Infranor XtrapulsPac User Manual
  1. Manuals
  2. Brands
  3. Infranor Manuals
  4. Amplifier
  5. XtrapulsPac
  6. User manual

Infranor XtrapulsPac User Manual

Hide thumbs Also See for XtrapulsPac:
Table of Contents

Advertisement

Quick Links

See also: Installation Manual
XtrapulsPac
User Guide
Digital drive
for sinusoidal
synchronous
AC motors

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the XtrapulsPac and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Infranor XtrapulsPac

Summary of Contents for Infranor XtrapulsPac

  • Page 1 XtrapulsPac User Guide Digital drive for sinusoidal synchronous AC motors...
  • Page 2 This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not with standard waste. INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or wrong descriptions of the ordered items.

  • Page 3: Table Of Contents

    XtrapulsPac – User Guide Content CONTENT ............................... 3 CHAPTER 1 - GENERAL DESCRIPTION ....................5 1.1 - I ..........................5 NTRODUCTION 1.2 - A ..........................6 RCHITECTURE 1.3 - ........................7 OTHER DOCUMENTS CHAPTER 2 - COMMISSIONING ......................8 2.1 - PC S ......................
  • Page 4 3.2.2 - Drive Parameters ......................... 75 3.2.2.1 - Motor parameters ......................... 75 3.2.2.2 - Motor Brake ..........................81 3.2.2.3 - Motor current limits & Current Loop ....................82 3.2.2.4 - Dynamic current limits ........................87 3.2.2.5 - Motor temperature probe ......................88 3.2.2.6 - IGBT temperature .........................

  • Page 5: Chapter 1 - General Description

    - stand-alone or multi-axis, - wall mounting (standard), push-through or cold plate cooling. Series XtrapulsPac drives are fully configurable in order to fit various applications. Both drive versions of the XtrapulsPac range are described below. The XtrapulsPac version with CANopen interface can be used in the following application types: ...

  • Page 6: Architecture

    I/O configuration parameters. The configuration parameters can be stored into the drive non- volatile memory. The XtrapulsPac drive can be controlled via the fieldbus (CANopen or EtherCAT), via the analog input (analog speed drive), via the PULSE and DIR inputs (stepper emulation) or via the digital I/Os (stand-alone positioner) according to the selected operation mode.

  • Page 7: Other Documents

    XtrapulsPac - User Guide 1.3 - OTHER DOCUMENTS  XtrapulsPac Installation guide.  XtrapulsPac "Safe Torque Off" specification.  XtrapulsPac Templates.  Gem Drive Studio Quick Start guide  EtherCAT® fieldbus interface.  GDPS manual, for the use of the GDPS power supply unit...

  • Page 8: Chapter 2 - Commissioning

    The Gem Drive Studio software is PC compliant under Windows® and allows an easy parameterization of the Xtrapuls drive. Please see our website www.infranor.com for downloading the "Gem Drive Studio" software. Minimum Configuration The use of the Gem Drive Studio software requires the minimum PC configuration described below: ...
  • Page 9 XtrapulsPac - User Guide Architecture of the software The software is made of several independent software modules. Each of them can communicate with the drive(s) via a communication server. (m/s)Client Client module Client module module Terminal Oscilloscope Gem Drive Studio...

  • Page 10: Starting The Software

    XtrapulsPac – User Guide 2.2 - STARTING THE SOFTWARE User levels When starting the software, various user levels can be selected. The drive parameter modification levels are protected by passwords. Administrator is the highest level with full access. Passwords The Administrator can change all passwords by using the Tools/User identification menu. The default password for the administrator level is "admin".

  • Page 11: Parameter Setting

    XtrapulsPac - User Guide Starting the communication The Gem Drive Studio software can communicate with the drives by using either the RS232 serial link or the CANopen fieldbus. All drives of the application are connected together via CANopen: - Set the node ID code value by using the micro-switches on the front panel for all drives of the application (code...

  • Page 12: Manual Motor Configuration

    XtrapulsPac – User Guide 2.4.2.2 - Manual motor configuration If the motor configuration must be manually made (motor is not referenced in the Gem Drive Studio catalog), adjust first the motor position sensor parameters (resolver or encoder) before the motor parameters.
  • Page 13 XtrapulsPac - User Guide The maximum current duration before release of the warning is depending on the value of the parameters Rated current and Max. current. This value is calculated as follows: (second) = t = 3,3 x [rated current (A) / max. current (A)]...

  • Page 14: Linear Motor Configuration

    XtrapulsPac – User Guide higher internal delay inside the speed loop. This reduces the speed loop stability margin and consequently the speed loop bandwidth. The current loop gains are automatically calculated when the Calculate current loop gains command is selected.

