4-E-M (EtherCAT) 3 Technical details and pin assignment Flash rate Error Overcurrent Controller Watchdog-Reset Note For each error that occurs, a more precise error code is stored in object 1003 3.5.2 EtherCAT LEDs The PD4-E is equipped with three LEDs (LINK, RUN, ERR) which indicate the status of the controller on the EtherCAT bus.
  • Page 17 Technical Manual PD4-E-M (EtherCAT) 3 Technical details and pin assignment The green RUN LED indicates one of the following controller states (EtherCAT slave): LED behavior Status Prerequisite Permanently off INIT The slave is in the initialisation state. Flashing PRE-OPERATIONAL The slave is in the PRE-OPERATIONAL state.

  • Page 18: Pin Assignment

    Technical Manual PD4-E-M (EtherCAT) 3 Technical details and pin assignment LED behavior Status Prerequisite Permanently off No error Not an error Flashing Invalid Configuration General configuration error Single flash Local Error The slave automatically changed its EtherCAT status due to a local error.
  • Page 19 Technical Manual PD4-E-M (EtherCAT) 3 Technical details and pin assignment Function Note Transmission Data + Receiver Data + Transmission Data - Receiver Data - 3.6.3 Connector X2 - EtherCAT OUT Connection for EtherCAT. Connector type: M12, 4-pin, D-coded, female Function...
  • Page 20 Technical Manual PD4-E-M (EtherCAT) 3 Technical details and pin assignment Voltage source The operating or supply voltage supplies a battery, a transformer with rectification and filtering, or a switching power supply. Note • EMC: For a DC power supply line longer than 30 m or when using the motor on a DC bus, additional interference-suppression and protection measures are necessary.
  • Page 21 Technical Manual PD4-E-M (EtherCAT) 3 Technical details and pin assignment 3.6.5 Connector X4 - inputs/outputs and external logic supply Connection for the digital and analog inputs/outputs and the external logic supply. Connector type: M12, 12-pin, A-coded, male Function Note Digital input 1...
  • Page 22 Technical Manual PD4-E-M (EtherCAT) 3 Technical details and pin assignment In 4015 , you can activate the alternative function of the digital inputs, which is used for the special drive modes. See chapter Special drive modes (clock-direction and analog speed).

  • Page 23: Commissioning

    The Plug & Drive Studio software offers you an option for performing the configuration and adapting the motor parameters to your application. You can find further information in document Plug & Drive Studio: Quick Start Guide at us.nanotec.com. The controller also offers you the possibility to switch special drive modes on/off via object 4015 .

  • Page 24: Establishing Communication

    3. Obtain the ESI file that corresponds exactly to the used firmware version from the following sources: a. From the Nanotec website us.nanotec.com. The current version of the firmware and the ESI file can be found in the Plug & Drive Studio download folder.

  • Page 25: Auto Setup

    Technical Manual PD4-E-M (EtherCAT) 4 Commissioning Note The cycle time of the sync signal must always be set to 1 ms. You can set the bus cycle time (and, consequently, the interpolation time in 60C2 ) to integer multiples of 1 ms.
  • Page 26 Technical Manual PD4-E-M (EtherCAT) 4 Commissioning Parameter All motors independent of the configuration Winding inductance Interlinking flux Parameter Motor without encoder Motor with encoder Motor with encoder and index without index Encoder resolution Alignment (shifting of the electrical zero to the index.)

  • Page 27: Test Run

    Technical Manual PD4-E-M (EtherCAT) 4 Commissioning While the auto setup is running, the following tests and measurements are performed in succession: 1) To determine the values, the direction of the measurement method is reversed and edge detection re-evaluated. Value 1 in bit 12 OMS in object 6041 (statusword) indicates that the auto setup was completely executed and ended.

  • Page 28: Special Drive Modes (Clock-Direction And Analog Speed)

    Technical Manual PD4-E-M (EtherCAT) 4 Commissioning The values are transferred from your EtherCAT master to the controller. After every transfer, the master should use the status objects of the controller to ensure successful parameterization. 1. Select the Velocity mode by setting object 6060 (Modes Of Operation) to the value "2".
  • Page 29 Technical Manual PD4-E-M (EtherCAT) 4 Commissioning Value Mode Clock-direction Open Loop Clock-direction Open Loop Clock-direction (test Test run with 30 rpm Clockwise direction of Open Loop run) rotation Clock-direction (test Test run with 30 rpm Counterclockwise direction Open Loop run)
  • Page 30 Technical Manual PD4-E-M (EtherCAT) 4 Commissioning +max dead zone rotational speed n = 0 Analogue input voltage Joystick mode You must connect the release input and the analog input (see chapter Connector X4 - inputs/ outputs and external logic supply). Half of the maximum analog voltage corresponds to the speed 0.

  • Page 31: General Concepts

    Technical Manual PD4-E-M (EtherCAT) 5 General concepts 5 General concepts 5.1 Control modes 5.1.1 General The control mode of systems without feedback is called open loop, the mode with feedback is called closed loop. In the closed loop control mode, it is initially irrelevant whether the fed back signals come from the motor itself or from the influenced process.
  • Page 32 Technical Manual PD4-E-M (EtherCAT) 5 General concepts Feedback Stepper motor BLDC motor Sensorless Various operating modes can be used depending on the control mode. The following list contains all the types of operation that are possible in the various control modes.
  • Page 33 Technical Manual PD4-E-M (EtherCAT) 5 General concepts • In object 2030 (Pole Pair Count), enter the number of pole pairs (see motor data sheet: for a stepper motor with 2 phases, a step angle of 1.8° corresponds to 50 pole pairs and 0.9°...
  • Page 34 – supplies the position and speed information with the same precision as a real optical or magnetic encoder. All controllers from Nanotec that support closed loop mode implement a field oriented control with sine commutated current control. Thus, the stepper motors and BLDC motor are controlled in the same way as a servo motor.

  • Page 35: Cia 402 Power State Machine

    Technical Manual PD4-E-M (EtherCAT) 5 General concepts Commissioning An auto setup must be performed before using closed loop mode. The auto setup operating mode automatically determines the necessary parameters (e.g., motor data, feedback systems) that are necessary for optimum operation of the field oriented control. All information necessary for performing the auto setup can be found in chapter Auto setup.
  • Page 36 Technical Manual PD4-E-M (EtherCAT) 5 General concepts Low-level power voltage switched on for controller Software cannot Not ready to Start High-level voltage can be switched on rectify error switch on Switched on Fault disabled Ready to switch on High-level power...
  • Page 37 Technical Manual PD4-E-M (EtherCAT) 5 General concepts Statusword Listed in the following table are the bit masks that break down the state of the controller. Statusword (6041 State xxxx xxxx x0xx 0000 Not ready to switch on xxxx xxxx x1xx 0000...
  • Page 38 Technical Manual PD4-E-M (EtherCAT) 5 General concepts Low-level power voltage switched on for controller Software cannot Not ready to Start High-level voltage can be switched on rectify error switch on Switched on Fault disabled Ready to switch on Disable voltage...
  • Page 39 Technical Manual PD4-E-M (EtherCAT) 5 General concepts Ready to switch on Transition to the Ready to switch on state (shutdown option): In this case, the action stored in object 605B is executed (see following table). Value in object 605B Description -32768 …...

