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NANOTEC PD4-C Technical Manual

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Technical Manual
PD4-C
Fieldbus: USB
For use with the following devices:
PD4-C5918X4204-E-01, PD4-C5918M4204-E-01, PD4-C5918L4204-E-01, PD4-
C6018L4204-E-01, PD4-CB59M024035-E-01
Valid with firmware version FIR-v1650
Technical Manual Version: 2.0.1
and since hardware version W006

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Summary of Contents for NANOTEC PD4-C

  • Page 1 Technical Manual PD4-C Fieldbus: USB For use with the following devices: PD4-C5918X4204-E-01, PD4-C5918M4204-E-01, PD4-C5918L4204-E-01, PD4- C6018L4204-E-01, PD4-CB59M024035-E-01 Valid with firmware version FIR-v1650 Technical Manual Version: 2.0.1 and since hardware version W006...

  • Page 2: Table Of Contents

    Contents Contents 1 Introduction.....................8 1.1 Version information............................. 8 1.2 Copyright, marking and contact........................9 1.3 Intended use............................... 9 1.4 Target group and qualification........................9 1.5 Warranty and disclaimer..........................9 1.6 EU directives for product safety....................... 10 1.7 Other applicable regulations........................10 1.8 Used icons..............................10 1.9 Emphasis in the text..........................
  • Page 3 Contents 4.3.3 Analog speed..........................32 4.3.4 Test run with 30 rpm........................32 5 General concepts..................33 5.1 Control modes............................33 5.1.1 General............................33 5.1.2 Open Loop............................34 5.1.3 Closed Loop............................36 5.2 CiA 402 Power State Machine......................... 37 5.2.1 State machine..........................37 5.2.2 Behavior upon exiting the Operation enabled state............... 39 5.3 User-defined units.............................42 5.3.1 Calculation formulas for user units....................42 5.4 Limitation of the range of motion......................
  • Page 4 Contents 6.6.6 Use..............................71 6.6.7 Setup...............................71 6.6.8 Operation............................71 6.7 Cyclic Synchronous Position........................72 6.7.1 Note regarding USB........................72 6.7.2 Overview............................72 6.7.3 Object entries..........................73 6.8 Cyclic Synchronous Velocity........................73 6.8.1 Note regarding USB........................73 6.8.2 Overview............................73 6.8.3 Object entries..........................74 6.9 Cyclic Synchronous Torque........................75 6.9.1 Note regarding USB........................
  • Page 5 Contents 9.3 Object description........................... 103 9.4 Value description............................ 104 9.5 Description.............................. 105 1000h Device Type............................106 1001h Error Register.............................107 1003h Pre-defined Error Field........................108 1008h Manufacturer Device Name....................... 112 1009h Manufacturer Hardware Version......................112 100Ah Manufacturer Software Version......................112 1010h Store Parameters..........................113 1011h Restore Default Parameters......................
  • Page 6 Contents 2330h NanoJ In/output Data Selection......................156 2400h NanoJ Inputs............................157 2410h NanoJ Init Parameters........................158 2500h NanoJ Outputs........................... 159 2600h NanoJ Debug Output......................... 160 2700h User Storage Area..........................161 2800h Bootloader And Reboot Settings....................... 163 3202h Motor Drive Submode Select......................165 320Ah Motor Drive Sensor Display Open Loop................... 166 320Bh Motor Drive Sensor Display Closed Loop..................168 3210h Motor Drive Parameter Set........................169 3212h Motor Drive Flags..........................
  • Page 7 Contents 606Eh Velocity Window Time........................224 6071h Target Torque............................ 225 6072h Max Torque............................226 6074h Torque Demand..........................226 6077h Torque Actual Value.......................... 227 607Ah Target Position..........................227 607Bh Position Range Limit......................... 228 607Ch Home Offset............................229 607Dh Software Position Limit........................229 607Eh Polarity............................... 230 6081h Profile Velocity...........................

  • Page 8: Introduction

    1 Introduction 1 Introduction The PD4-C is a brushless motor with integrated controller. 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 9: Copyright, Marking And Contact

    98/NT/ME/2000/XP/7/10 are registered trademarks of the Microsoft Corporation. 1.3 Intended use The PD4-C motor with integrated controller is used as a component of drive systems in a range of industrial applications. Use the product as intended within the limits defined in the technical data (in particular, see Permissible operating voltage) and the approved Environmental conditions.

  • Page 10: Eu Directives For Product Safety

    1 Introduction Customers of Nanotec Electronic US Inc. please refer to us.nanotec.com/service/general-terms-and- conditions/. Note Changes or modifications to the product are not permitted. 1.6 EU directives for product safety The following EU directives were observed: ● RoHS directive (2011/65/EU, 2015/863/EU) ●...

  • Page 11: Numerical Values

    1 Introduction ● For software: You can find the corresponding information in the Operation tab. ● For hardware: Use the ON/OFF switch to switch the device on. A text set in Courier marks a code section or programming command: ● The line with the od_write(0x6040, 0x00, 5 ); command has no effect. ●...

  • Page 12: Safety And Warning Notices

    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 13: Technical Details And Pin Assignment

    3 Technical details and pin assignment 3 Technical details and pin assignment   3.1 Environmental conditions   Environmental condition Value Protection class IP20 Ambient temperature (operation) -10 … +40°C Air humidity (non-condensing) 0 … 85% Altitude of site above sea level (without drop in performance) 1500 m Ambient temperature (storage) -25 …...

  • Page 14: Pd4-C5918L4204-E-01

    Rear view Y 3.2.5 PD4-CB59M024035-E-01 Front view and mounting Side view Rear view Y 3.3 Electrical properties and technical data 3.3.1 Technical data – motor PD4-C PD4-CB Type High-pole DC servo (stepper Low-pole DC servo (BLDC) motor) Operating voltage 12 V to 48 V DC +/-5%...

  • Page 15: Technical Data

    The following temperature test results provide information on the temperature behavior of the motor. Temperature tests are performed under the following conditions: ● Operating voltage: 24 V DC (BLDC motor PD4-CB)/48 V DC (stepper motor PD4-C) ● Motor current: 4.2 A (stepper motor PD4-C)/8 A (BLDC motor PD4-CB) rms ●...
  • Page 16 3 Technical details and pin assignment PD4-C: Controller temperature at 25° Celsius ambient temperature and 4.2A motor current 1 000 2 000 3 000 4 000 5 000 6 000 7 000 8 000 9 000 10 000 11 000...

  • Page 17: Led Signaling

    3 Technical details and pin assignment PD4-CB: Controller temperature at 45° Celsius ambient temperature and 8A motor current time in seconds Note Aside from the motor, the exact temperature behavior is also largely dependent on the flange connection and the heat transfer there as well as on the convection in the machine. 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 18: Pin Assignment

    3 Technical details and pin assignment Note For each error that occurs, a more precise error code is stored in object 1003 3.6 Pin assignment 3.6.1 Overview 3.6.2 X1 − analog inputs and outputs Connections for analog speed mode ● Type: Phoenix Contact MCV 0.5/ 4-G-2.5 ●...

  • Page 19: X2 - Digital Inputs

    3 Technical details and pin assignment Connection data Conductor cross section, flexible, min. Wire-end sleeve without 0.25 mm 0.5 mm plastic sleeve, min. Conductor cross section, min. AWG Min. AWG acc. to UL/CUL 3.6.3 X2 – digital inputs Connection for the digital inputs. ●...

  • Page 20: X3 - Voltage Supply

    3 Technical details and pin assignment Switching thresholds > approx. 16 V < approx. 4 V The following switching thresholds apply for inputs 4 to 6 (PINs 4 to 9): Type Max. Voltage Switching thresholds Differential > approx. 3 V <...
  • Page 21 3.6.4.3 Permissible operating voltage The maximum operating voltage is 50.5 V DC for the stepper motors (PD4-C) and 29 V for the BLDC motors (PD4-CB). If the input voltage of the controller exceeds 51.5 V or 30 V, the motor is switched off and an error triggered.

  • Page 22: 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 the DIP switch. You can thereby control the motor directly via the inputs (analog input/clock-direction).