  • Page 15: Position Sensors

    2.4.3 - P OSITION SENSORS The XtrapulsPac drive has got 2 position sensor inputs: one for resolvers and a second for encoders. Transmitter resolver type or SinCos tracks resolver type can both be connected to the drive resolver input. Many different encoder types can also be connected to the XtrapulsPac drive encoder input: TTL (square) signals, SinCos signals, incremental + Hall effect sensor channels, absolute encoders with HIPERFACE...
  • Page 16 XtrapulsPac – User Guide Incremental encoder setting: Enter the Zero Mark pitch parameter value if the encoder has got a Zero mark channel. Zero Mark pitch is the number of encoder increments between 2 successive zero mark signals. If the encoder is not equipped with a Zero mark channel, set Zero Mark pitch value at 0.

  • Page 17: Servo Loops Adjustment

    XtrapulsPac - User Guide Position Feedback Selection Select the position sensor currently mounted on the motor (resolver or encoder). The position sensor mounted on the motor is used by the drive for the motor torque or force control and for the speed regulation loop.
  • Page 18 XtrapulsPac – User Guide Select the desired closed loop Bandwidth (cut-off frequency value of the closed loop frequency response) according to the dynamic performances requirements of the application (Low = 50 Hz, Medium = 75 Hz, High = 100 Hz).
  • Page 19 XtrapulsPac - User Guide The Current command filter is a 3rd order, low-pass type filter, with 3 adjustable cut-off frequencies. Each cut- off frequency value can be freely adjusted according to the application for the filtering of high frequency noise or the filtering of mechanical resonances.

  • Page 20: Configuration Of The Drive Enable

    XtrapulsPac – User Guide The Position error detection mode defines the operation mode of the axis following error protection. - When Absolute is selected, the following error protection is operating as described below: Position error threshold Position following error Measured...
  • Page 21 XtrapulsPac - User Guide Profile Position parameters Enter the Maximum velocity parameter value according to the motor Maximum speed and the limitation due to the mechanical load in the application. For the first tests, a reduced velocity range is preferred in order to prevent hazardous movements with a large amplitude.

  • Page 22: Logic Inputs

    XtrapulsPac – User Guide 2.4.7 - L OGIC NPUTS Xtrapuls drives offer the use of built-in functions for the drive operation. These functions can be controlled by using “logical signal” or digital input. The default configuration is “logical signal”. If required, any digital input can be connected to a given function for the hardware control.

  • Page 23: Logic Outputs

    XtrapulsPac - User Guide “SEQ SEL 2” INPUT The SEQ SEL 2 input is connected to bit 1 of the sequence number selection when the drive Sequence mode is selected. “SEQ SEL 3” INPUT The SEQ SEL 3 input is connected to bit 2 of the sequence number selection when the drive Sequence mode is selected.

  • Page 24: Logic I/Os Extension

    OGIC S EXTENSION The external CANopen I/Os module extension is supported by the XtrapulsPac-ak version of the servo drive. The external I/Os module is connected to the CAN bus on the same network as the servo drive. When many servo drives are connected on the CAN bus, a given I/Os module can only be assigned to one servo drive.

  • Page 25: Oscilloscope

    XtrapulsPac - User Guide 2.6 - OSCILLOSCOPE The oscilloscope can be launched in the Gem Drive Studio software or in stand-alone mode. This oscilloscope allows displaying any drive signal by using the Index / Sub-index identification. Four different channels are available to display signals. Multi-axis channel operation can be selected.

  • Page 26: Chapter 3 - Reference

    Interpolated Position Mode. Profile Torque Mode. Position Control Function. Xtrapuls Generic name of the Infranor servo drive family with resolver and encoder feedback input. Numerical value Hexa is preceded by 0x, decimal otherwise Dynamic Variable Element of an object indicated by index and sub-index which can be mapped in a PDO.

  • Page 27: Canopen Communication

    XtrapulsPac - User Guide Dataflow An element of an object is qualified as dataflow (signal) if it is a variable (i.e. mappable). These variables can be of 8 bit, 16 bit or 32 bit. Depending on the using context, a dataflow must be of 16 bit or 32 bit or any size.

  • Page 28: Default Cob-Id

    XtrapulsPac – User Guide 3.1.1.2 - Default COB-ID The COB-ID is of 11 bits. Node-ID (bits 0 - 6) is the drive address from 1 to 127. Function Code NODE-ID Default COB-ID: Broadcast objects of the pre-defined connection set: Object...

  • Page 29: Synchronisation Object

    XtrapulsPac - User Guide 3.1.1.4 - Synchronisation Object The SYNC object is a broadcast message sent by the master. This message provides a network clock. The period is specified by the communication cycle period (object 0x1006). The Xtrapuls servo-drives use this SYNC message to synchronize their local clock.
  • Page 30 XtrapulsPac – User Guide Communication Cycle Period Index 0x1006 Name Communication Cycle Period Object Code Data Type Unsigned32 Access PDO Mapping Unit μs Value Range 0..20000 (only the values multiples of 500 are supported) Default Value 10000 This object defines the communication cycle. This period is also used for the synchronisation in interpolated position mode.