  • Page 40: User-Defined Units

    Technical Manual PD4-E-M (EtherCAT) 5 General concepts Value in object 605E Description -32768 … -1 Reserved Immediate stop Braking with slow down ramp (braking deceleration depending on operating mode) Braking with quick stop ramp (braking deceleration depending on operating mode) 3 …...
  • Page 41 Technical Manual PD4-E-M (EtherCAT) 5 General concepts Factor Units Encoder Encoder resolution Encoder increments Steps Motor Pole pairs Electrical poles Degree, Grade etc. Gear ratio Gearbox Revolutions Metre Inch Feed constant Linear axis Foot dimensionless Note Value changes of all objects that are described in this chapter are not immediately applied in the Operation enabled state of the CiA 402 Power State Machine.
  • Page 42 Technical Manual PD4-E-M (EtherCAT) 5 General concepts                             Description Name Unit symbol Value 6091 6092 encoder Encoder increments increment step Steps. With 2-phase stepper motors, the number of pole pairs (2030 ) multiplied by 4 is equivalent to one revolution. With 3-...
  • Page 43 Technical Manual PD4-E-M (EtherCAT) 5 General concepts 5.3.3 Gear ratio The gear ratio is calculated from motor revolutions (6091 :1 (Motor Revolutions)) per axis rotation (6091 :2 (Shaft Revolutions)) as follows: Motor revolution (6091 h :1) Gear ratio = Shaft revolution (6091 h :2) 5.3.4 Feed constant...
  • Page 44 Technical Manual PD4-E-M (EtherCAT) 5 General concepts Speed unit Object 60A9 contains: • Bits 8 to 15: The time unit (see chapter Units) • Bits 16 to 23: The position unit (see chapter Units) • Bits 24 to 31: The exponent of a power of ten (see chapter Units)

  • Page 45: Limitation Of The Range Of Motion

    Technical Manual PD4-E-M (EtherCAT) 5 General concepts Jerk unit The jerk unit is Acceleration unit per second. Conversion factor for jerk The factor n for the jerk is calculated from the numerator (60A2 ) divided by the denominator (60A2 60A2...
  • Page 46 Technical Manual PD4-E-M (EtherCAT) 5 General concepts Task Cycle time Speed controller 250 µs (4 kHz) Position controller 1 ms Version: 1.0.1 / FIR-v1748...

  • Page 47: Operating Modes

    Technical Manual PD4-E-M (EtherCAT) 6 Operating modes 6 Operating modes 6.1 Profile Position 6.1.1 Overview Description Profile Position Mode is used to move to positions relative to the last target position or to an absolute position (last reference position). During the movement, the limit values for the speed, starting acceleration/braking deceleration and jerks are taken into account.
  • Page 48 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes Note Bit 9 in the controlword is ignored if the ramp speed is not met at the target point. In this case, the controller would need to reset and take a run-up to reach the preset.
  • Page 49 Technical Manual PD4-E-M (EtherCAT) 6 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 can also reset bit 4 in object 6040 (controlword) on its own.
  • Page 50 Technical Manual PD4-E-M (EtherCAT) 6 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)
  • Page 51 Technical Manual PD4-E-M (EtherCAT) 6 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) Possibilities for moving to a target position If bit 9 in object 6040 (controlword) is equal to "0", the current target position is first moved to...
  • Page 52 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes The following applies for the figures below: • A double arrow indicates a new travel command. • The first travel command at the start is always an absolute travel command to position 1100.
  • Page 53 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes - Change on setpoint (6040 :00 Bit 5 = 0) - Move absolute (6040 :00 Bit 6 = 0) - Target position: 300 Target position: 1100 (absolute) 1100 1400 position - Relative to the actual position (60F2...
  • Page 54 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes 6.1.4 Boundary conditions for a positioning move Object entries The boundary conditions for the position that has been moved to can be set in the following entries of the object dictionary: • 607A : (Target Position): Planned target position •...
  • Page 55 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes Parameters for the target position The following graphic shows an overview of the parameters that are used for moving to a target position (figure not to scale). Set point (607A Profile velocity (6081 End velocity (6082 Max.

  • Page 56: Velocity

    Technical Manual PD4-E-M (EtherCAT) 6 Operating modes 6.2 Velocity 6.2.1 Description This mode operates the motor at a preset target speed, similar to a frequency inverter. Unlike the Profile Velocity Mode, this mode does not permit the selection of jerk-limited ramps.

  • Page 57: Profile Velocity

    Technical Manual PD4-E-M (EtherCAT) 6 Operating modes • 604A (Velocity Quick Stop): This object can be used to set the quick-stop ramp. Subindices 1 and 2 are identical to those described for object 6048 • 6080 (Max Motor Speed): Maximum speed The following objects can be used to check the function: •...
  • Page 58 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes 6.3.3 Controlword The following bits in object 6040 (controlword) have a special function: • Bit 8 (Halt): If this bit is set to "1", the motor stops. On a transition from "1" to "0", the motor accelerates with the set start ramp to the target speed.
  • Page 59 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes Objects in Profile Velocity Mode Target velocity 60FFh Profile acceleration 6083h Profile deceleration 6084h Velocity demand Quick stop deceleration 6085h value 606Bh Limit Trajectory multiplier Max acceleration 60C5h function generator Max deceleration 60C6h...

  • Page 60: Profile Torque

    Technical Manual PD4-E-M (EtherCAT) 6 Operating modes Velocity window (606D Profile velocity (60FF Velocity window (606D Max. acceleration (60C5 Profile acceleration (6083 Profile deceleration (6084 Max. deceleration (60C6 6.4 Profile Torque 6.4.1 Description In this mode, the torque is preset as a set value and reached via a ramp function.
  • Page 61 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes 6040 6041 Description Bit 8 Bit 10 Specified torque not reached Specified torque reached Axis accelerated Axis speed is 0 • Bit 11: Limit exceeded: The target torque (6071 ) exceeds the maximum torque entered in 6072 6.4.5 Object entries...

  • Page 62: Homing

    Technical Manual PD4-E-M (EtherCAT) 6 Operating modes Torque curve Target torque 6071 1sec Torque slope Torque slope 6087 6087 1sec 6.5 Homing 6.5.1 Overview Description The purpose of the homing method is to align the position zero point of the controller with an encoder index or position switch.
  • Page 63 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes • 6099 (Speed During Search For Switch): Speed for the search of the switch • 6099 (Speed During Search For Zero): Speed for the search of the index • 6080 (Max Motor Speed): Maximum speed •...
  • Page 64 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes following figures. Methods for which no limit switches are used and, instead, travel against a block is to be detected, a minus must be placed before the method number when making the call.
  • Page 65 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes Index pulse Negative limit switch Method 2 references to positive limit switch and index pulse: Index pulse Positive limit switch Methods 3 to 6 Reference to the switching edge of the home switch and index pulse.
  • Page 66 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes With these methods, the current position relative to the home switch is not important. With method 10, for example, referencing is always performed to the index pulse to the right of the right edge of the home switch.
  • Page 67 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes Positive limit switch Methods 19 to 22 Reference to the switching edge of the home switch without the index pulse. With methods 19 and 20 (equivalent to methods 3 and 4), the left switching edge of the home switch is...
  • Page 68 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes Reference switch Positive limit switch Methods 27 to 30 take the negative home switch into account: Reference switch Negative limit switch Methods 33 and 34 Reference to the next index pulse. With these methods referencing is only performed to the respective subsequent index pulse:...

  • Page 69: Interpolated Position Mode

    Technical Manual PD4-E-M (EtherCAT) 6 Operating modes Note For Homing Mode 35, it is not necessary to switch the CiA 402 Power State Machine to the "Operation enabled" state. When energizing the motor windings in open loop mode, it is thereby possible to prevent the current position from not being exactly 0 after Homing Mode 35.

  • Page 70: Cyclic Synchronous Position

    Technical Manual PD4-E-M (EtherCAT) 6 Operating modes 6.6.5 Use The controller follows a linearly interpolated path between the current position and the preset target position. The (next) target position must be written in record 60C1 Own interpolated data Data given...
  • Page 71 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes Note The target is absolute and, thus, independent of how often it was sent per cycle. Note The limit switches and, thus, the tolerance bands are active in this mode. For further information on the limit switches, see Limitation of the range of motion.

  • Page 72: Cyclic Synchronous Velocity

    Technical Manual PD4-E-M (EtherCAT) 6 Operating modes • 605A (Quick-Stop Option Code): This object contains the option that is to be executed in the event of a quick-stop. • 6080 (Max Motor Speed): Maximum speed • 60C2 (Interpolation Time Period): This object specifies the time of a cycle; a new set value must be written in 607A in these time intervals.

  • Page 73: Cyclic Synchronous Torque

    Technical Manual PD4-E-M (EtherCAT) 6 Operating modes 6.8.2 Object entries The following objects are necessary for controlling this mode: • 60FF (Target Velocity): This object must be written cyclically with the speed set value. • 6085 (Quick-Stop Deceleration): This object contains the braking deceleration for the case that a quick-stop is triggered (see "CiA 402 Power State Machine").