  • Page 23: Configuration

    ● EMC: Current-carrying cables – particularly around supply and motor cables – produce electromagnetic alternating fields. ● These can interfere with the motor and other devices. Nanotec recommends the following measures: ● Use shielded cables and earth the cable shielding on both ends over a short distance.

  • Page 24: Configuration File

    4 Commissioning Because it is often necessary during commissioning to copy the same file to the controller following an update, it is recommended that a script file be used to perform this task. ● Under Windows, you can create a text file with file extension bat and the following content: copy <SOURCE>...
  • Page 25 4 Commissioning To restart the controller, you can also copy an empty reset.txt file to the controller. This restarts the controller. The reset.txt file is deleted on the next restart. 4.1.3.3 Structure of the configuration file Comments Lines that begin with a semicolon are ignored by the controller. Example ;...

  • Page 26: Nanoj Program

    4 Commissioning Set object 2057 :00 to the value "512" and object 2058 to the value "4" (quarter step step mode in clock-direction mode): 2057:00=512 2058:00=4 Note ● There must be no blank characters to the left and right of the equal sign. The following assignments are not correct: 6040:00 =5 6040:00= 5...

  • Page 27: Auto Setup

    4 Commissioning 4. After the PC has detected the device as a removable storage device, open an Explorer window and delete file vmmcode.usr on the controller. 5. Navigate in the Explorer to the directory with your program. The compiled file has the same name as the source code file, only with file extension .usr.

  • Page 28: Parameter Determination

    4 Commissioning Execution of the auto setup requires a relatively large amount of processor computing power. During the auto setup, this may result in fieldbuses not being operated in a timely manner. 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 29 4 Commissioning The power state machine must now switch to the Operation enabled state, see CiA 402 Power State Machine. 2. Start auto setup by setting bit 4 OMS in object 6040 (controlword). Start Auto-Setup Identify motor type Determine windings resistance Determine windings inductivity Determine magnetic flux Determine pole pairs...

  • Page 30: Parameter Memory

    4 Commissioning Master/Software Motion Controller write 6040 = 0006 read 6040 (Bit 9, 5 und 0 = 1?) write 6060 = FE write 6040 = 0007 read 6041 (Bit 9, 5, 4, 1, 0 = 1?) write 6040 = 000F read 6041 (Bit 9, 5, 4, 2, 1, 0 = 1?) read 6061...

  • Page 31: Activation

    4 Commissioning Note After activating the special drive modes, the state of the CiA 402 Power State Machine is controlled only via a digital input (enable). State changes that are requested in object 6040 (controlword) have no effect. 4.3.1 Activation You can configure the controller with the DIP switches on the rear side and select one of the special drive modes.

  • Page 32: Clock-Direction

    4 Commissioning 4.3.2 Clock-direction The controller internally sets the operating mode to clock-direction. You must connect the enable, clock and direction inputs (see chapter X2 – digital inputs). 4.3.3 Analog speed The controller internally sets the operating mode to Velocity. To preset the speed, the voltage on the analog input is used and the corresponding target speed is written in 6042 4.3.3.1 Maximum speed The maximum speed can be changed between 100 rpm and 1000 rpm.

  • Page 33: General Concepts

    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 34: Open Loop

    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. Operating mode Control mode Open Loop Closed Loop Profile Position...
  • Page 35 5 General concepts ● In object 2031 (Max Current), enter the maximum current in mA (see motor data sheet). ● In object 3202 (Motor Drive Submode Select), set bit 0 (CL/OL) to the value "0". ● If the clock-direction mode is to be used, then observe chapter Clock-direction mode. If necessary, current reduction on motor standstill should be activated to reduce the power loss and heat build-up.

  • Page 36: Closed Loop

    – 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 37: Cia 402 Power State Machine

    5 General concepts Bit 0 in 3202 must be set and, if necessary, the corresponding DIP switch on. 5.2 CiA 402 Power State Machine 5.2.1 State machine 5.2.1.1 CiA 402 To switch the controller to the ready state, it is necessary to run through a state machine. This is defined in CANopen standard 402.
  • Page 38 5 General concepts Listed in the following table are the bit combinations for the controlword that result in the corresponding state transitions. An X here corresponds to a bit state that requires no further consideration. The only exception is the resetting of the error (fault reset): the transition is only requested by the rising edge of the bit. Command Bit in object 6040 Transition...

  • Page 39: Behavior Upon Exiting The Operation Enabled State

    5 General concepts ● Switch on disabled ● Ready to switch on ● Switched on It is not possible to change the operating mode in running operation (Operation enabled). The Fault state is exited if bit 7 in object 6040 (controlword) is set from "0"...
  • Page 40 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 High-level power voltage switched on for controller High-level voltage switched on No torque at motor Switched on...
  • Page 41 5 General concepts 5.2.2.3 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 … -1 Reserved Immediate stop Braking with slow down ramp (braking deceleration depending on...

  • Page 42: User-Defined Units

    5 General concepts Value in object 605E Description -32768 … -1 Reserved Immediate stop Braking with slow down ramp (braking deceleration depending on control mode) Braking with quick stop ramp (braking deceleration depending on control mode) 3 … 32767 Reserved 5.2.2.7 Following error If a following error occurs, the motor will brake according to the value stored in object 3700 Value...
  • Page 43 5 General concepts The physical resolution of the connected position encoder (of the present feedback in general) is set in object 2052 or determined by Auto setup. 5.3.1.2 Gear ratio The gear ratio is calculated from motor revolutions (6091 :1 (Motor Revolutions)) per axis rotation (6091 (Shaft Revolutions)) as follows: Motor revolution (6091 h :1) Gear ratio =...
  • Page 44 5 General concepts When entering values, the following applies correspondingly: Internal value = n x input value speed When outputting values, the following applies correspondingly: Output value = internal value / n speed Example 2061 is set to the value "1", 2062 is set to the value "60"...

  • Page 45: Limitation Of The Range Of Motion

    5 General concepts When entering values, the following applies correspondingly: Internal value = n x input value jerk Example 2063 is set to the value "1", 2064 is set to the value "60". Thus, the user unit is "revolutions per minute per second squared" and n = 1/60.
  • Page 46 5 General concepts Task Cycle time Speed controller 31.25 µs (32 kHz) Position controller 31.25 µs (32 kHz) Version: 2.0.1 / FIR-v1650...

  • Page 47: Operating Modes

    6 Operating modes 6 Operating modes 6.1 Profile Position 6.1.1 Note regarding USB Note Because this controller is not equipped with a fieldbus, the following operating mode can only be used with a NanoJ program. You can find further information on the programming and use of a NanoJ program in chapter Programming with NanoJ.

  • Page 48: Setting Travel Commands

    6 Operating modes Controlword 6040 Bit 9 Bit 5 Definition The current target position is only passed through; afterwards, the new target position is moved to with the new values. For further information, see figure in "Setting travel commands". Note Bit 9 in the controlword is ignored if the ramp speed is not met at the target point.
  • Page 49 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 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) Destination point reached (6041 h , Bit 10) Transition procedure for second target position The following graphic shows the transition procedure for the second target position while moving to the first target position.
  • Page 51 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 completely.
  • Page 52 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. ● The second movement is performed at a lower speed so as to present the graphs in a clear manner. - Change on setpoint (6040 :00 Bit 5 = 0) - Move absolute (6040...

  • Page 53: Loss Of Accuracy For Relative Movements

    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 :00 = 1) - Change on setpoint (6040 :00 Bit 5 = 0)

  • Page 54: Boundary Conditions For A Positioning Move

    6 Operating modes 6.1.5 Boundary conditions for a positioning move 6.1.5.1 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: Jerk-Limited Mode And Non-Jerk-Limited Mode

    6 Operating modes Set point (607A Profile velocity (6081 End velocity (6082 Max. acceleration (60C5 Profile acceleration (6083 Profile deceleration (6084 Max. deceleration (60C6 Begin acceleration End deceleration jerk (60A4 h :1) jerk (60A4 h :4) End acceleration Begin deceleration jerk (60A4 h :2) jerk (60A4 h :3) 6.1.6 Jerk-limited mode and non-jerk-limited mode...