  • Page 31: Process Data Objects (Pdo)

    XtrapulsPac - User Guide Sub Index Description Sync Error Limit defines the limit at which the Sync error is triggered: | SyncPeriod - [0x1006-0] | < SyncErrorLimit Data Type Unsigned16 Object Class Access PDO Mapping Unit µs Default value Sub Index...
  • Page 32 XtrapulsPac – User Guide Transmission type supported by the Xtrapuls servo drive: Transmission type PDO transmission cyclic acyclic synchronous asynchronous RTR only TPDO1 TPDO1 TPDO2 TPDO2 TPDO3 TPDO3 TPDO4 TPDO4 2-240 TPDO1 TPDO2 TPDO3 TPDO4 TPDO1 TPDO2 TPDO3 TPDO4 - Transmission types 1 - 240 are synchronous transmissions with regard to the SYNC messages. A value between 1 and 240 means that the PDO is synchronously and cyclically transferred.
  • Page 33 XtrapulsPac - User Guide PDO Mapping The sub-index 0 of mapping parameter contains the number of valid entries within the mapping record. This number of entries is also the number of application variables which shall be transmitted/received with the corresponding PDO. The sub-index 1 to number of entries contains the information about the mapped application variables.
  • Page 34 XtrapulsPac – User Guide Example of multiplexed data: Data_Ax4 (16bit) Data_Ax3 (16bit) Data _Ax2 (16bit) Data _Ax1 (16bit) TPDO Cob-ID 0x501 This PDO is transmitted with COB-ID 0x501 and contains 16bits x 4 of data Object Value In drive 1, “Data_Ax1” will...
  • Page 35 XtrapulsPac - User Guide Object 0x1401: 2nd Receive PDO Communication Parameter Index 0x1401 Name 2nd Receive PDO Communication Parameter (RPDO2) Object Code RECORD Number of Elements Value Description Sub Index Description COB-ID Data Type Unsigned32 Access PDO Mapping Default Value...
  • Page 36 XtrapulsPac – User Guide Object 0x1403: 4th Receive PDO Communication Parameter Index 0x1403 Name 4th Receive PDO Communication Parameter (RPDO4) Object Code RECORD Number of Elements Value Description Sub Index Description COB-ID Data Type Unsigned32 Access PDO Mapping Default Value...
  • Page 37 XtrapulsPac - User Guide Object 0x1601: 2nd Receive PDO Mapping Index 0x1601 Name 2nd Receive PDO Mapping Object Code RECORD Number of Elements 0..4 Value Description Sub Index Description number of mapped objects Data Type Unsigned8 Access PDO Mapping Default Value...
  • Page 38 XtrapulsPac – User Guide Object 0x1603: 4th Receive PDO Mapping Index 0x1602 Name 4th Receive PDO Mapping Object Code RECORD Number of Elements 0..4 Value Description Sub Index Description number of mapped objects Data Type Unsigned8 Access PDO Mapping Default Value...
  • Page 39 XtrapulsPac - User Guide Object 0x1801: 2nd Transmit PDO Parameter Index 0x1801 Name 2nd Transmit PDO Communication Parameter (TPDO2) Object Code RECORD Number of Elements Value Description Sub Index Description COB-ID Data Type Unsigned32 Access PDO Mapping Default Value 0x280 + Node-ID...
  • Page 40 XtrapulsPac – User Guide Object 0x1803: 4th Transmit PDO Parameter Index 0x1803 Name 4th Transmit PDO Communication Parameter (TPDO4) Object Code RECORD Number of Elements Value Description Sub Index Description COB-ID Data Type Unsigned32 Access PDO Mapping Default Value 0x480 + Node-ID...
  • Page 41 XtrapulsPac - User Guide Object 0x1A01: 2nd Transmit PDO Mapping Index 0x1A01 Name 2nd Transmit PDO Mapping Object Code RECORD Number of Elements 0..4 Value Description Sub Index Description number of mapped objects Data Type Unsigned8 Access PDO Mapping Default Value...
  • Page 42 XtrapulsPac – User Guide Object 0x1A03: 4th Transmit PDO Mapping Index 0x1A03 Name 4th Transmit PDO Mapping Object Code RECORD Number of Elements 0..4 Value Description Sub Index Description number of mapped objects Data Type Unsigned8 Access PDO Mapping Default Value...

  • Page 43: Service Data Objects (Sdo)

    XtrapulsPac - User Guide Index 0x23A1 Name TPDO Control Object Code ARRAY Number of Elements Value Description Sub Index Description TPDO control for TPDO n. Data Type Unsigned8 Access PDO Mapping Value Range 0..255 Default Value 3.1.1.6 - Service Data Objects (SDO)

  • Page 44: Emergency Objects

    XtrapulsPac – User Guide SDO Communication between drives Xtrapuls Xtrapuls Xtrapuls drive 1 drive 2 drive 3 RS-232 The Xtrapuls drive supports Node ID setting by switches from 1 to 63. SDO message for node ID from 64 to 127 are used for communication between drives.