  • Page 74: Clock-Direction Mode

    Technical Manual PD4-E-M (EtherCAT) 6 Operating modes Value Description Reserved Reserved Controller does not follow the target; the preset of 6071 (Target Torque) is ignored Controller follows the target; object 6071 (Target Torque) is used as the input for position control.
  • Page 75 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes min. 200ns clock input min. 1µs (max. 1MHz) • The steps are scaled using objects 2057 and 2058 . The following formula applies here: 2057 step width per pulse = 2058 The "step size per pulse" value is set to 128 (2057...

  • Page 76: Auto Setup

    Technical Manual PD4-E-M (EtherCAT) 6 Operating modes min. 35µs clock input direction input Right / left rotation mode (CW / CCW mode) To activate the mode, object 205B must be set to the value "1". In this mode, the input that is used decides the direction of rotation (see following graphic).
  • Page 77 Technical Manual PD4-E-M (EtherCAT) 6 Operating modes 6.11.3 Controlword The following bits in object 6040 (controlword) have a special function: • Bit 4 starts a travel command. This is carried out on a transition from "0" to "1". 6.11.4 Statusword...

  • Page 78: Special Functions

    Technical Manual PD4-E-M (EtherCAT) 7 Special functions 7 Special functions 7.1 Digital inputs and outputs This controller is equipped with digital inputs and outputs. 7.1.1 Bit assignment The software of the controller assigns each input and output two bits in the respective object (e.g., 60FDh Digital Inputs or 60FEh Digital Outputs): 1.
  • Page 79 Technical Manual PD4-E-M (EtherCAT) 7 Special functions Input Special function Switching threshold Differential / switchable single-ended Negative limit switch yes, 5 V or 24 V (see 3240 The inputs can only be Positive limit switch / direction yes, 5 V or 24 V (see 3240...
  • Page 80 Technical Manual PD4-E-M (EtherCAT) 7 Special functions • 3240 (Input Range Select): This can be used to switch inputs – that are equipped with this function – from the switching threshold of 5 V (bit is "0") to the switching threshold of 24 V (bit is "1").
  • Page 81 Technical Manual PD4-E-M (EtherCAT) 7 Special functions Note If Input Routing is switched on, the initial values of 3242 are changed and correspond to the function of the input as it was before activation of Input Routing. The inputs of the controller behave the same with activation of Input Routing.
  • Page 82 Technical Manual PD4-E-M (EtherCAT) 7 Special functions Number Signal source 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 Example Input 1 is to be routed to bit 16 of object 60FD The number of the signal source for input 1 is "1".
  • Page 83 Technical Manual PD4-E-M (EtherCAT) 7 Special functions of 10 kΩ is recommended. With a supply voltage of +24 V, a resistance value R external Example A simple load is to be used with the digital output. 24 V Nanotec Controller...
  • Page 84 Technical Manual PD4-E-M (EtherCAT) 7 Special functions Range of normal Range of output pins output pins with special function Bit31 Bit16 Bit15 Bit0 60FEh Bit in 3250h:3 Bit in 3250h:2 0: Value not forced 0: Do not invert logic Value of...
  • Page 85 Technical Manual PD4-E-M (EtherCAT) 7 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 object 3250 (Routing Enable) to 1.
  • Page 86 Technical Manual PD4-E-M (EtherCAT) 7 Special functions Number in 3252:01 to 05 01XX Output is always "0" 02XX Encoder signal (6063 ) with frequency divider 1 03XX Encoder signal (6063 ) with frequency divider 2 04XX Encoder signal (6063 ) with frequency divider 4...

  • Page 87: I 2 T Motor Overload Protection

    Technical Manual PD4-E-M (EtherCAT) 7 Special functions 7.2 I t Motor overload protection 7.2.1 Description Note For stepper motors, only the rated current is specified, not a maximum current. No liability is therefore assumed when using I t with stepper motors.

  • Page 88: Saving Objects

    Technical Manual PD4-E-M (EtherCAT) 7 Special functions current Maximum current Nominal current In the first section, t1, the current value is higher than the rated current. At time t1 is reached and the current is limited to the rated current. A current that corresponds to the maximum current then occurs for a period of time t2.
  • Page 89 Technical Manual PD4-E-M (EtherCAT) 7 Special functions 7.3.2 Category: communication • 1600 : Receive PDO 1 Mapping Parameter • 1601 : Receive PDO 2 Mapping Parameter • 1602 : Receive PDO 3 Mapping Parameter • 1603 : Receive PDO 4 Mapping Parameter •...
  • Page 90 Technical Manual PD4-E-M (EtherCAT) 7 Special functions • 604C : Vl Dimension Factor • 605A : Quick Stop Option Code • 605B : Shutdown Option Code • 605C : Disable Option Code • 605D : Halt Option Code • 605E : Fault Option Code •...
  • Page 91 Technical Manual PD4-E-M (EtherCAT) 7 Special functions • 60FE : Digital Outputs • 60FF : Target Velocity 7.3.4 Category: customer • 2701 : Customer Storage Area 7.3.5 Category: drive • 3202 : Motor Drive Submode Select • 3203 : Feedback Selection 7.3.6 Category: tuning...
  • Page 92 Technical Manual PD4-E-M (EtherCAT) 7 Special functions 7.3.8 Discarding the saved data If all objects or one category of saved objects is to be deleted, value "64616F6C " must be written in object 1011 The following subindices correspond to a category here:...

  • Page 93: Ethercat

    Technical Manual PD4-E-M (EtherCAT) 8 EtherCAT 8 EtherCAT EtherCAT references: www.ethercat.org. • ETG.1000.1 - Overview, Date: 03.01.2013, Version 1.0.3 • ETG.1000.2 - Physical Layer service and protocol specification, Date: 03.01.2013, Version 1.0.3 • ETG.1000.3 - Data Link Layer service definition, Date: 03.01.2013, Version 1.0.3 •...

  • Page 94: Programming With Nanoj

    Technical Manual PD4-E-M (EtherCAT) 9 Programming with NanoJ 9 Programming with NanoJ NanoJ is a programming language similar to C or C++. NanoJ is integrated in the Plug & Drive Studio software. You can find further information in document Plug & Drive Studio: Quick Start Guide at us.nanotec.com.
  • Page 95 The number of mappings is limited (16 entries each in In/Out/ InOut). Nanotec recommends: Map OD entries that are used and changed frequently and use system calls to access OD entries that are used less frequently.
  • Page 96 A list of available system calls can be found in chapter System calls in a NanoJ program. Nanotec recommends accessing a given OD value either by mapping or using a system call with od_write(). If both are used simultaneously, the system call has no effect.

  • Page 97: Mapping In The Nanoj Program

    InOut.outputReg1 = 1; else counter = 0; // yield() 5 times (delay 5ms) for(U08 i = 0; i < 5; ++i ) yield(); }// eof You can find other examples at us.nanotec.com. 9.2 Mapping in the NanoJ program Version: 1.0.1 / FIR-v1748...
  • Page 98 Technical Manual PD4-E-M (EtherCAT) 9 Programming with NanoJ With this method, a variable in the NanoJ program is linked directly with an entry in the object dictionary. The creation of the mapping must be located at the start of the file here, even before the #include "wrapper.h"...

  • Page 99: System Calls In A Nanoj Program

    Technical Manual PD4-E-M (EtherCAT) 9 Programming with NanoJ 9.2.3 Possible error at od_write() A possible source of errors is a write access with the od_write() function (see System calls in a NanoJ program) of an object in the object dictionary that was simultaneously created as mapping. The...
  • Page 100 Technical Manual PD4-E-M (EtherCAT) 9 Programming with NanoJ index Index of the object to be read in the object dictionary subindex Subindex of the object to be read in the object dictionary Output value Content of the OD entry Note Active waiting for a value in the object dictionary should always be associated with a yield().

  • Page 101: Description Of The Object Dictionary

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 10 Description of the object dictionary 10.1 Overview This chapter contains a description of all objects. You will find information here on: • Functions • Object descriptions ("Index") • Value descriptions ("Subindices") •...

  • Page 102: Value Description

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary • VISIBLE_STRING: The object describes a character string coded in ASCII. The length of the string is specified in subindex 0; the individual characters are stored beginning in subindex 1.