  • Page 56: Velocity

    6 Operating modes 6.2 Velocity 6.2.1 Note regarding USB Note Because this controller is not equipped with a fieldbus, the following operating mode can only be used with a NanoJ program. You can find further information on the programming and use of a NanoJ program in chapter Programming with NanoJ.
  • Page 57 6 Operating modes Delta speed (6048 VL velocity acceleration = Delta time (6048 ● 6049 (Velocity Deceleration): This object defines the deceleration (deceleration ramp). The subindices here are arranged as described in object 6048 ; the change in speed is to be specified with positive sign. ●...

  • Page 58: Profile Velocity

    6 Operating modes 6.3 Profile Velocity 6.3.1 Note regarding USB Note Because this controller is not equipped with a fieldbus, the following operating mode can only be used with a NanoJ program. You can find further information on the programming and use of a NanoJ program in chapter Programming with NanoJ.
  • Page 59 6 Operating modes ● 606C (Velocity Actual Value): Indicates the current actual speed. ● 606D (Velocity Window): This value specifies by how much the actual speed may vary from the set speed for bit 10 (target speed reached; Target Reached") in object 6041 (statusword) to be set to "1".
  • Page 60 6 Operating modes Velocity window (606D Profile velocity (60FF Velocity window (606D Max. acceleration (60C5 Profile acceleration (6083 Profile deceleration (6084 Max. deceleration (60C6 Begin acceleration End deceleration jerk (60A4 h :1) jerk (60A4 h :4) End acceleration Begin deceleration jerk (60A4 h :2) jerk (60A4 h :3) 6.3.6.4 Limitations in the trapezoidal case...

  • Page 61: Profile Torque

    6 Operating modes 6.4 Profile Torque 6.4.1 Note regarding USB Note Because this controller is not equipped with a fieldbus, the following operating mode can only be used with a NanoJ program. You can find further information on the programming and use of a NanoJ program in chapter Programming with NanoJ.

  • Page 62: Object Entries

    6 Operating modes 6.4.6 Object entries All values of the following entries in the object dictionary are to be specified as a thousandth of the maximum torque, which corresponds to the rated current (203B ) . This includes the objects: ●...

  • Page 63: Homing

    6 Operating modes 6.5 Homing 6.5.1 Note regarding USB Note Because this controller is not equipped with a fieldbus, the following operating mode can only be used with a NanoJ program. You can find further information on the programming and use of a NanoJ program in chapter Programming with NanoJ.
  • Page 64 6 Operating modes 6.5.2.5 Object entries The following objects are necessary for controlling this mode: ● 607C (Home Offset): Specifies the difference between the zero position of the controller and the reference point of the machine in user-defined units. ● 6098 (Homing Method): Method to be used for referencing (see "Homing method") ●...

  • Page 65: Homing Method

    6 Operating modes 6.5.3 Homing method 6.5.3.1 Description The homing method is written as a number in object 6098 and decides whether, on a switch edge (rising/ falling), a current threshold for block detection or an index pulse is referenced or in which direction homing starts.
  • Page 66 6 Operating modes Index pulse Negative limit switch Method 2 references to positive limit switch and index pulse: Index pulse Positive limit switch 6.5.3.5 Methods 3 to 6 Reference to the switching edge of the home switch and index pulse. With methods 3 and 4, the left switching edge of the home switch is used as reference: Index pulse Reference...
  • Page 67 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. Methods 7 to 10 take the positive limit switch into account: Index pulse Reference...
  • Page 68 6 Operating modes Positive limit switch 6.5.3.8 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 used as reference: Reference switch...
  • Page 69 6 Operating modes Reference switch Positive limit switch Methods 27 to 30 take the negative home switch into account: Reference switch Negative limit switch 6.5.3.10 Methods 33 and 34 Reference to the next index pulse. With these methods referencing is only performed to the respective subsequent index pulse: Index pulse 6.5.3.11 Method 35 References to the current position.

  • Page 70: Interpolated Position Mode

    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. 6.6 Interpolated Position Mode 6.6.1 Note regarding USB Note...

  • Page 71: Statusword

    6 Operating modes a standstill. The braking deceleration is dependent here on the setting of the "Halt Option Code" in object 605D 6.6.5 Statusword The following bits in object 6041 (statusword) have a special function: ● Bit 10: Target position reached: This bit is set to "1" if the target position was reached (if the halt bit in the controlword is "0") or the axis has speed 0 (if the halt bit in the last control word was "1").

  • Page 72: Cyclic Synchronous Position

    6 Operating modes 6.7 Cyclic Synchronous Position 6.7.1 Note regarding USB Note Because this controller is not equipped with a fieldbus, the following operating mode can only be used with a NanoJ program. You can find further information on the programming and use of a NanoJ program in chapter Programming with NanoJ.

  • Page 73: Object Entries

    6 Operating modes Value Description Following error Bit 11: Limit exceeded: The demand position is above or below the limit values set in 607D 6.7.3 Object entries The following objects are necessary for controlling this mode: ● 607A (Target Position): This object must be written cyclically with the position set value. ●...

  • Page 74: Object Entries

    6 Operating modes 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. 6.8.2.2 Activation To activate the mode, the value "9" must be set in object 6060 (Modes Of Operation) (see "CiA 402 Power State Machine").

  • Page 75: Cyclic Synchronous Torque

    6 Operating modes 6.9 Cyclic Synchronous Torque 6.9.1 Note regarding USB Note Because this controller is not equipped with a fieldbus, the following operating mode can only be used with a NanoJ program. You can find further information on the programming and use of a NanoJ program in chapter Programming with NanoJ.

  • Page 76: Object Entries

    6 Operating modes 6.9.3 Object entries The following objects are necessary for controlling this mode: ● 6071 (Target Torque): This object must be written cyclically with the torque set value and is to be set relative to 6072 ● 6072 (Max Torque): Describes the maximum permissible torque.

  • Page 77: Statusword

    6 Operating modes 2057 step width per pulse = 2058 The "step size per pulse" value is set to 128 (2057 =128 and 2058 =1) ex works, which corresponds to a quarter step per pulse. A full step is the value "512", a half step per pulse corresponds to "256", etc. Note For a stepper motor with 50 pole pairs, 200 full steps correspond to one mechanical revolution of the motor shaft.

  • Page 78: Auto Setup

    6 Operating modes min. 35µs clock input direction input 6.11 Auto setup 6.11.1 Description To determine a number of parameters related to the motor and the connected sensors (encoders/Hall sensors), an auto setup is performed. Closed Loop operation requires a successfully completed auto setup. With the Plug &...

  • Page 79: Special Functions

    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 80 7 Special functions Input Special function Switching threshold Differential / single-ended switchable Negative limit switch no, 24 V fixed single-ended Positive limit switch no, 24 V fixed single-ended Home switch no, 24 V fixed single-ended –Release The inputs for release, The inputs for release, direction and clock can direction and clock can only...
  • Page 81 7 Special functions Default setting Alternative Bit in 3240h:1 Bit in 3240h:2 0: switch pin off 0: do not invert logic 1: do not switch pin off 1: invert logic Value of the input pin 1 Bit in 3240h:3 Bit in 3240h:2 0: value not forced 0: do not invert logic 1: value forced...
  • Page 82 7 Special functions Number Signal source Signal is always 0 Physical input 1 Physical input 2 Physical input 3 Physical input 4 Physical input 5 Physical input 6 Physical input 7 Physical input 8 Physical input 9 Physical input 10 Physical input 11 Physical input 12 Physical input 13...

  • Page 83: Digital Outputs

    7 Special functions Number Signal source Inverted physical input 7 Inverted physical input 8 Inverted physical input 9 Inverted physical input 10 Inverted physical input 11 Inverted physical input 12 Inverted physical input 13 Inverted physical input 14 Inverted physical input 15 Inverted physical input 16 Inverted Hall input "U"...
  • Page 84 The digital output signal should continue to be used. For this purpose, a circuit as shown in the following figure is to be realized. Supply voltage extern Nanotec Controller Output signal On / Off of 10 kΩ is recommended. With a supply voltage of +24 V, a resistance value R...
  • Page 85 7 Special functions ● 3250 : The bit combination applied to the outputs is stored in this subindex. ● 3250 : For activating the Output Routing. 7.1.3.4 Computation of the outputs Example for calculating the bits of the outputs: Range of normal Range of output pins output pins with special function...
  • Page 86 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. Note Entries 3250 to 3250:04 then have no function until "Output Routing"...