  • Page 45: Node Guarding

    XtrapulsPac - User Guide 3.1.1.8 - Node Guarding Network error behaviour Index 0x205E Name Network Error Behaviour Object Code Data Type Unsigned16 Object Class Access PDO Mapping Default Value This object defines the drive behaviour when a Node guarding error occurs.
  • Page 46 XtrapulsPac – User Guide NMT reset NMT_Reset_Comm: The NMT_Reset_Comm restores communication parameters (default CobIDs, PDO mapping...) to the power-on values. The NMT_Reset_Node: Depending on object 0x205D, the NMT_Reset_Node can re-load the drive parameters file. An NMT_Reset_Comm is then executed. NMT reset configuration...

  • Page 47: Bootup Protocol

    XtrapulsPac - User Guide 3.1.2.2 - Bootup Protocol This protocol is used to signal that a NMT slave has entered the node state PRE-OPERATIONAL after the state INITIALISING. The protocol uses the same identifier as the error control protocols. Bootup Event...

  • Page 48: Device Profile

    XtrapulsPac – User Guide 3.2 - DEVICE PROFILE 3.2.1 - D EVICE ONTROL 3.2.1.1 - Drive State Machine The state machine describes the status and the control sequence of the drive. Power Fault Disabled Start Fault Reaction Active Not Ready to...
  • Page 49 XtrapulsPac - User Guide • READY TO SWITCH ON High voltage may be applied to the drive. The drive parameters may be changed. The drive function is disabled. • SWITCHED ON High voltage has been applied to the drive. The power amplifier is ready.
  • Page 50 XtrapulsPac – User Guide • State Transition 7: READY TO SWITCH ON -> SWITCH ON DISABLED Event: 'Quick Stop' and ‘Disable Voltage’ command received from host. Action: None • State Transition 8: OPERATION ENABLE -> READY TO SWITCH ON Event: 'Shutdown' command received from host.
  • Page 51 XtrapulsPac - User Guide Control Word Index 0x6040 Name Control Word Object Code Data Type Unsigned16 Object Class Access PDO Mapping Possible Default Value 0000 Bit Number Function Switch On Disable Voltage Quick Stop Enable Operation Operation Mode Specific Operation Mode Specific...
  • Page 52 XtrapulsPac – User Guide Notes:  Some independent status bits may be set and are not represented in the table above. The mask for testing the status word is 0x026F.  Seq 1 (control word = 0x0000) and seq 3 (control word = 0x0007) may be omitted.
  • Page 53 XtrapulsPac - User Guide Status word manufacturer bits configuration Index 0x3044 Name Status word manufacturer bits configuration Bits 8 and 14 of status word (0x6041,0) can be used to give the state of any bit from a source signal. Object Code...
  • Page 54 XtrapulsPac – User Guide Control word manufacturer bits configuration Index 0x3045 Name Control word manufacturer bits configuration Bits 11 and 12 of control word (0x6040,0) can be linked to any bit of a signal. Object Code ARRAY Number of Elements...
  • Page 55 XtrapulsPac - User Guide Device Control Index 0x3440 Name Device Control Object Code Data Type Unsigned16 Object Class Access PDO Mapping Possible Default Value 0000 The device control allows activating drive specific functions. Bit Number Function Reserved Soft-Start activation: This bit activation manually enables the soft start system at the drive power supply switch-on.
  • Page 56 XtrapulsPac – User Guide Device Config Index 0x3442 Name Device Config Object Code Data Type Unsigned16 Object Class Access PDO Mapping Default Value Saved in DRIVEPAR.TXT The device config allows activating drive specific functions. Bit Number Function 0..5 Reserved Activate motor zero speed detection.