  • Page 103: Description

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Listed in the table with the "Value description" heading are all data for sub-entries with subindex 1 or higher. The table contains the following entries: Subindex Number of the currently written sub-entry.

  • Page 104: 1000H Device Type

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Example [2] Description of bits 3 and 2; these bits are logically related. The 2 in square brackets specifies the number of related bits. • Value 00 : The description here applies if bit 2 and bit 3 are "0".

  • Page 105: 1001H Error Register

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Device profile number[16] Describes the supported CANopen standard. Values: 0192 or 0402 (preset value): The CiA 402 standard is supported. 1001h Error Register Function Error register: The corresponding error bit is set in case of an error. If the error no longer exists, it is deleted automatically.

  • Page 106: 1003H Pre-Defined Error Field

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Reserved, always "0" Manufacturer-specific: The motor turns in the wrong direction. 1003h Pre-defined Error Field Function This object contains an error stack with up to eight entries. Object description Index...
  • Page 107 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Preset value 00000000 Subindex Name Standard Error Field Data type UNSIGNED32 Access read only PDO mapping Allowed values Preset value 00000000 Subindex Name Standard Error Field Data type UNSIGNED32 Access...
  • Page 108 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Name Standard Error Field Data type UNSIGNED32 Access read only PDO mapping Allowed values Preset value 00000000 Description General function If a new error occurs, it is entered in subindex 1. The already existing entries in subindices 1 to 7 are moved back one position.
  • Page 109 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Error number Description CANopen only: Slave took too long to send PDO messages. Hall sensor faulty CANopen only: PDO not processed due to a length error CANopen only: PDO length exceeded Warning: Nonvolatile memory full;...

  • Page 110: 1008H Manufacturer Device Name

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Error Code Description 9000 EtherCAT only: The motor was stopped because EtherCAT switched state from OP to either SafeOP or PreOP without first stopping the motor. 1008h Manufacturer Device Name Function Contains the device name as character string.

  • Page 111: 100Ah Manufacturer Software Version

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 100Ah Manufacturer Software Version Function This object contains the software version as character string. Object description Index 100A Object name Manufacturer Software Version Object Code VARIABLE Data type VISIBLE_STRING Savable...
  • Page 112 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Save All Parameters To Non-volatile Memory Data type UNSIGNED32...
  • Page 113 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Name Save Drive Parameters To Non-volatile Memory Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000001 Subindex Name Save Tuning Parameters To Non-volatile Memory Data type...

  • Page 114: 1011H Restore Default Parameters

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary PDO mapping Allowed values Preset value 00000001 Subindex Name Save Modbus RTU Configurations To Non-volatile Memory Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000001...
  • Page 115 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 1011 Object name Restore Default Parameters Object Code ARRAY Data type UNSIGNED32 Savable Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1426 Change history Firmware version FIR-v1436: "Object Name"...
  • Page 116 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name Restore Communication Default Parameters Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000001 Subindex Name Restore Application Default Parameters Data type UNSIGNED32 Access...
  • Page 117 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Restore Reserved1 Configurations To Non-volatile Memory Data type UNSIGNED32 Access read / write PDO mapping Allowed values...

  • Page 118: 1018H Identity Object

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Preset value 00000001 Subindex Name Restore Profibus Configurations To Non-volatile Memory Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000001 Description or ASCII load) is written in this object, part or all of the object...

  • Page 119: 1020H Verify Configuration

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name Vendor-ID Data type UNSIGNED32 Access read only PDO mapping Allowed values Preset value 0000026C Subindex Name Product Code Data type UNSIGNED32 Access read only PDO mapping Allowed values Preset value •...
  • Page 120 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 1020 Object name Verify Configuration Object Code ARRAY Data type UNSIGNED32 Savable yes, category: verify Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1540...

  • Page 121: 1600H Receive Pdo 1 Mapping Parameter

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 1600h Receive PDO 1 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can receive (RX-PDO 1). Object description Index 1600 Object name Receive PDO 1 Mapping Parameter...
  • Page 122 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 32020020 Subindex Name 4th Object To Be Mapped Data type...

  • Page 123: 1601H Receive Pdo 2 Mapping Parameter

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 00000000 Description Each subindex (1–8) describes a different mapped object. A mapping entry consists of four bytes, which are structured according to the following graphic.
  • Page 124 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary PDO mapping Allowed values Preset value Subindex Name 1st Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 607A0020 Subindex Name 2nd Object To Be Mapped...

  • Page 125: 1602H Receive Pdo 3 Mapping Parameter

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name 6th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 7th Object To Be Mapped Data type...
  • Page 126 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 1602 Object name Receive PDO 3 Mapping Parameter Object Code RECORD Data type PDO_MAPPING Savable yes, category: communication Firmware version FIR-v1426 Change history Firmware version FIR-v1426: "Heading" entry changed from "1602h Velocity Control"...
  • Page 127 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Allowed values Preset value 00000000 Subindex Name 4th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 5th Object To Be Mapped...

  • Page 128: 1603H Receive Pdo 4 Mapping Parameter

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 1603h Receive PDO 4 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can receive (RX-PDO 4). Object description Index 1603 Object name Receive PDO 4 Mapping Parameter...
  • Page 129 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 4th Object To Be Mapped Data type...

  • Page 130: 1A00H Transmit Pdo 1 Mapping Parameter

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 00000000 1A00h Transmit PDO 1 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can send (TX-PDO 1).
  • Page 131 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 60640020 Subindex Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value...

  • Page 132: 1A01H Transmit Pdo 2 Mapping Parameter

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Preset value 00000000 Subindex Name 8th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Description Each subindex (1–8) describes a different mapped object.
  • Page 133 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name 1st Object To Be Mapped Data type UNSIGNED32...
  • Page 134 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Name 5th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 6th Object To Be Mapped Data type UNSIGNED32...

  • Page 135: 1A02H Transmit Pdo 3 Mapping Parameter

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Length [8] This contains the length of the object to be mapped in units of bits. 1A02h Transmit PDO 3 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can send (TX-PDO 3).
  • Page 136 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Allowed values Preset value 00000000 Subindex Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 4th Object To Be Mapped...

  • Page 137: 1A03H Transmit Pdo 4 Mapping Parameter

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name 8th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Description Each subindex (1–8) describes a different mapped object.
  • Page 138 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Name Highest Sub-index Supported Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name 1st Object To Be Mapped Data type UNSIGNED32 Access read / write...
  • Page 139 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary PDO mapping Allowed values Preset value 00000000 Subindex Name 6th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name...

  • Page 140: 1C00H Sync Manager Communication Type

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 1C00h Sync Manager Communication Type Function This object indicates the assignment of the four EtherCAT SyncManagers. Object description Index 1C00 Object name Sync Manager Communication Type Object Code ARRAY Data type...

  • Page 141: 1C12H Sync Manager Pdo Assignment

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read only PDO mapping Allowed values Preset value Subindex Name Sync Manager Communication Type Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Description The assignment of the SyncManagers is defined by the manufacturer and cannot be changed.
  • Page 142 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Firmware version FIR-v1650-B472161: "Name" entry changed from "PDO-Mapping Index" to "PDO Mapping Index". Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read / write PDO mapping Allowed values...

  • Page 143: 1C13H Sync Manager Pdo Assignment

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Preset value 0000 1C13h Sync Manager PDO Assignment Function This object lists the activated Tx-PDO mappings (see 1A00 ) and is written by the EtherCAT master. Object description Index 1C13...

  • Page 144: 1C32H Output Sync Manager Synchronization

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Name PDO Mapping Index Data type UNSIGNED16 Access read / write PDO mapping Allowed values Preset value 0000 Subindex Name PDO Mapping Index Data type UNSIGNED16 Access read / write...

  • Page 145: 1C33H Input Sync Manager Synchronization

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Firmware version FIR-v1650-B472161: "Access" table entry for subindex 03 changed from "read/write" to "read only". Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping...
  • Page 146 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 1C33 Object name Input Sync Manager Synchronization Object Code RECORD Data type SYNCMGR_SYNCHRONIZATION Savable Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: communication".

  • Page 147: 1F50H Program Data

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name Shift Time Data type UNSIGNED32 Access read only PDO mapping Allowed values Preset value 00000000 1F50h Program Data Function This object is used to program memory areas of the controller. Each entry stands for a certain memory area.