  • Page 87: I 2 T Motor Overload Protection

    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 05XX Encoder signal (6063 ) with frequency divider 8...

  • Page 88: Object Entries

    7 Special functions This function is only available if the controller is in the closed loop mode (bit 0 of object 3202 must be set to "1"). There is an exception: If I t is activated in open loop mode, the current is limited to the set rated current, even if the set maximum current is larger.

  • Page 89: Saving Objects

    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 90: Category: Communication

    7 Special functions ● Tuning: Parameters related to motor and encoder that are set either by auto setup or that can be found in the data sheets, e.g., pole pairs and maximum current. If an object is not assigned one of these categories, it cannot be saved, e.g., statusword and all objects whose value is dependent on the current state of the controller.

  • Page 91: Category: Drive

    7 Special functions ● 4013 : HW Configuration ● 6040 : Controlword ● 6042 : Vl Target Velocity ● 6046 : Vl Velocity Min Max Amount ● 6048 : Vl Velocity Acceleration ● 6049 : Vl Velocity Deceleration ● 604A : Vl Velocity Quick Stop ●...

  • Page 92: Category: Tuning

    7 Special functions 7.3.5 Category: tuning ● 2030 : Pole Pair Count ● 2031 : Maximum Current ● 2032 : Maximum Speed ● 203B : I2t Parameters ● 2050 : Encoder Alignment ● 2051 : Encoder Optimization ● 2052 : Encoder Resolution ●...

  • Page 93: Verifying The Configuration

    7 Special functions Subindex Category All categories (reset to factory settings) with the exception of category 06 (Tuning) Communication Application Customer Drive Tuning The saved objects are subsequently discarded. After the data have been deleted, the controller automatically restarts. Note Objects of category 06 (Tuning) are determined by Auto setup and are not reset when resetting to factory settings with subindex 01...
  • Page 94 7 Special functions Note ● Saving may take a few seconds. Under no circumstances may you interrupt the voltage supply while saving. The state of the saved objects is otherwise undefined. ● Always wait until the controller has signaled that the save process has been successfully completed with the value "0"...

  • Page 95: 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. 8.1 NanoJ program A NanoJ program makes a protected runtime environment available within the firmware. Here, the user can create his own processes.
  • Page 96 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 97 8 Programming with NanoJ 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. 8.1.5 NanoJ program – OD entries The NanoJ program is controlled and configured in object range 2300 to 2330 (see 2300h NanoJ Control).

  • Page 98: Mapping In The Nanoj Program

    = 0; i < 5; ++i ) yield(); }// eof You can find other examples at us.nanotec.com 8.2 Mapping in the NanoJ program With this method, a variable in the NanoJ program is linked directly with an entry in the object dictionary.
  • Page 99 8 Programming with NanoJ Nanotec recommends: ● Use mapping if you need to access an object in the object dictionary frequently, e.g., controlword 6040 or statusword 6041 ● The od_write() and od_read() functions are better suited for accessing objects a single time, see Accessing the object dictionary.

  • Page 100: System Calls In A Nanoj Program

    8 Programming with NanoJ #include " wrapper.h" void user() [...] Out.controlWord = 1; [...] od_write(0x6040, 0x00, 5 ); // der Wert wird durch das Mapping überschrieben [...] The line with the od_write(0x6040, 0x00, 5 ); command has no effect. As described in the introduction, all mappings are copied to the object dictionary at the end of each millisecond.
  • Page 101 8 Programming with NanoJ Note Active waiting for a value in the object dictionary should always be associated with a yield(). Example while (od_read(2400,2) != 0) // wait until 2400:2 is set { yield(); } 8.3.2 Process control void yield() This function returns the processor time to the operating system.
  • Page 102 8 Programming with NanoJ Note Debug outputs may therefore only be used during the test phase when developing a user program. Version: 2.0.1 / FIR-v1650...

  • Page 103: Description Of The Object Dictionary

    9 Description of the object dictionary 9 Description of the object dictionary 9.1 Overview This chapter contains a description of all objects. You will find information here on: ● Functions ● Object descriptions ("Index") ● Value descriptions ("Subindices") ● Descriptions of bits ●...

  • Page 104: Value Description

    9 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. These character strings are not terminated by a null character. Data type The size and interpretation of the object is specified here.

  • Page 105: Description

    9 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. Name Name of the sub-entry. Data type The size and interpretation of the sub-entry is specified here.

  • Page 106: 1000H Device Type

    9 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 107: 1001H Error Register

    9 Description of the object dictionary ● Bit 23 to bit 16: Value "2": Stepper motor 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.

  • Page 108: 1003H Pre-Defined Error Field

    9 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 1003 Object name Pre-defined Error Field Object Code ARRAY Data type...
  • Page 109 9 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 read only PDO mapping Allowed values Preset value 00000000...
  • Page 110 9 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 111 9 Description of the object dictionary Error number Description Hall sensor faulty CANopen only: PDO not processed due to a length error CANopen only: PDO length exceeded Nonvolatile memory full; controller must be restarted for cleanup work. Rated current must be set (203B Encoder resolution, number of pole pairs and some other values are incorrect.

  • Page 112: 1008H Manufacturer Device Name

    9 Description of the object dictionary 1008h Manufacturer Device Name Function Contains the device name as character string. Object description Index 1008 Object name Manufacturer Device Name Object Code VARIABLE Data type VISIBLE_STRING Savable Access read only PDO mapping Allowed values Preset value ●...

  • Page 113: 1010H Store Parameters

    9 Description of the object dictionary Object description Index 100A Object name Manufacturer Software Version Object Code VARIABLE Data type VISIBLE_STRING Savable Access read only PDO mapping Allowed values Preset value FIR-v1650-B527540 Firmware version FIR-v1426 Change history 1010h Store Parameters Function This object is used to start the saving of objects.
  • Page 114 9 Description of the object dictionary Subindex Name Save All Parameters To Non-volatile Memory Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000001 Subindex Name Save Communication Parameters To Non-volatile Memory Data type UNSIGNED32 Access read / write PDO mapping Allowed values...

  • Page 115: 1011H Restore Default Parameters

    9 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 00000001 Description Each subindex of the object stands for a certain memory class. By reading out the entry, it is possible to determine whether (value "1") or not (value="0") this memory category can be saved. To start the save process of a memory category, value "65766173 "...
  • Page 116 9 Description of the object dictionary Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Restore All Default Parameters Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000001 Subindex Name Restore Communication Default Parameters Data type UNSIGNED32...

  • Page 117: 1018H Identity Object

    9 Description of the object dictionary Allowed values Preset value 00000001 Subindex Name Restore Tuning Default Parameters Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Description or ASCII load) is written in this object, part or all of the object If the value 64616F6C (or 1684107116 dictionary is reset to the default values.

  • Page 118: 1020H Verify Configuration

    9 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 ● PD4-C5918M4204-E-01: 00000001 ●...
  • Page 119 9 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 Change history Value description Subindex Name Highest Sub-index Supported...

  • Page 120: 1F50H Program Data

    9 Description of the object dictionary 1F50h Program Data Function This object is used to program memory areas of the controller. Each entry stands for a certain memory area. Object description Index 1F50 Object name Program Data Object Code ARRAY Data type DOMAIN Savable...

  • Page 121: 1F51H Program Control

    9 Description of the object dictionary Subindex Name Program Data DataFlash Data type DOMAIN Access read / write PDO mapping Allowed values Preset value Description 1F51h Program Control Function This object is used to control the programming of memory areas of the controller. Each entry stands for a certain memory area.

  • Page 122: 1F57H Program Status

    9 Description of the object dictionary Allowed values Preset value Subindex Name Program Control NanoJ Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name Program Control DataFlash Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value...

  • Page 123: 2028H Modbus Slave Address

    9 Description of the object dictionary Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Program Status Bootloader/firmware Data type UNSIGNED32 Access read only PDO mapping Allowed values Preset value 00000000 Subindex Name Program Status NanoJ Data type UNSIGNED32 Access...