  • Page 57: Error & Warning

    XtrapulsPac - User Guide 3.2.1.2 - Error & Warning 3.2.1.2.1 - Error Error: Errors are displayed in object 0x3022,1 (32-bit) and 0x3022,2 (32-bit), each bit in this object corresponds to one error. Error bit in status (bit 3) is set as well.
  • Page 58 0x00000008 4 Braking system error - Check the presence of either the internal resistor jumper (XtrapulsPac) or the external resistor (XtrapulsPac and XtrapulsGem) - Check that the external resistor is not broken (open circuit) If the error cannot be reset, the braking system is out of...
  • Page 59 XtrapulsPac - User Guide 18 0x00040000 19 Encoder counting - Check that the encoder max. pulse frequency at the max. motor error speed fulfills the encoder specification. - Check that the connections between the encoder and the amplifier are complying with the shield wiring recommendations.
  • Page 60 XtrapulsPac – User Guide Bit Value Error Protection Troubleshooting Code 0x00000002 34 Speed following error 0x00000004 35 Position following error - Check that the mechanical load is adjusted to motor and amplifier ratings. - Reduce the accelerations/decelerations. - Check that the axis is not on a mechanical limit.
  • Page 61 XtrapulsPac - User Guide 22 0x00400000 55 Watchdog Error 23 0x00800000 56 Safety channel 1 Error - Check the correct STO1 input state regarding STO2 input state If the STO fault is released, the drive must be turned off in order to cancel the fault.
  • Page 62 XtrapulsPac – User Guide Error Control Index 0x3025 Name Error control Object Code ARRAY Number of Elements Value Description Sub Index Description Error mask 1 Data Type Unsigned32 Object Class Access PDO Mapping Value See 0x3022-1 Default value Sub Index...
  • Page 63 XtrapulsPac - User Guide Sub Index Description Error Stop 3 mask 2 Data Type Unsigned32 Object Class Access PDO Mapping Value See 0x3022-2 Default value These 2 elements (0x3025,5 and 0x3025,6) allow triggering a stop 3 when the corresponding error occurs.
  • Page 64 XtrapulsPac – User Guide Error Protection Possible Stop on error Remarks Code selection Velocity following error Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful fault occurrence analysis Position following error Stop 0 or Stop 2 or Stop 3...
  • Page 65 XtrapulsPac - User Guide XtrapulsPac Error Codes and DS-402 Error Codes Infranor Description (Gem Drive Studio) DSP402 Description (CANopen DSP-402) Object: 0x3023,4 Object: 0x603F,0 code code No Error 0x0000 Error Reset or No Error Hardware System 2 Error 0x5080 Device Hardware...

  • Page 66: Warning

    XtrapulsPac – User Guide Extension Error or Fieldbus watchdog 0x8181 Communication error Extension Error or Fieldbus hardware 0x50B2 Device Hardware error Extension Error or Fieldbus hardware 0x50B3 Device Hardware error Fieldbus SYNC cycle error 0x8780 Sync Controller Fieldbus IP reference underflow/overflow...

  • Page 67: I²T Protection

    XtrapulsPac - User Guide Value Warning Function Code 0x00000001 STO active 0x00000200 Mains phase loss 0x00000400 IGBT module temperature 0x00001000 0x00002000 Daughter board/Plugin software incompatible 0x00004000 Daughter board/Plugin hardware not ready 0x00008000 Daughter board/Plugin software not ready 0x00010000 Limit Switch...

  • Page 68: Braking Resistor Protection

    XtrapulsPac – User Guide Sub Index Description Continuous measurement of the current Data Type Unsigned16 Access PDO Mapping Unit 0x7FFF = drive max. current (0x6510) Default Value 3.2.1.2.4 - Braking resistor Protection Braking resistor duty cycle limit Index 0x33B0 Name...

  • Page 69: Stop Operation

    XtrapulsPac - User Guide 3.2.1.3 - Stop Operation Stop 1 - stop on speed ramp: the motor is slowed down in position loop with a slow down ramp. The initial speed is defined with the reference speed. Velocity Slow down ramp...
  • Page 70 XtrapulsPac – User Guide Stop option code Action Disable drive Stopped on Slow down speed ramp and disabled Stopped on Quick Stop speed ramp and disabled Stopped on current limit and disabled Stopped on Slow down speed ramp and stay in Quick Stop state...
  • Page 71 XtrapulsPac - User Guide Quick Stop Option Code Index 0x605A Name Quick Stop Option Code Object Code Data Type integer16 Object Class Access PDO Mapping Default Value This object defines the stop behaviour when a QUICK_STOP command is executed (see Drive State Machine transition 11).
  • Page 72 XtrapulsPac – User Guide Disable Operation Option Code Index 0x605C Name Disable Operation Option Code Object Code Data Type integer16 Object Class Access PDO Mapping Default Value This object defines the stop behaviour when a DISABLE_OPERATION command is executed (see Drive State Machine transition 5).
  • Page 73 XtrapulsPac - User Guide Slow Down Ramp Index 0x3300 Name Slow Down Ramp Object Code ARRAY Number of Elements These parameters define the slow down deceleration with a stop executed with stop option code = 1 or 5 (Stopped on Slow down ramp).
  • Page 74 XtrapulsPac – User Guide Stop Current Limit Index 0x3301 Name Stop Current Limit Object Code ARRAY Number of Elements Value Description Sub Index Description Stop Current Limit 1 This parameter defines the current limit when a stop on current limit is performed.