  • Page 148: 1F51H Program Control

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name Program Data NanoJ Data type DOMAIN Access read / write PDO mapping Allowed values Preset value Subindex Name Program Data DataFlash Data type DOMAIN Access read / write...

  • Page 149: 1F57H Program Status

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name Program Control Bootloader/firmware Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name Program Control NanoJ Data type UNSIGNED8 Access read / write...

  • Page 150: 2030H Pole Pair Count

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Program Status Bootloader/firmware Data type UNSIGNED32 Access read only...

  • Page 151: 2031H Maximum Current

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Data type UNSIGNED32 Savable yes, category: tuning Access read / write PDO mapping Allowed values Preset value • PD4-E591L42-M-65-1: 00000032 • PD4-E601L42-M-65-1: 00000032 • PD4-EB59CD-M-65-1: 00000003 Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Savable"...

  • Page 152: 2035H Lower Voltage Warning Level

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 2034 Object name Upper Voltage Warning Level Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application Access read / write PDO mapping Allowed values Preset value...

  • Page 153: 2036H Open Loop Current Reduction Idle Time

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 2036h Open Loop Current Reduction Idle Time Function This object describes the time in milliseconds that the motor must be at a standstill before current reduction is activated. Object description...

  • Page 154: 2038H Brake Controller Timing

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Value of 2037 in the range from -1 to -100 The entered value is interpreted as a percentage and determines the reduction of the rated current in 2037 . The value in 2031 is used for the calculation.
  • Page 155 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Allowed values Preset value 000003E8 Subindex Name Shutdown Power Idle Time Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 000003E8 Subindex Name Open Brake Delay Time...

  • Page 156: 2039H Motor Currents

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Description The subindices have the following functions: • : Time between motor standstill and the closing of the brake. • : Time between the closing of the brake and the switching off of the motor current.

  • Page 157: 203Ah Homing On Block Configuration

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read only PDO mapping TX-PDO Allowed values Preset value 00000000 Subindex Name Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000 Subindex Name Data type...
  • Page 158 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object name Homing On Block Configuration Object Code ARRAY Data type INTEGER32 Savable yes, category: application Access PDO mapping Allowed values Preset value Firmware version FIR-v1426 Change history Firmware version FIR-v1540: The number of entries was changed from 4 to 3.

  • Page 159: 203Bh I2T Parameters

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value 000000C8 Description The subindices have the following function: • : Specifies the current limit value above which blocking is to be detected. Positive numerical values specify the current limit in mA, negative numbers specify a percentage of object 2031 Example: The value "1000"...
  • Page 160 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Allowed values Preset value Subindex Name Nominal Current Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value • PD4-E591L42-M-65-1: 00000000 • PD4-E601L42-M-65-1: 00000000 • PD4-EB59CD-M-65-1: 00000BB8...

  • Page 161: 203Dh Torque Window

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary PDO mapping Allowed values Preset value 00000000 Subindex Name Status Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name ActualResistance Data type UNSIGNED32...

  • Page 162: 203Eh Torque Window Time Out

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object Code VARIABLE Data type UNSIGNED16 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value 0000 Firmware version FIR-v1540 Change history Firmware version FIR-v1614: "Savable" entry changed from "no" to "yes, category: application".

  • Page 163: 2056H Limit Switch Tolerance Band

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Data type UNSIGNED16 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value 0064 Firmware version FIR-v1738-B501312 Change history Description If the actual speed deviates so much from the set speed that the value (absolute value) of this object is exceeded, bit 13 in object 6041 is set.

  • Page 164: 2058H Clock Direction Divider

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object name Clock Direction Multiplier Object Code VARIABLE Data type INTEGER32 Savable yes, category: application Access read / write PDO mapping Allowed values Preset value 00000080 Firmware version FIR-v1426 Change history...

  • Page 165: 205Ah Absolute Sensor Boot Value (In User Units)

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Firmware version FIR-v1426 Change history Firmware version FIR-v1614: "Savable" entry changed from "yes, category: application" to "yes, category: tuning". Description TYPE TYPE Defines the type of encoder. For a differential encoder, the bit must have the value "0". For a single-ended encoder, the bit must be set to "1".

  • Page 166: 205Bh Clock Direction Or Clockwise/Counter Clockwise Mode

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 205Bh Clock Direction Or Clockwise/Counter Clockwise Mode Function This object can be used to switch the clock-direction mode (value = "0") to the right/left rotation mode (value = "1"). Object description...
  • Page 167 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 2101 Object name Fieldbus Module Availability Object Code VARIABLE Data type UNSIGNED32 Savable Access read only PDO mapping Allowed values Preset value 00000020 Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Object Name"...

  • Page 168: 2102H Fieldbus Module Control

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary E-IP ™ Value = "1": The used protocol is EtherNet/IP 2102h Fieldbus Module Control Function This object can be used to activate/deactivate certain fieldbuses (physical interfaces and protocols). Object description...

  • Page 169: 2103H Fieldbus Module Status

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary E-CAT EtherCAT interface SPI interface MRTU Modbus RTU protocol MTCP Modbus TCP protocol E-IP ™ EtherNet/IP protocol 2103h Fieldbus Module Status Function Shows the active fieldbuses. Object description Index 2103...
  • Page 170 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary PDO mapping Allowed values Preset value 00000000 Subindex Name Fieldbus Module Enabled Data type UNSIGNED32 Access read only PDO mapping Allowed values Preset value 00000020 Description Subindex 1 (Fieldbus Module Disable Mask): This subindex contains all physical interfaces and protocols that can be activated or deactivated.

  • Page 171: 2110H Ethercat Slave Status

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary E-IP ™ EtherNet/IP protocol 2110h EtherCAT Slave Status Function Indicates the operating state of the EtherCAT slave module. Object description Index 2110 Object name EtherCAT Slave Status Object Code VARIABLE...

  • Page 172: 2301H Nanoj Status

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 2300 Object name NanoJ Control Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000...

  • Page 173: 2302H Nanoj Error Code

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Preset value 00000000 Firmware version FIR-v1426 Change history Firmware version FIR-v1436: "Object Name" entry changed from "VMM Status" to "NanoJ Status". Description Value = "0": Program is stopped, value = "1": NanoJ program is running.

  • Page 174: 230Fh Uptime Seconds

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Number Description 0000 Not an error 0001 Firmware does not (yet) support the used function 0002 Not or incorrectly initialized pointer 0003 Impermissible access to system resource 0004 Hard fault (internal error)

  • Page 175: 2310H Nanoj Input Data Selection

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Note This object is not stored; counting begins with "0" again after switching on. Object description Index 230F Object name Uptime Seconds Object Code VARIABLE Data type UNSIGNED32 Savable Access...

  • Page 176: 2320H Nanoj Output Data Selection

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex - 10 Name Mapping #1 - #16 Data type UNSIGNED32...
  • Page 177 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Data type UNSIGNED32 Savable Access read / write PDO mapping Allowed values Preset value Firmware version FIR-v1650-B472161 Change history Firmware version FIR-v1436: "Object Name" entry changed from "VMM Output Data Selection" to "NanoJ Output Data Selection".

  • Page 178: 2330H Nanoj In/Output Data Selection

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex [8] This contains the subindex of the object to be mapped. Length [8] This contains the length of the object to be mapped in units of bits. 2330h NanoJ In/output Data Selection...

  • Page 179: 2400H Nanoj Inputs

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read only PDO mapping Allowed values Preset value 00000000 Description Each subindex (1–16) describes a different mapped object. A mapping entry consists of four bytes, which are structured according to the following graphic.

  • Page 180: 2410H Nanoj Init Parameters

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex - 20 Name NanoJ Input #1 - #32 Data type INTEGER32 Access read / write PDO mapping...

  • Page 181: 2500H Nanoj Outputs

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Allowed values Preset value Subindex - 20 Name NanoJ Init Parameter #1 - #32 Data type INTEGER32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 2500h NanoJ Outputs...

  • Page 182: 2600H Nanoj Debug Output

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary PDO mapping TX-PDO Allowed values Preset value 00000000 Description Here, the NanoJ program can store results which can then be read out via the fieldbus. 2600h NanoJ Debug Output Function This object contains debug output of a user program.