  • Page 124: 202Ah Modbus Rtu Baudrate

    9 Description of the object dictionary Access read / write PDO mapping Allowed values 1-247 Preset value Firmware version FIR-v1436 Change history 202Ah MODBUS RTU Baudrate Function This object contains the baud rate of the Modbus in Bd. Object description Index 202A Object name...

  • Page 125: 202Dh Modbus Rtu Parity

    9 Description of the object dictionary Firmware version FIR-v1540: "Access" table entry for subindex 00 changed from "read/write" to "read only". Description The number of stop bits is dependent on the parity, which can be set in object 202D Number of stop bits Value in object 202C 202Dh MODBUS RTU Parity Function...

  • Page 126: 2031H Maximum Current

    9 Description of the object dictionary Data type UNSIGNED32 Savable yes, category: tuning Access read / write PDO mapping Allowed values Preset value ● PD4-C5918M4204-E-01: 00000032 ● PD4-C6018L4204-E-01: 00000032 ● PD4-CB59M024035-E-01: 00000003 ● PD4-C5918L4204-E-01: 00000032 ● PD4-C5918X4204-E-01: 00000032 Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Savable"...

  • Page 127: 2032H Maximum Speed

    9 Description of the object dictionary 2032h Maximum Speed Function Specifies the maximum permissible speed of the motor in user-defined units. Object description Index 2032 Object name Maximum Speed Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: tuning Access read / write PDO mapping Allowed values...

  • Page 128: 2034H Upper Voltage Warning Level

    9 Description of the object dictionary Allowed values Preset value 00000000 Firmware version FIR-v1426 Change history Description An electronic locking bolt is thereby realized. The value 0 switches off monitoring. The value 100, for example, means that the drive may rotate any distance in the negative direction, but as soon as it moves more than 100 steps in the positive direction, the motor is stopped immediately and an error triggered.

  • Page 129: 2036H Open Loop Current Reduction Idle Time

    9 Description of the object dictionary Object description Index 2035 Object name Lower Voltage Warning Level Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application Access read / write PDO mapping Allowed values Preset value 00002710 Firmware version FIR-v1426 Change history Description If the input voltage of the controller falls below this threshold value, the motor is switched off and an error...

  • Page 130: 2039H Motor Currents

    9 Description of the object dictionary Object description Index 2037 Object name Open Loop Current Reduction Value/factor Object Code VARIABLE Data type INTEGER32 Savable yes, category: application Access read / write PDO mapping Allowed values Preset value FFFFFFCE Firmware version FIR-v1426 Change history Description...
  • Page 131 9 Description of the object dictionary Change history Firmware version FIR-v1504: "PDO mapping" table entry for subindex 01 changed from "no" to "TX-PDO". Firmware version FIR-v1504: "PDO mapping" table entry for subindex 02 changed from "no" to "TX-PDO". Firmware version FIR-v1504: "PDO mapping" table entry for subindex 03 changed from "no"...

  • Page 132: 203Ah Homing On Block Configuration

    9 Description of the object dictionary Subindex Name Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000 203Ah Homing On Block Configuration Function This object contains the parameters for Homing on Block (see chapter Homing) Object description Index 203A...

  • Page 133: 203Bh I2T Parameters

    9 Description of the object dictionary Preset value Subindex Name Minimum Current For Block Detection Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value ● PD4-C5918M4204-E-01: 000004EC ● PD4-C6018L4204-E-01: 000004EC ● PD4-CB59M024035-E-01: 000015E0 ● PD4-C5918L4204-E-01: 000004EC ●...
  • Page 134 9 Description of the object dictionary Firmware version FIR-v1426 Change history Firmware version FIR-v1512: "Savable" entry changed from "no" to "yes, category: application". Firmware version FIR-v1512: The number of entries was changed from 7 to 8. Firmware version FIR-v1614: "Savable" entry changed from "yes, category: application"...
  • Page 135 9 Description of the object dictionary Name Threshold Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name CalcValue Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name LimitedCurrent Data type...

  • Page 136: 203Dh Torque Window

    9 Description of the object dictionary ● 01 : The rated current specified in the motor data sheet is entered here in mA. This must be smaller than the current entered in object 2031 , otherwise monitoring is not activated. The specified value is interpreted as root mean square.

  • Page 137: 2050H Encoder Alignment

    9 Description of the object dictionary Allowed values Preset value 0000 Firmware version FIR-v1540 Change history Firmware version FIR-v1614: "Savable" entry changed from "no" to "yes, category: application". 2050h Encoder Alignment Function This value specifies the offset between the index of the encoder and the electric field. Object description Index 2050...

  • Page 138: 2052H Encoder Resolution

    9 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 Parameter 1 Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex...

  • Page 139: 2056H Limit Switch Tolerance Band

    9 Description of the object dictionary Object description Index 2052 Object name Encoder Resolution Object Code VARIABLE Data type INTEGER32 Savable yes, category: tuning Access read / write PDO mapping Allowed values Preset value 00000000 Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Savable"...

  • Page 140: 2057H Clock Direction Multiplier

    9 Description of the object dictionary 2057h Clock Direction Multiplier Function The clock count value in clock/direction mode is multiplied by this value before it is processed further. Object description Index 2057 Object name Clock Direction Multiplier Object Code VARIABLE Data type INTEGER32 Savable...

  • Page 141: 205Ah Encoder Boot Value

    9 Description of the object dictionary Object name Encoder Configuration Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: tuning Access read / write PDO mapping Allowed values Preset value 00000000 Firmware version FIR-v1426 Change history Firmware version FIR-v1614: "Savable" entry changed from "yes, category: application"...

  • Page 142: 205Bh Clock Direction Or Clockwise/Counter Clockwise Mode

    9 Description of the object dictionary Change history Firmware version FIR-v1512: "Access" table entry for subindex 00 changed from "read/write" to "read only". 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").

  • Page 143: 2061H Velocity Numerator

    9 Description of the object dictionary If the value is 0, the number of pole pairs is included in the preset values as with standard stepper motor controllers and must be taken into account if the motor is changed. 2061h Velocity Numerator Function Contains the counter that is used for converting from user-defined speed values to the internal revolutions/ second.

  • Page 144: 2063H Acceleration Numerator

    9 Description of the object dictionary 2063h Acceleration Numerator Function Contains the counter that is used for converting from user-defined acceleration values to the internal revolutions/second . See chapter User-defined units. Object description Index 2063 Object name Acceleration Numerator Object Code VARIABLE Data type UNSIGNED32...

  • Page 145: 2066H Jerk Denominator

    9 Description of the object dictionary Object description Index 2065 Object name Jerk Numerator Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application Access read / write PDO mapping Allowed values Preset value 00000001 Firmware version FIR-v1426 Change history 2066h Jerk Denominator Function Contains the denominator that is used for converting from user-defined jerk values to the internal revolutions/...

  • Page 146: 2101H Fieldbus Module Availability

    9 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 00000000 Firmware version FIR-v1426 Change history 2101h Fieldbus Module Availability Function Shows the available fieldbuses. Object description Index 2101 Object name Fieldbus Module Availability Object Code VARIABLE Data type...

  • Page 147: 2102H Fieldbus Module Control

    9 Description of the object dictionary E-NET Value = "1": An Ethernet interface is available. E-CAT Value = "1": An EtherCAT interface is available. Value = "1": An SPI interface is available. MRTU Value = "1": The used protocol is Modbus RTU. MTCP Value = "1": The used protocol is Modbus TCP.

  • Page 148: 2103H Fieldbus Module Status

    9 Description of the object dictionary USB interface RS-485 RS-485 interface RS-232 RS-232 interface CANopen interface E-NET EtherNet interface E-CAT EtherCAT interface SPI interface MRTU Modbus RTU protocol MTCP Modbus TCP protocol E-IP EtherNet/IP protocol 2103h Fieldbus Module Status Function Shows the active fieldbuses.
  • Page 149 9 Description of the object dictionary Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Fieldbus Module Disable Mask Data type UNSIGNED32 Access read only PDO mapping Allowed values Preset value 00000000 Subindex Name...