  • Page 75: Drive Parameters

    XtrapulsPac - User Guide Sub Index Description Stop Time Limit 2 Time limit for all stop operations with current limit. Data Type Unsigned16 Object Class Access PDO Mapping Unit Value Range 0..65000 Default Value 1000 3.2.2 - D RIVE ARAMETERS 3.2.2.1 - Motor parameters...
  • Page 76 XtrapulsPac – User Guide Sub Index Description Motor Code Special code or personalisation code. Data Type String Access PDO Mapping Value Maximum 30 characters Sub Index Description Catalog Date Code Data Type Unsigned16 Access Object Class PDO Mapping The structure of the entries is the following:...
  • Page 77 XtrapulsPac - User Guide Sub Index Description Motor Stall Current Data Type Unsigned32 Access PDO Mapping Unit The value written in this object can consequently modify the value of 0x6075 Sub Index Description Motor Peak Current Data Type Unsigned32 Access...
  • Page 78 XtrapulsPac – User Guide Sub Index Description Motor Sensor Offset Data Type Unsigned16 Access PDO Mapping Value When writing to this parameter, its value will also be written to 0x3410,3 Sub Index Description Motor Temperature Probe Data Type Unsigned16 Access...
  • Page 79 XtrapulsPac - User Guide Sub Index Description Base Speed Data Type Unsigned32 Access PDO Mapping Unit Value When writing to this parameter, its value will also be written to 0x3420,3 Sub Index Description Leakage Factor Data Type Unsigned16 Access PDO Mapping...
  • Page 80 XtrapulsPac – User Guide Sub Index Description Motor Offset Data Type Unsigned16 Access PDO Mapping Value Auto-phasing procedure Index 0x3413 Name Start Auto-phasing procedure Object Code Data Type Unsigned32 Object Class Access PDO Mapping In order to avoid running the auto-phasing procedure by mistake, the auto-phasing is only executed when a specific signature is written to this sub-index.

  • Page 81: Motor Brake

    XtrapulsPac - User Guide When reading, this object returns the operation status: Read Value Meaning Procedure not executed Cannot execute Procedure running Procedure aborted by user Procedure stopped on error >= 5 Procedure performed When running, the BUSY bit of status word (0x6041) is set.

  • Page 82: Motor Current Limits & Current Loop

    XtrapulsPac – User Guide Drive Reaction Time Index 0x3304 Name Drive Reaction Time Object Code Data Type Unsigned16 Object Class Access PDO Mapping Unit Value Range 0..65535 Default Value This parameter defines the reaction time of the drive when enabled / disabled.
  • Page 83 XtrapulsPac - User Guide Manufacturer Drive Data Index 0x6510 Name Manufacturer Drive Data Object Code ARRAY Number of Elements This object indicates the peak current and the rated current supported by the power module. Value Description Sub Index Description Drive Max. Current...
  • Page 84 XtrapulsPac – User Guide Drive Voltage = 400 Drive Operating Voltage Undervoltage min value Undervoltage max value Undervoltage default value Drive Voltage = 230 Drive Operating Voltage Undervoltage min value Undervoltage max value Undervoltage default value Index 0x3411 Name Current Loop Calculation...
  • Page 85 XtrapulsPac - User Guide Index 0x6075 Name Motor Rated Current Object Code Data Type Integer32 Object Class Access PDO Mapping Unit Value Range Default Value This object defines the rated current which the drive can deliver to the motor. Current Loop Parameters This object defines the parameters of the current loops.
  • Page 86 XtrapulsPac – User Guide Sub Index Description d-Loop Integral Gain Data Type Unsigned16 Object Class Access PDO Mapping Value Range 0.. 65535 Default Value Torque Offset: This object allows adding an offset to the torque command. Index 0x60B2 Name Torque Offset...

  • Page 87: Dynamic Current Limits

    XtrapulsPac - User Guide Undervoltage Warning Threshold Index 0x3079 Description Power Supply Voltage Threshold Defines the undervoltage warning level on the DC bus. Object Code Data Type Unsigned32 Object Class Access Backup drive parameter file PDO Mapping Unit Default Value Remark When this parameter value is 0, the “Undervoltage”...

  • Page 88: Motor Temperature Probe

    XtrapulsPac – User Guide Dynamic Current Limit Configuration Index 0x30D2 Name Dynamic Current Limit Configuration Description This object allows defining the effect of Dynamic Current Limit signal. Data Type Unsigned16 Object Class Access PDO Mapping Default Value Value description normal effect of the Dynamic Current Limit signal:...

  • Page 89: Igbt Temperature

    XtrapulsPac - User Guide Sub Index Description Motor temperature warning threshold Data Type Unsigned32 Access PDO Mapping Unit Ω (ohm) Default value 2400 This parameter defines the threshold of the equivalent resistor corresponding to the temperature at which a warning will be notified.

  • Page 90: Sensors

    XtrapulsPac – User Guide 3.2.2.7 - Sensors The Xtrapuls servo drive has 2 sensor inputs: Resolver and Encoder Each sensor can be used as motor feedback or position feedback. Index Object Name Type Attr. 0x306A Position Feedback Sensor Select Unsigned16...