  • Page 183: 2701H Customer Storage Area

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Description Here, the NanoJ program stores the debug output that was called up with the VmmDebugOutputString(), VmmDebugOutputInt() and similar functions. 2701h Customer Storage Area Function Data can be deposited and stored in this object.

  • Page 184: 2800H Bootloader And Reboot Settings

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 2800h Bootloader And Reboot Settings Function With this object, a reboot of the firmware can be triggered and the short circuiting of the motor windings in boot loader mode switched off and on.

  • Page 185: 3202H Motor Drive Submode Select

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name Bootloader HW Config Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Description The subindices have the following function: • : If the value "746F6F62 "...

  • Page 186: 3203H Feedback Selection

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Description BLDC Torque CurRed Brake CL/OL CL/OL Changeover between open loop and closed loop • Value = "0": open loop • Value = "1": closed loop Value = "1": Simulate V-controller with an S-ramp: simulate the speed modes through...
  • Page 187 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Change history Firmware version FIR-v1748-B538662: entry "Savable" changed from "yes, category: movement" to "yes, category: drive". Firmware version FIR-v1748-B538662: The number of entries was changed from 5 to 4. Value description...

  • Page 188: 3204H Feedback Mapping

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex n contains a bit mask for the respective feedback n. The bits have the following meaning here: • Bit 0: If the bit is set to "1", feedback n is used for position control.

  • Page 189: 3210H Motor Drive Parameter Set

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name Index Of 1st Feedback Interface Data type UNSIGNED16 Access read only PDO mapping TX-PDO Allowed values Preset value 3380 Subindex Name Index Of 2nd Feedback Interface Data type...
  • Page 190 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Name" entry changed from "S_P" to "Position Loop, Proportional Gain (closed loop)".
  • Page 191 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read only PDO mapping RX-PDO Allowed values Preset value Subindex Name Position Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value •...
  • Page 192 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name Flux Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value • PD4-E591L42-M-65-1: 0007A120 • PD4-E601L42-M-65-1: 000668A0 •...
  • Page 193 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read / write PDO mapping RX-PDO Allowed values Preset value • PD4-E591L42-M-65-1: 00027100 • PD4-E601L42-M-65-1: 00027100 • PD4-EB59CD-M-65-1: 0003A980 Subindex Name Torque Current Loop, Integral Gain (open Loop) Data type...

  • Page 194: 3212H Motor Drive Flags

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary • Subindex 07 : (Closed loop) Proportional component of the current controller of the torque-forming component • Subindex 08 : (Closed loop) Integral component of the current controller of the torque-forming component •...

  • Page 195: 3220H Analog Inputs

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Allowed values Preset value Subindex Name Reserved Data type INTEGER8 Access read / write PDO mapping Allowed values Preset value Subindex Name Override Field Inversion Data type INTEGER8 Access read / write...
  • Page 196 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 3220 Object name Analog Inputs Object Code ARRAY Data type INTEGER16 Savable Firmware version FIR-v1426 Change history Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8...

  • Page 197: 3221H Analogue Inputs Control

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 3221h Analogue Inputs Control Function With this object, an analog input can be switched from voltage measurement to current measurement. Object description Index 3221 Object name Analogue Inputs Control Object Code...
  • Page 198 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Change history Firmware version FIR-v1426: Subindex 01 : "Name" entry changed from "Special Function Disable" to "Special Function Enable" Firmware version FIR-v1512: The number of entries was changed from 8 to 9.
  • Page 199 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name Raw Value Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name Input Range Select...

  • Page 200: 3241H Digital Input Capture

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary • Bit 1: Positive limit switch • Bit 2: Home switch If, for example, two limit switches and one home switch are used, bits 0–2 in 3240 must be set to "1".
  • Page 201 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Firmware version FIR-v1748-B531667: "PDO mapping" table entry for subindex 02 changed from "RX-PDO" to "TX-PDO". Firmware version FIR-v1748-B531667: "PDO mapping" table entry for subindex 03 changed from "RX-PDO" to "TX-PDO".

  • Page 202: 3242H Digital Input Routing

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Data type UNSIGNED32 Access read / write PDO mapping TX-PDO Allowed values Preset value 00000000 Description • Subindex 01 : This is used to select the type of level change: •...
  • Page 203 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex - 24 Name Input Source #1 - #36 Data type UNSIGNED8 Access read / write PDO mapping TX-PDO Allowed values Preset value Description Subindex 01 contains the source for bit 0 of object 60FD. Subindex 02 contains the source for bit 1 of object 60FD and so on.

  • Page 204: 3243H Digital Input Homing Capture

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Number Signal source Inverted physical input 13 Inverted physical input 14 Inverted physical input 15 Inverted physical input 16 3243h Digital Input Homing Capture Function With this object, the encoder position can be noted automatically if a level change occurs at the digital input that is used for the home switch.

  • Page 205: 3250H Digital Outputs Control

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name Capture Count Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name Value Data type UNSIGNED32 Access read / write PDO mapping...
  • Page 206 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 3250 Object name Digital Outputs Control Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Firmware version FIR-v1426 Change history Firmware version FIR-v1426: Subindex 01 : "Name" entry changed from "Special Function Disable"...
  • Page 207 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name Force Value Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value...

  • Page 208: 3252H Digital Output Routing

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Preset value 00000000 Description The subindices have the following function: • : No function. • : This subindex is used to invert the logic (from normally closed logic to normally open logic).

  • Page 209: 3320H Read Analogue Input

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary PDO mapping TX-PDO Allowed values Preset value 1080 Subindex Name Output Control #2 Data type UNSIGNED16 Access read / write PDO mapping TX-PDO Allowed values Preset value 0090 Subindex Name...
  • Page 210 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 3320 Object name Read Analogue Input Object Code ARRAY Data type INTEGER32 Savable Firmware version FIR-v1426 Change history Value description Subindex Name Number Of Analogue Inputs Data type...

  • Page 211: 3321H Analogue Input Offset

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary • Subindex 00 : Number of analog inputs • Subindex 01 : Analog value 1 • Subindex 02 : Analog value 2 3321h Analogue Input Offset Function Offset that is added to the read analog value (3320...

  • Page 212: 3322H Analogue Input Pre-Scaling

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Description • Subindex 00 : Number of offsets • Subindex 01 : Offset for analog input 1 • Subindex 02 : Offset for analog input 2 3322h Analogue Input Pre-scaling...

  • Page 213: 33A0H Feedback Incremental A/B/I 1

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Description The subindices contain: • Subindex 00 : Number of divisors • Subindex 01 : Divisor for analog input 1 • Subindex 02 : Divisor for analog input 2 33A0h Feedback Incremental A/B/I 1 Function Contains configuration values for the first incremental encoder.

  • Page 214: 33B4H Ssi Encoder Multi Turn

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Name Alignment Data type UNSIGNED16 Access read / write PDO mapping RX-PDO Allowed values Preset value 0000 Description The subindices have the following function: • (Configuration): The following bits have a meaning: •...
  • Page 215 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Preset value Subindex Name Configuration Data type UNSIGNED16 Access read / write PDO mapping Allowed values Preset value 0000 Subindex Name Baud Rate Data type UNSIGNED16 Access read / write...

  • Page 216: 3700H Deviation Error Option Code

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Name Encoder Home Raw Value Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value 00000000 Description The subindices have the following function: • (Configuration): Not currently used.

  • Page 217: 4012H Hw Information

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Value Description Immediate stop Braking with "slow down ramp" (deceleration (deceleration ramp) depending on operating mode) Braking with "quick stop ramp" (deceleration (deceleration ramp) depending on operating mode) 3 … 32767...

  • Page 218: 4013H Hw Configuration

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Description Subindex 01: Contains the size of the connected EEPROM in bytes. The value "0" means that no EEPROM is connected. 4013h HW Configuration Function This object is used to set certain hardware configurations.

  • Page 219: 4014H Operating Conditions

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 4014h Operating Conditions Function This object is used to read out the current environment values for the controller. Object description Index 4014 Object name Operating Conditions Object Code ARRAY Data type...
  • Page 220 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name Voltage UB Logic [mV] Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000 Subindex Name Temperature PCB [Celsius * 10] Data type INTEGER32...