  • Page 150: 2300H Nanoj Control

    9 Description of the object dictionary E-NET EtherNet interface E-CAT EtherCAT interface SPI interface MRTU Modbus RTU protocol MTCP Modbus TCP protocol E-IP EtherNet/IP protocol 2300h NanoJ Control Function Controls the execution of a NanoJ program. Object description Index 2300 Object name NanoJ Control Object Code...

  • Page 151: 2301H Nanoj Status

    9 Description of the object dictionary Note Startup of the NanoJ program can take up to 200 ms. 2301h NanoJ Status Function Indicates the operating state of the user program. Object description Index 2301 Object name NanoJ Status Object Code VARIABLE Data type UNSIGNED32...
  • Page 152 9 Description of the object dictionary Object description Index 2302 Object name NanoJ Error Code Object Code VARIABLE Data type UNSIGNED32 Savable Access read only PDO mapping TX-PDO Allowed values Preset value 00000000 Firmware version FIR-v1426 Change history Firmware version FIR-v1436: "Object Name" entry changed from "VMM Error Code"...

  • Page 153: 230Fh Uptime Seconds

    9 Description of the object dictionary Number Description 10005 Folder not found 10006 Invalid file name/folder name 10008 Access of file not possible 10009 File/directory object is invalid 1000A Storage medium is read-only 1000B Drive number is invalid 1000C Working range of the drive is invalid 1000D No valid file system on the drive 1000E...
  • Page 154 9 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 Input Data Selection" to "NanoJ Input Data Selection". Firmware version FIR-v1650-B472161: "Savable"...

  • Page 155: 2320H Nanoj Output Data Selection

    9 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. 2320h NanoJ Output Data Selection Function Describes the object dictionary entries that are copied into the output PDO mapping of the NanoJ program after it is executed.

  • Page 156: 2330H Nanoj In/Output Data Selection

    9 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. Index [16] SubIndex [8] Length [8]...

  • Page 157: 2400H Nanoj Inputs

    9 Description of the object dictionary Firmware version FIR-v1650-B472161: "Access" table entry for subindex 01 changed from "read/write" to "read only". Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex - 10 Name...

  • Page 158: 2410H Nanoj Init Parameters

    9 Description of the object dictionary Object description Index 2400 Object name NanoJ Inputs Object Code ARRAY Data type INTEGER32 Savable Firmware version FIR-v1426 Change history The number of entries was changed from 2 to 33. Firmware version FIR-v1436: "Object Name" entry changed from "VMM Inputs"...

  • Page 159: 2500H Nanoj Outputs

    9 Description of the object dictionary Data type INTEGER32 Savable yes, category: application Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1450 Change history Firmware version FIR-v1450: "Data Type" entry changed from "INTEGER32" to "UNSIGNED8". Value description Subindex Name Highest Sub-index Supported...

  • Page 160: 2600H Nanoj Debug Output

    9 Description of the object dictionary Firmware version FIR-v1436: "Name" entry changed from "VMM Output N#" to "NanoJ Output N#". Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex - 20 Name NanoJ Output #1 - #32...

  • Page 161: 2700H User Storage Area

    9 Description of the object dictionary Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex - 40 Name Value #1 - #64 Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Description Here, the NanoJ program stores the debug output that was called up with the VmmDebugOutputString(), VmmDebugOutputInt() and similar functions.
  • Page 162 9 Description of the object dictionary Access read only PDO mapping Allowed values Preset value Subindex Name Storage Control Word Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name Storage #1 Data type UNSIGNED16 Access read / write PDO mapping...

  • Page 163: 2800H Bootloader And Reboot Settings

    9 Description of the object dictionary Preset value 0000 Subindex Name Storage #5 Data type UNSIGNED16 Access read / write PDO mapping Allowed values Preset value 0000 Subindex Name Storage #6 Data type UNSIGNED16 Access read / write PDO mapping Allowed values Preset value 0000...
  • Page 164 9 Description of the object dictionary Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1540 Change history Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping...

  • Page 165: 3202H Motor Drive Submode Select

    9 Description of the object dictionary Description The subindices have the following function: ● 01 : If the value 746F6F62 is entered here, the firmware is rebooted. ● 02 : Time in milliseconds: delays the reboot of the firmware by the respective time. ●...

  • Page 166: 320Ah Motor Drive Sensor Display Open Loop

    9 Description of the object dictionary ● Value = "1": closed loop Value = "1": Simulate V-controller with an S-ramp: simulate the speed modes through continuous position changes Brake Value = "1": Switch on automatic brake control. CurRed (Current Reduction) Value = "1": Current reduction activated in open loop Torque only active in operating modes Profile Torque and Cyclic Synchronous Torque...
  • Page 167 9 Description of the object dictionary Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Torque Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Velocity Data type INTEGER32 Access...

  • Page 168: 320Bh Motor Drive Sensor Display Closed Loop

    9 Description of the object dictionary 320Bh Motor Drive Sensor Display Closed Loop Function This can be used to change the source for objects 6044 and 6064 in closed loop mode. Object description Index 320B Object name Motor Drive Sensor Display Closed Loop Object Code ARRAY Data type...

  • Page 169: 3210H Motor Drive Parameter Set

    9 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 00000001 Subindex Name Position Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value 00000001 Description The following subindices have a function: ●...
  • Page 170 9 Description of the object dictionary Firmware version FIR-v1626: "Name" entry changed from "V_I" to "Velocity Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_P" to "Flux Current Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_I" to "Flux Current Loop, Integral Gain (closed loop)".
  • Page 171 9 Description of the object dictionary ● PD4-C5918X4204-E-01: 00002710 Subindex Name Position Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Velocity Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write...
  • Page 172 9 Description of the object dictionary ● PD4-C5918X4204-E-01: 0007A120 Subindex Name Flux Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value ● PD4-C5918M4204-E-01: 00001388 ● PD4-C6018L4204-E-01: 00002EE0 ● PD4-CB59M024035-E-01: 00000BB8 ●...

  • Page 173: 3212H Motor Drive Flags

    9 Description of the object dictionary Allowed values Preset value ● PD4-C5918M4204-E-01: 000061A8 ● PD4-C6018L4204-E-01: 00027100 ● PD4-CB59M024035-E-01: 00000000 ● PD4-C5918L4204-E-01: 000061A8 ● PD4-C5918X4204-E-01: 000061A8 Subindex Name Torque Current Loop, Integral Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value...
  • Page 174 9 Description of the object dictionary Object description Index 3212 Object name Motor Drive Flags Object Code ARRAY Data type INTEGER8 Savable yes, category: application Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1450 Change history Firmware version FIR-v1512: The number of entries was changed from 2 to 3.

  • Page 175: 3220H Analog Inputs

    9 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value Description Valid values for subindex 01 ● Value = "0": In the "Switched on" state of the CiA 402 Power State Machine, the output voltage for the motor (PWM) is permanently set to 50%;...

  • Page 176: 3221H Analogue Inputs Control

    9 Description of the object dictionary Subindex Name Analogue Input 1 Data type INTEGER16 Access read only PDO mapping TX-PDO Allowed values Preset value 0000 Subindex Name Analogue Input 2 Data type INTEGER16 Access read only PDO mapping TX-PDO Allowed values Preset value 0000 Description...

  • Page 177: 3225H Analogue Inputs Switches

    9 Description of the object dictionary Description In general: If a bit is set to the value "0", the analog input measures the voltage; if the bit is set to the value "1", the current is measured. Setting for analog input 1 Setting for analog input 2 3225h Analogue Inputs Switches Function...

  • Page 178: 3240H Digital Inputs Control

    9 Description of the object dictionary Subindex Name Analogue Input Switch1 Data type UNSIGNED16 Access read only PDO mapping TX-PDO Allowed values Preset value 0000 Description The position of the DIP switches is displayed in subindex 01 . Bit 0 corresponds to switch 1 here; if the switch is "On", the value of the bit is "1";...
  • Page 179 9 Description of the object dictionary Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name Function Inverted Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name Force Enable...
  • Page 180 9 Description of the object dictionary Allowed values Preset value 00000000 Subindex Name Differential Select Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name Routing Enable Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values...

  • Page 181: 3241H Digital Input Capture

    9 Description of the object dictionary 3241h Digital Input Capture Function With this object, the encoder position can be noted automatically if a level change occurs at digital input 2. Object description Index 3241 Object name Digital Input Capture Object Code ARRAY Data type UNSIGNED32...