  • Page 91: Resolver

    XtrapulsPac - User Guide 3.2.2.7.1 - Resolver Resolver Parameters Index Name Description Type Attribute 0x3100 Resolver Resolver monitoring Res_Sin Integer16 Res_Cos Integer16 Res_Amp2 Unsigned16 Res_Mod Resolver value for one motor revolution. Unsigned16 (absolute single-turn) one revolution -> 16-bit Res_Amp Unsigned16...
  • Page 92 XtrapulsPac – User Guide Sub Index Description Resolver Configuration Data Type Unsigned16 Object Class Access PDO Mapping Default Value Bit Number Description Normal direction Reverse direction Sub Index Description Resolver Virtual Top Z shift Data Type Unsigned16 Object Class Access...
  • Page 93 XtrapulsPac - User Guide Resolver Position Offset Index 0x3108 Name Resolver Position Offset Object Code Data Type Integer32 Object Class Access PDO Mapping Unit User Position Unit Value Range )..(2 Default Value See Resolver Position (0x3109). Resolver Position Index 0x3109...

  • Page 94: Encoder

    XtrapulsPac – User Guide 3.2.2.7.2 - Encoder Encoder support types: - TTL Incremental Encoder - TTL Incremental Encoder + Hall Effect Sensor - Sin-Cos Incremental Encoder - Sin-Cos Incremental Encoder + Hall Effect Sensor - Hiperface® Encoder Encoder Parameters Index...
  • Page 95 XtrapulsPac - User Guide Bit Number Description Enabled TTL Encoder Sin/Cos Encoder Encoder with CD track HAL 60° HAL 120° Absolute Single-turn Absolute Multi-turn Reverse Incremental track / Absolute track 12-15 Communication Protocol Hiperface® Sub Index Description Encoder Configuration Data Type...
  • Page 96 XtrapulsPac – User Guide Sub Index Description Encoder Resolution x 4 Data Type Unsigned32 Object Class Access PDO Mapping Default Value This parameter defines the resolution (period) of the encoder x 4. Encoder Position Offset Index 0x3128 Name Encoder Position Offset...

  • Page 97: Ttl Encoder

    XtrapulsPac - User Guide 3.2.2.7.3 - TTL Encoder An incremental TTL encoder can be connected to Xtrapuls drives as motor feedback or only as position feedback. Motor Feedback: Incremental TTL encoder is not absolute for motor commutation, so: - In a first time, an auto-phasing must be performed to define the motor pole pair number, motor phase order, and encoder offset.

  • Page 98: Hiperface

    XtrapulsPac – User Guide Hall Effect Sensor configuration Index 0x313E Name Encoder HES configuration Description Encoder Type Data Type Unsigned16 Object Class Access PDO Mapping Saved Default Value Value Description Bit Number Description HES initial state Direction Type: 60° 120°...

  • Page 99: Absolute Multi-Turn Position

    XtrapulsPac - User Guide 3.2.2.7.7 - Absolute Multi-turn Position With an absolute encoder feedback, the motor absolute position value over one revolution is available and the servo motor can immediately be enabled after the amplifier power up. The servo drive behaviour at power up is similar to a resolver sensor feedback.
  • Page 100 XtrapulsPac – User Guide Setting Motor Zero Position For the drive operation in absolute positioning mode (without a new homing sequence after each drive power up), proceed as described below. 1) Check that the encoder 0 position is outside the axis travel range by using the object 0x312D,3 (encoder position read) An absolute encoder gives a position value between 0 and the maximum position value (encoder modulo).
  • Page 101 XtrapulsPac - User Guide When Reverse motor position is not selected: Reset motor position here for Reset motor position here for Reset motor position here for only negative value bipolar value only positive value Axis travel range Encoder absolute position...

  • Page 102: Factor And Units

    XtrapulsPac – User Guide If the position feedback is an encoder, then [0x6064,0] is the same as [0x3129,0]. Position Feedback Select 0x306A,0 Encoder input User Unit 0x312D,3 0x3130,0 0x3129,0 0x6064,0 conversion Encoder position Axis Position Encoder Zero offset User Unit...
  • Page 103 XtrapulsPac - User Guide Sub Index Description Motor Revolutions Data Type Unsigned32 Access PDO Mapping Default Value Position Factor Index 0x6093 Name Position Factor Object Code ARRAY Number of Elements Value Description Sub Index Description Position Factor Numerator Data Type...