  • Page 221: 4015H Special Drive Modes

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 4015h Special Drive Modes Function With this object, you can switch the special drive modes off or on. See chapter Special drive modes (clock-direction and analog speed) . Object description...

  • Page 222: 4016H Factory Settings

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Description The subindices have the following functions: • • Value ="0" : The special drive modes are switched off • Value="2" : The special drive modes are switched on and the mode is set in subindex 02 •...

  • Page 223: 4040H Drive Serial Number

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Description Valid values for subindex 01 • Value = "0": Auto setup was not executed. • Value = "1": Auto setup was executed. 4040h Drive Serial Number Function This object contains the serial number of the controller.

  • Page 224: 603Fh Error Code

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 603Fh Error Code Function This object returns the error code of the last error that occurred. It corresponds to the lower 16 bits of object 1003 . For the description of the error codes, refer to object...

  • Page 225: 6041H Statusword

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Description Parts of the object are, with respect to function, dependent 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 226 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Description Parts of the object are, with respect to function, dependent on the currently selected mode. Refer to the corresponding section in chapter Operating modes. OMS [2] TARG REM SYNC...

  • Page 227: 6042H Vl Target Velocity

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Statusword (6041 State xxxx xxxx x01x 0011 Switched on xxxx xxxx x01x 0111 Operation enabled xxxx xxxx x00x 0111 Quick stop active xxxx xxxx x0xx 1111 Fault reaction active xxxx xxxx x0xx 1000...

  • Page 228: 6044H Vl Velocity Actual Value

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 6044h Vl Velocity Actual Value Function Specifies the current actual speed in user-defined units in Velocity mode. Object description Index 6044 Object name Vl Velocity Actual Value Object Code VARIABLE...

  • Page 229: 6048H Vl Velocity Acceleration

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Name MinAmount Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name MaxAmount Data type UNSIGNED32 Access read / write PDO mapping RX-PDO...

  • Page 230: 6049H Vl Velocity Deceleration

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary PDO mapping Allowed values Preset value Subindex Name DeltaSpeed Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 000001F4 Subindex Name DeltaTime Data type UNSIGNED16...

  • Page 231: 604Ah Vl Velocity Quick Stop

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name DeltaSpeed Data type UNSIGNED32 Access read / write PDO mapping...

  • Page 232: 604Ch Vl Dimension Factor

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Savable yes, category: application Firmware version FIR-v1426 Change history Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name...
  • Page 233 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 604C Object name Vl Dimension Factor Object Code ARRAY Data type INTEGER32 Savable yes, category: application Firmware version FIR-v1426 Change history Value description Subindex Name Highest Sub-index Supported...

  • Page 234: 605Ah Quick Stop Option Code

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 605Ah Quick Stop Option Code Function The object contains the action that is to be executed on a transition of the CiA 402 Power State Machine to the Quick Stop state.

  • Page 235: 605Ch Disable Option Code

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Preset value 0001 Firmware version FIR-v1426 Change history Description Value Description -32768 … -1 Reserved Immediate stop Braking with "slow down ramp" (deceleration (deceleration ramp) depending on operating mode) and subsequent state change to "Switch on disabled"...

  • Page 236: 605Dh Halt Option Code

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 605Dh Halt Option Code Function The object contains the action that is to be executed if bit 8 (Halt) is set in controlword 6040 Object description Index 605D Object name...

  • Page 237: 6060H Modes Of Operation

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Firmware version FIR-v1426 Change history Description Value Description -32768 … -1 Reserved Immediate stop Braking with "slow down ramp" (deceleration (deceleration ramp) depending on operating mode) Braking with "quick stop ramp" (deceleration (deceleration ramp) depending on operating mode) 3 …...

  • Page 238: 6061H Modes Of Operation Display

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Mode Description Homing Mode Interpolated Position Mode Cyclic Synchronous Position Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Torque Mode 6061h Modes Of Operation Display Function Indicates the current operating mode. See also 6060h Modes Of Operation.

  • Page 239: 6063H Position Actual Internal Value

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 6063h Position Actual Internal Value Function Contains the current rotary encoder position in increments. Unlike objects 6062 and 6064 , this value is not set to "0" following a Homing operation.

  • Page 240: 6065H Following Error Window

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 6065h Following Error Window Function Defines the maximum allowed following error in user-defined units symmetrically to the demand position. Object description Index 6065 Object name Following Error Window Object Code...

  • Page 241: 6067H Position Window

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Change history Firmware version FIR-v1504: "Savable" entry changed from "no" to "yes, category: application". Description If the actual position deviates so much from the demand position that the value of object 6065 exceeded, bit 13 in object 6041 is set.

  • Page 242: 606Bh Velocity Demand Value

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 6068 Object name Position Window Time Object Code VARIABLE Data type UNSIGNED16 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value...

  • Page 243: 606Ch Velocity Actual Value

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 606Ch Velocity Actual Value Function Current actual speed in user-defined units. Object description Index 606C Object name Velocity Actual Value Object Code VARIABLE Data type INTEGER32 Savable Access read only...

  • Page 244: 606Eh Velocity Window Time

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 606Eh Velocity Window Time Function The current speed must be within the "Velocity Window" (606D ) for this time (in milliseconds) for the target to be considered having been met.

  • Page 245: 6072H Max Torque

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Change history Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: application". Description This object is calculated as thousandths of the torque, e.g., the value "500" means "50%" of the rated torque;...

  • Page 246: 6075H Motor Rated Current

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object Code VARIABLE Data type INTEGER16 Savable Access read only PDO mapping TX-PDO Allowed values Preset value 0000 Firmware version FIR-v1426 Change history Description This object is calculated as thousandths of the torque, e.g., the value "500" means "50%" of the rated torque;...

  • Page 247: 607Ah Target Position

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary The target torque may not exceed the peak torque (proportional to the peak current in 2031 607Ah Target Position Function This object specifies the target position in user-defined units for the Profile Position and Cyclic Synchronous Position modes.

  • Page 248: 607Ch Home Offset

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Preset value Subindex Name Min Position Range Limit Data type INTEGER32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name Max Position Range Limit Data type...

  • Page 249: 607Dh Software Position Limit

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 607Dh Software Position Limit Function Defines the limit positions relative to the reference point of the application in user-defined units. Object description Index 607D Object name Software Position Limit Object Code...

  • Page 250: 607Eh Polarity

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 607Eh Polarity Function With this object, the direction of rotation can be reversed. Object description Index 607E Object name Polarity Object Code VARIABLE Data type UNSIGNED8 Savable yes, category: application...

  • Page 251: 607Fh Max Profile Velocity

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 607Fh Max Profile Velocity Function Specifies the maximum speed in user-defined units for Profile Position, Interpolated Position Mode and Profile Velocity modes . Object description Index 607F Object name Max Profile Velocity...

  • Page 252: 6081H Profile Velocity

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary • PD4-EB59CD-M-65-1: 00001770 Firmware version FIR-v1426 Change history Firmware version FIR-v1614: "Savable" entry changed from "yes, category: application" to "yes, category: tuning". Firmware version FIR-v1738-B501312: "Object Name" entry changed from "Maximum Speed" to "Max Motor Speed".

  • Page 253: 6083H Profile Acceleration

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Change history 6083h Profile Acceleration Function Specifies the maximum acceleration in user-defined units. Object description Index 6083 Object name Profile Acceleration Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application...

  • Page 254: 6086H Motion Profile Type

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 6085 Object name Quick Stop Deceleration Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value...

  • Page 255: 608Fh Position Encoder Resolution

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object name Torque Slope Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Firmware version FIR-v1426 Change history Description This object is calculated as thousandths of the torque, e.g., the value "500"...

  • Page 256: 6090H Velocity Encoder Resolution

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Preset value Subindex Name Encoder Increments Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 000007D0 Subindex Name Motor Revolutions Data type UNSIGNED32 Access read / write...

  • Page 257: 6091H Gear Ratio

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Encoder Increments Per Second Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values...

  • Page 258: 6092H Feed Constant

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Motor Revolutions Data type UNSIGNED32 Access read / write...

  • Page 259: 6096H Velocity Factor

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Feed Data type UNSIGNED32 Access read / write PDO mapping...