  • Page 182: 3242H Digital Input Routing

    9 Description of the object dictionary Preset value 00000000 Subindex Name Capture Count Data type UNSIGNED32 Access read / write PDO mapping TX-PDO Allowed values Preset value 00000000 Subindex Name Value Data type UNSIGNED32 Access read / write PDO mapping TX-PDO Allowed values Preset value...
  • Page 183 9 Description of the object dictionary Object name Digital Input Routing Object Code ARRAY Data type UNSIGNED8 Savable yes, category: application Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1504 Change history Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access...
  • Page 184 9 Description of the object dictionary Number Signal source Physical input 8 Physical input 9 Physical input 10 Physical input 11 Physical input 12 Physical input 13 Physical input 14 Physical input 15 Physical input 16 Hall input "U" Hall input "V" Hall input "W"...

  • Page 185: 3250H Digital Outputs Control

    9 Description of the object dictionary Number Signal source Inverted encoder input "A" Inverted encoder input "B" Inverted encoder input "Index" Inverted USB power signal "Ethernet active" inverted status Inverted DIP switch 1 Inverted DIP switch 2 Inverted DIP switch 3 Inverted DIP switch 4 Inverted DIP switch 5 Inverted DIP switch 6...
  • Page 186 9 Description of the object dictionary PDO mapping Allowed values Preset value Subindex Name No Function Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name Function Inverted Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values...

  • Page 187: 3252H Digital Output Routing

    9 Description of the object dictionary Subindex Name Reserved1 Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name Reserved2 Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name...
  • Page 188 9 Description of the object dictionary Savable yes, category: application Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1650-B527540 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 189: 3320H Read Analogue Input

    9 Description of the object dictionary Name Output Control #4 Data type UNSIGNED16 Access read / write PDO mapping TX-PDO Allowed values Preset value 0092 Subindex Name Output Control #5 Data type UNSIGNED16 Access read / write PDO mapping TX-PDO Allowed values Preset value 0093...

  • Page 190: 3321H Analogue Input Offset

    9 Description of the object dictionary PDO mapping TX-PDO Allowed values Preset value 00000000 Subindex Name Analogue Input 2 Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000 Description The user-defined units are made up of offset (3321 ) and pre-scaling value (3322 ).

  • Page 191: 3322H Analogue Input Pre-Scaling

    9 Description of the object dictionary Allowed values Preset value Subindex Name Analogue Input 1 Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Analogue Input 2 Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value...

  • Page 192: 3502H Modbus Rx Pdo Mapping

    9 Description of the object dictionary PDO mapping Allowed values Preset value Subindex Name Analogue Input 1 Data type INTEGER32 Access read / write PDO mapping Allowed values All values permitted except 0 Preset value 00000001 Subindex Name Analogue Input 2 Data type INTEGER32 Access...
  • Page 193 9 Description of the object dictionary PDO mapping Allowed values Preset value Firmware version FIR-v1650-B527540 Change history Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name Value #1 Data type UNSIGNED32 Access...
  • Page 194 9 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 32020020 Subindex Name Value #5 Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 607A0020 Subindex Name Value #6 Data type UNSIGNED32 Access read / write...
  • Page 195 9 Description of the object dictionary Preset value 00000000 Subindex Name Value #10 Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Value #11 Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000...

  • Page 196: 3602H Modbus Tx Pdo Mapping

    9 Description of the object dictionary Name Value #15 Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Value #16 Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 3602h MODBUS Tx PDO Mapping Function...
  • Page 197 9 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value Subindex Name Value #1 Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 60410010 Subindex Name Value #2 Data type UNSIGNED32 Access read / write...
  • Page 198 9 Description of the object dictionary Preset value 60440010 Subindex Name Value #6 Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 60FD0020 Subindex Name Value #7 Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000...
  • Page 199 9 Description of the object dictionary Name Value #11 Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Value #12 Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name...

  • Page 200: 3700H Following Error Option Code

    9 Description of the object dictionary PDO mapping Allowed values Preset value 00000000 3700h Following Error Option Code Function The object contains the action that is to be executed if a following error is triggered. Object description Index 3700 Object name Following Error Option Code Object Code VARIABLE...

  • Page 201: 4013H Hw Configuration

    9 Description of the object dictionary Savable Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1540 Change history Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name EEPROM Size In Bytes...

  • Page 202: 4014H Operating Conditions

    9 Description of the object dictionary Preset value Firmware version FIR-v1540 Change history Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name HW Configuration #1 Data type UNSIGNED32 Access read / write PDO mapping...
  • Page 203 9 Description of the object dictionary Firmware version FIR-v1650-B472161: "Access" table entry for subindex 02 changed from "read/write" to "read only". Firmware version FIR-v1650-B472161: "Name" entry changed from "Temperature PCB [d?C]" to "Temperature PCB [Celsius * 10]". Firmware version FIR-v1650-B472161: "Access" table entry for subindex 03 changed from "read/write"...

  • Page 204: 4040H Drive Serial Number

    9 Description of the object dictionary ● 01 : Current voltage supply voltage in [mV] ● 02 : Current logic voltage in [mV] ● 03 : Current temperature in [d°C] (tenths of degree) 4040h Drive Serial Number Function This object contains the serial number of the controller. Object description Index 4040...

  • Page 205: 603Fh Error Code

    9 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 1003 Object description Index...

  • Page 206: 6041H Statusword

    9 Description of the object dictionary HALT OMS [3] SO (Switched On) Value = "1": Switches to the "Switched on" state EV (Enable Voltage) Value = "1": Switches to the "Enable voltage" state QS (Quick Stop) Value = "0": Switches to the "Quick stop" state EO (Enable Operation) Value = "1": Switches to the "Enable operation"...
  • Page 207 9 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 WARN SOD FAULT RTSO RTSO (Ready To Switch On) Value = "1": Controller is in the "Ready to Switch On"...

  • Page 208: 6042H Vl Target Velocity

    9 Description of the object dictionary Statusword (6041 State xxxx xxxx x1xx 0000 Switch on disabled xxxx xxxx x01x 0001 Ready to switch on 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...

  • Page 209: 6044H Vl Velocity Actual Value

    9 Description of the object dictionary Change history 6044h Vl Velocity Actual Value Function Specifies the current actual speed in user-defined units. In open loop mode, the source of this object can be set with object 320A to either the internal, calculated value or to the encoder.

  • Page 210: 6048H Vl Velocity Acceleration

    9 Description of the object dictionary Allowed values Preset value Subindex 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 Allowed values Preset value...

  • Page 211: 6049H Vl Velocity Deceleration

    9 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 RX-PDO Allowed values Preset value 000001F4 Subindex...

  • Page 212: 604Ah Vl Velocity Quick Stop

    9 Description of the object dictionary Change history 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 RX-PDO Allowed values Preset value 000001F4...

  • Page 213: 604Ch Vl Dimension Factor

    9 Description of the object dictionary Data type VELOCITY_ACCELERATION_DECELERATION 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 DeltaSpeed Data type UNSIGNED32 Access...
  • Page 214 9 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 Data type UNSIGNED8 Access read only PDO mapping...

  • Page 215: 605Ah Quick Stop Option Code

    9 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. Object description Index 605A Object name Quick Stop Option Code...

  • Page 216: 605Ch Disable Option Code

    9 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 control mode) and subsequent state change to "Switch on disabled" 2 …...

  • Page 217: 605Dh Halt Option Code

    9 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 Halt Option Code Object Code VARIABLE Data type INTEGER16...

  • Page 218: 6060H Modes Of Operation

    9 Description of the object dictionary Change history Description Value Description -32768 … -1 Reserved Immediate stop Braking with "slow down ramp" (deceleration (deceleration ramp) depending on control mode) Braking with "quick stop ramp" (deceleration (deceleration ramp) depending on control mode) 3 …...

  • Page 219: 6061H Modes Of Operation Display

    9 Description of the object dictionary Mode Description 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. Object description Index 6061...

  • Page 220: 6063H Position Actual Internal Value

    9 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. Note = 0, the numerical values of this object are invalid. If the encoder resolution in object 2052 Object description Index...

  • Page 221: 6065H Following Error Window

    9 Description of the object dictionary Firmware version FIR-v1426 Change history 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 VARIABLE Data type UNSIGNED32...