  • Page 260: 6097H Acceleration Factor

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Preset value Firmware version FIR-v1738-B501312 Change history Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Numerator Data type...
  • Page 261 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object name Acceleration Factor Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1738-B501312 Change history Value description...

  • Page 262: 6098H Homing Method

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 6098h Homing Method Function This object defines the Homing method in Homing Mode. Object description Index 6098 Object name Homing Method Object Code VARIABLE Data type INTEGER8 Savable yes, category: application...

  • Page 263: 609Ah Homing Acceleration

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Name Speed During Search For Switch Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000032 Subindex Name Speed During Search For Zero Data type...

  • Page 264: 60A2H Jerk Factor

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Description The ramp is only used when starting up. When the switch is reached, the motor immediately switches to the lower speed; when the end position is reached, it immediately stops.

  • Page 265: 60A4H Profile Jerk

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001 Description The subindices have the following functions: • : Numerator of the factor • : Denominator of the factor...

  • Page 266: 60A8H Si Unit Position

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Allowed values Preset value 000003E8 Subindex Name Begin Deceleration Jerk Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 000003E8 Subindex Name End Acceleration Jerk Data type...

  • Page 267: 60A9H Si Unit Velocity

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Savable yes, category: application Access read / write PDO mapping Allowed values Preset value FF410000 Firmware version FIR-v1738-B501312 Change history Description Object 60A8 contains: • Bits 16 to 23: The position unit (see chapter Units) •...

  • Page 268: 60B0H Position Offset

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Nominator (Position) Factor Denominator (Time) reserved (00h) 60B0h Position Offset Function Offset for the position set value in user-defined units. Is taken into account in the Cyclic Synchronous Position and Clock-direction mode modes.

  • Page 269: 60B2H Torque Offset

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 60B2h Torque Offset Function Offset for the torque set value in tenths of a percent. Is taken into account in the Cyclic Synchronous Position, Cyclic Synchronous Velocity, Cyclic Synchronous Torque and Clock-direction mode modes.

  • Page 270: 60C2H Interpolation Time Period

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name 1st Set-point Data type INTEGER32 Access read / write PDO mapping RX-PDO Allowed values Preset value...

  • Page 271: 60C4H Interpolation Data Configuration

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex Name Interpolation Time Period Value Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name Interpolation Time Index Data type INTEGER8 Access read / write...
  • Page 272 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Firmware version FIR-v1540: "Access" table entry for subindex 06 changed from "read/write" to "write only". Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: application". Firmware version FIR-v1650-B472161: "Access" table entry for subindex 01 changed from "read/write"...

  • Page 273: 60C5H Max Acceleration

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Data type UNSIGNED16 Access read / write PDO mapping Allowed values Preset value 0001 Subindex Name SizeOfDataRecord Data type UNSIGNED8 Access write only PDO mapping Allowed values Preset value Subindex...

  • Page 274: 60C6H Max Deceleration

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Access read / write PDO mapping RX-PDO Allowed values Preset value 00001388 Firmware version FIR-v1426 Change history 60C6h Max Deceleration Function This object contains the maximum permissible deceleration (deceleration ramp) for the Profile Position and Profile Velocity modes.

  • Page 275: 60E5H Additional Velocity Actual Value

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex - 03 Name Additional Position Actual Value #1 - #3...

  • Page 276: 60E6H Additional Position Encoder Resolution - Encoder Increments

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex - 03 Name Additional Velocity Actual Value #1 - #3...
  • Page 277 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value Subindex Name Additional Position Encoder Resolution - Encoder Increments Feedback Interface #1...

  • Page 278: 60E8H Additional Gear Ratio - Motor Shaft Revolutions

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Position Encoder Resolution = Encoder Increments (60E6 ) / Motor Revolutions (60EB 60E8h Additional Gear Ratio - Motor Shaft Revolutions Function In this object and in 60ED , you can set the gear ratio of each existing feedback.

  • Page 279: 60E9H Additional Feed Constant - Feed

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary The gear ratio of feedback "n" is calculated as follows: Gear Ratio = Motor Shaft Revolutions (60E8 ) / Driving Shaft Revolutions (60ED 60E9h Additional Feed Constant - Feed Function In this object and in 60EE , you can set a feed constant for each existing feedback.

  • Page 280: 60Ebh Additional Position Encoder Resolution - Motor Revolutions

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary The feed constant of feedback "n" is calculated as follows: Feed Constant = Feed (60E9 ) / Driving Shaft Revolutions (60EE 60EBh Additional Position Encoder Resolution - Motor Revolutions Function With this object and with 60E6 , the resolution of each existing feedback is calculated.

  • Page 281: 60Edh Additional Gear Ratio - Driving Shaft Revolutions

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Subindex n contains the number of motor revolutions of the corresponding feedback. Subindex 01 always corresponds to the first (and always existing) sensorless feedback. The resolution of feedback "n" is calculated as follows:...

  • Page 282: 60Eeh Additional Feed Constant - Driving Shaft Revolutions

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary • : Value = "n", where "n" is the number of existing feedbacks. • : Subindex "n" contains the number of revolutions of the output shaft for the corresponding feedback.

  • Page 283: 60F2H Positioning Option Code

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Description The subindices have the following function: • : Value = "n", where "n" is the number of existing feedbacks. • : Subindex "n" contains the number of revolutions of the output shaft for the corresponding feedback.

  • Page 284: 60F4H Following Error Actual Value

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Bit 1 Bit 0 Definition Reserved RRO (Request-Response Option) These bits determine the behavior when passing controlword 6040 bit 5 ("new setpoint") – in this case, the controller releases the bit itself. This eliminates the need to externally reset the bit to "0"...

  • Page 285: 60F8H Max Slippage

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 60F4 Object name Following Error Actual Value Object Code VARIABLE Data type INTEGER32 Savable Access read only PDO mapping TX-PDO Allowed values Preset value 00000000 Firmware version...

  • Page 286: 60Fch Position Demand Internal Value

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 60FA Object name Control Effort Object Code VARIABLE Data type INTEGER32 Savable Access read only PDO mapping TX-PDO Allowed values Preset value 00000000 Firmware version FIR-v1748-B531667 Change history...

  • Page 287: 60Fdh Digital Inputs

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary 60FDh Digital Inputs Function With this object, the digital inputs of the motor can be read. Object description Index 60FD Object name Digital Inputs Object Code VARIABLE Data type UNSIGNED32...

  • Page 288: 60Ffh Target Velocity

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Savable yes, category: application Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: application". Value description Subindex Name Highest Sub-index Supported Data type...

  • Page 289: 6502H Supported Drive Modes

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 60FF Object name Target Velocity Object Code VARIABLE Data type INTEGER32 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000...

  • Page 290: 6503H Drive Catalogue Number

    Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Velocity Mode Profile Velocity Mode Torque Mode Homing Mode Interpolated Position Mode Cyclic Synchronous Position Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Torque Mode 6503h Drive Catalogue Number Function Contains the device name as character string.
  • Page 291 Technical Manual PD4-E-M (EtherCAT) 10 Description of the object dictionary Object description Index 6505 Object name Http Drive Catalogue Address Object Code VARIABLE Data type VISIBLE_STRING Savable Access read only PDO mapping Allowed values Preset value http://www.nanotec.de Firmware version FIR-v1426 Change history Version: 1.0.1 / FIR-v1748...

  • Page 292: Copyrights

    Technical Manual PD4-E-M (EtherCAT) 11 Copyrights 11 Copyrights 11.1 Introduction Integrated in the Nanotec software are components from products from external software manufacturers. In this chapter, you will find the copyright information regarding the used external software sources. 11.2 AES...

  • Page 293: Uip

    Technical Manual PD4-E-M (EtherCAT) 11 Copyrights These notices must be retained in any copies of any part of this documentation and/or software. 11.4 uIP Copyright (c) 2005, Swedish Institute of Computer Science All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1.

  • Page 294: Fatfs

    Technical Manual PD4-E-M (EtherCAT) 11 Copyrights 11.7 FatFs FatFs - FAT file system module include file R0.08 (C)ChaN, 2010 FatFs module is a generic FAT file system module for small embedded systems. This is a free software that opened for education, research and commercial developments under license policy of following trems.
  • Page 295 Technical Manual PD4-E-M (EtherCAT) 11 Copyrights 3. The name of the author may not be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.

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