  • Page 222: 6067H Position Window

    9 Description of the object dictionary Firmware version FIR-v1426 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 is exceeded, bit 13 in object 6041 is set.

  • Page 223: 606Bh Velocity Demand Value

    9 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 0064 Firmware version FIR-v1426 Change history Firmware version FIR-v1504: "Savable" entry changed from "no" to "yes, category: application".

  • Page 224: 606Dh Velocity Window

    9 Description of the object dictionary Object name Velocity Actual Value Object Code VARIABLE Data type INTEGER32 Savable Access read only PDO mapping TX-PDO Allowed values Preset value 00000000 Firmware version FIR-v1426 Change history 606Dh Velocity Window Function Specifies a symmetrical range relative to the target speed within which the target is considered having been met in the Profile Velocity mode.

  • Page 225: 6071H Target Torque

    9 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-v1426 Change history Firmware version FIR-v1614: "Savable" entry changed from "no" to "yes, category: application".

  • Page 226: 6072H Max Torque

    9 Description of the object dictionary 6072h Max Torque Function The object describes the maximum torque for the Profile Torque and Cyclic Synchronous Torque modes in tenths of a percent of the rated torque. Object description Index 6072 Object name Max Torque Object Code VARIABLE...

  • Page 227: 6077H Torque Actual Value

    9 Description of the object dictionary Description This object is calculated as thousandths of the torque, e.g., the value "500" means "50%" of the rated torque; "1100" is equivalent to 110%. The rated torque corresponds to the rated current in object 203B :01.

  • Page 228: 607Bh Position Range Limit

    9 Description of the object dictionary Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: application". 607Bh Position Range Limit Function Contains the minimum and maximum position in user-defined units. Object description Index 607B Object name Position Range Limit...

  • Page 229: 607Ch Home Offset

    9 Description of the object dictionary Description If this range is exceeded or not reached, an overflow occurs. To prevent this overflow, limit values for the target position can be set in object 607D ("Software Position Limit"). 607Ch Home Offset Function Specifies the difference between the zero position of the controller and the reference point of the machine in user-defined units.

  • Page 230: 607Eh Polarity

    9 Description of the object dictionary Preset value Subindex Name Min Position Limit Data type INTEGER32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name Max Position Limit Data type INTEGER32 Access read / write PDO mapping RX-PDO Allowed values...

  • Page 231: 6081H Profile Velocity

    9 Description of the object dictionary VEL (Velocity) Direction of rotation reversal in the following modes: ● Profile Velocity Mode ● Cyclic Synchronous Velocity Mode ● Velocity Mode POS (Position) Direction of rotation reversal in the following modes: ● Profile Position Mode ●...

  • Page 232: 6083H Profile Acceleration

    9 Description of the object dictionary PDO mapping RX-PDO Allowed values Preset value 00000000 Firmware version FIR-v1426 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...

  • Page 233: 6085H Quick Stop Deceleration

    9 Description of the object dictionary 6085h Quick Stop Deceleration Function Specifies the maximum Quick Stop Deceleration in user-defined units. 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...

  • Page 234: 608Fh Position Encoder Resolution

    9 Description of the object dictionary Object description Index 6087 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 235: 6091H Gear Ratio

    9 Description of the object dictionary Name Encoder Increments Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 000007D0 Subindex Name Motor Revolutions Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000001 Description Position Encoder Resolution = Encoder Increments (608F...

  • Page 236: 6092H Feed Constant

    9 Description of the object dictionary Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000001 Subindex Name Shaft Revolutions Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000001 Description Gear Ratio = Motor Revolutions (6091 ) / Shaft Revolutions (6091 6092h Feed Constant Function...

  • Page 237: 6098H Homing Method

    9 Description of the object dictionary Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001 Subindex Name Shaft Revolutions Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001 Description Feed Constant = Feed (6092 ) / Shaft Revolutions (6092 6098h Homing Method Function...
  • Page 238 9 Description of the object dictionary Data type UNSIGNED32 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 Speed During Search For Switch Data type UNSIGNED32 Access...

  • Page 239: 609Ah Homing Acceleration

    9 Description of the object dictionary 609Ah Homing Acceleration Function Specifies the acceleration ramp for homing mode in user-defined units. Object description Index 609A Object name Homing Acceleration Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values...
  • Page 240 9 Description of the object dictionary Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Begin Acceleration Jerk Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 000003E8 Subindex Name Begin Deceleration Jerk Data type UNSIGNED32 Access...

  • Page 241: 60C1H Interpolation Data Record

    9 Description of the object dictionary 60C1h Interpolation Data Record Function This object contains the demand position in user-defined units for the interpolation algorithm for the interpolated position operating mode. Object description Index 60C1 Object name Interpolation Data Record Object Code ARRAY Data type INTEGER32...

  • Page 242: 60C2H Interpolation Time Period

    9 Description of the object dictionary 60C2h Interpolation Time Period Function This object contains the interpolation time. Object description Index 60C2 Object name Interpolation Time Period Object Code RECORD Data type INTERPOLATION_TIME_PERIOD Savable yes, category: application Access read only PDO mapping Allowed values Preset value Firmware version...

  • Page 243: 60C4H Interpolation Data Configuration

    9 Description of the object dictionary Description The subindices have the following functions: ● 01 : Interpolation time. ● 02 : Power of ten of the interpolation time: must have the value -3 (corresponds to the time basis in milliseconds). value of 60C2:02 The following applies here: cycle time = value of 60C2 * 10...
  • Page 244 9 Description of the object dictionary Subindex Name MaximumBufferSize Data type UNSIGNED32 Access read only PDO mapping Allowed values Preset value 00000001 Subindex Name ActualBufferSize Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000001 Subindex Name BufferOrganization Data type...

  • Page 245: 60C5H Max Acceleration

    9 Description of the object dictionary Access write only PDO mapping Allowed values Preset value Description The value of subindex 01 contains the maximum possible number of interpolated records. The value of subindex 02 contains the current number of interpolated records. If subindex 03 is "00 ", this means a FIFO buffer organization;...

  • Page 246: 60F2H Positioning Option Code

    9 Description of the object dictionary Data type UNSIGNED32 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value 00001388 Firmware version FIR-v1426 Change history 60F2h Positioning Option Code Function The object describes the positioning behavior in Profile Position mode. Object description Index 60F2...

  • Page 247: 60F4H Following Error Actual Value

    9 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 4 ("new setpoint") – in this case, the controller releases the bit itself. This eliminates the need to externally reset the bit to "0" afterwards.

  • Page 248: 60Fdh Digital Inputs

    9 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 FIR-v1426 Change history 60FDh Digital Inputs Function With this object, the digital inputs of the motor can be read.

  • Page 249: 60Feh Digital Outputs

    9 Description of the object dictionary IN n (Input n) Input n – the number of used bits is dependent on the given controller. 60FEh Digital Outputs Function With this object, the digital outputs of the motor can be written. Object description Index 60FE...

  • Page 250: 60Ffh Target Velocity

    9 Description of the object dictionary BRK (Brake) Bit for the brake output (if the controller supports this function). OUT n (Output No n) Bit for the respective digital output; the exact number of digital outputs is dependent on the controller. 60FFh Target Velocity Function In this object, the target speed for the profile velocity and cyclic synchronous velocity modes is entered in...

  • Page 251: 6505H Http Drive Catalogue Address

    This object contains the manufacturer's web address as a character string. 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 Version: 2.0.1 / FIR-v1650...
  • Page 252 9 Description of the object dictionary Change history Version: 2.0.1 / FIR-v1650...

  • Page 253: Copyrights

    10 Copyrights 10 Copyrights 10.1 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. 10.2 AES FIPS-197 compliant AES implementation Based on XySSL: Copyright (C) 2006-2008 Christophe Devine Copyright (C) 2009 Paul Bakker <polarssl_maintainer at polarssl dot org>...

  • Page 254: Uip

    10 Copyrights 10.4 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. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

  • Page 255: Protothreads

    10 Copyrights 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. Copyright (C) 2010, ChaN, all right reserved. The FatFs module is a free software and there is NO WARRANTY.
  • Page 256 10 Copyrights EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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