  • Page 104: Servo Loops

    XtrapulsPac – User Guide 3.2.2.9 - Servo Loops SERVO CONTROLLER STRUCTURE Feedforward Accel 0x31FF-3 Feedforward Feedforward Selection ( 31FF-1 Speed 0x31FF-2 s² Current Current Offset Offset 0x60B2-0 0x30B3-0 Speed Set point Command Current filter limit Position Set point KDv.S Speed...
  • Page 105 XtrapulsPac - User Guide The Speed measurement filter is a 1st order, low-pass type filter, with 3 selectable time constant values. The higher the time constant value, the lower the speed measurement noise, but also the lower the speed loop gains because of the increased speed measurement delay.
  • Page 106 XtrapulsPac – User Guide The choice “minimum position overshoot” allows getting a motor positioning without any overshoot of the target position. In this case, all feedforward gain values are set at 0, and the motor position is lagging with regard to the position reference value during the whole motor displacement.
  • Page 107 XtrapulsPac - User Guide Sub Index Description Integral Speed Gain (KIv) Data Type Unsigned16 Object Class pp ip hm pv eg Access PDO Mapping Value Range 0.. 65535 Default Value Sub Index Description Integral Gain Filter Data Type Unsigned16 Object Class...
  • Page 108 XtrapulsPac – User Guide Speed Error Low-pass Filter Index 0x30F9 Name Speed Loop Low-pass filter Defines the cut-off frequency at -3 dB (Fev) of the first order filter that acts upon the current control. The value of this parameter is depending on the selected bandwidth.
  • Page 109 XtrapulsPac - User Guide Index 0x606C Name Velocity Actual Value Object Code Data Type Integer32 Object Class Access PDO Mapping Unit User Velocity Unit The "Velocity Actual Value" gives the value of the actual motor velocity in user unit. This signal is filtered by a low- pass filter defined by 0x306C.
  • Page 110 XtrapulsPac – User Guide Position Control Parameter Set Index 0x60FB Name Position Control Parameter Set Object Code RECORD Number of Elements Value Description Sub Index Description Regulator Type Data Type Unsigned16 Object Class pp ip hm eg Access PDO Mapping...
  • Page 111 XtrapulsPac - User Guide Sub Index Description Feedforward Speed 2 Gain This gain value is equal to the damping speed gain value + Feedforward friction gain value. The feedforward friction gain allows cancelling the load viscous friction effect (load viscous friction torque is proportional to axis speed).This feedforward term allows reducing the following error during the motor acceleration and deceleration phases.
  • Page 112 XtrapulsPac – User Guide Index 0x6065 Name Following Error Window Object Code Data Type Unsigned32 Object Class pp ip hm sq sm se gb cm Access PDO Mapping Unit position unit Value Range 0..0xFFFFFFFF Default Value This object defines the tolerance for position value: | PosDemand - PosActual | <...

  • Page 113: Auto-Tuning

    XtrapulsPac - User Guide Sub Index Description External Feedforward Speed Data Type Integer32 Access PDO Mapping Unit Velocity unit: User inc / s Default Value Sub Index Description External Feedforward Acceleration Data Type Integer32 Access PDO Mapping Unit Acceleration unit: User inc / s Default Value 3.2.2.10 - Auto-tuning...
  • Page 114 XtrapulsPac – User Guide This parameter defines the auto-tuning filter: Value Filter Standard filter Anti-resonance filter High stiffness filter Sub Index Description Speed Filter Data Type Unsigned16 Object Class Access PDO Mapping Value Range 0..2 Default Value This parameter defines the speed filter:...

  • Page 115: Save / Load Parameters

    XtrapulsPac - User Guide When reading, this object returns the operation status: Read Value Meaning Procedure never executed Cannot execute Procedure running Procedure aborted by user Procedure stopped on error >= 5 Procedure done When running, the BUSY bit of status word (0x6041) is set.
  • Page 116 XtrapulsPac – User Guide While operation is running, busy bit in status word (0x6041) is set. If the Hiperface® encoder is selected when saving drive parameters, the encoder reference (0x312D,5 and 0x3125,6) and homing offset (0x3128,0) are also stored into the Hiperface® encoder non-volatile memory.

  • Page 117: Operation Modes

    XtrapulsPac - User Guide 3.2.3 - O PERATION ODES 3.2.3.1 - Supported Drive Modes Supported Drive Modes A drive can support more than one and several distinct modes of operation. This object gives an overview of the implemented operating modes in the device. This object is read only.

  • Page 118: Mode Selection

    XtrapulsPac – User Guide 3.2.3.2 - Mode selection Index 0x6060 Name Mode of Operation Object Code Data Type integer8 Object Class Access Save PDO Mapping This parameter changes the operation mode of the drive. Mode of Operation Action Profile Position Mode (PP)

  • Page 119: Profile Position Mode

    XtrapulsPac - User Guide 3.2.3.3 - Profile Position Mode Profile Position Mode In this mode, a trapezoidal trajectory generator gives the drive the possibility to execute a positioning with preset parameters as target position, profile speed and acceleration. Speed Profile Velocity...
  • Page 120 XtrapulsPac – User Guide Bit change_set_immediately = 0 : new set point set point acknowledgement Object Dictionary Entries Index Object Name Type Attr. 0x607A Target Position Integer32 0x6080 Max Motor Speed Unsigned16 0x6081 Profile Velocity Unsigned32 0x6082 End Velocity Unsigned32...
  • Page 121 XtrapulsPac - User Guide Index 0x6080 Name Max Motor Speed Object Code Data Type Integer32 Object Class Access PDO Mapping Unit Value Range 100...60000 Default Value 3000 The Max. motor speed defines the maximum speed the drive can reach. To avoid a saturation of the servo loop, the running speed must be less than Max.
  • Page 122 XtrapulsPac – User Guide Index 0x6084 Name Profile Deceleration Object Code Data Type Unsigned32 Object Class Access PDO Mapping Unit User acceleration unit Value Range Default Value 0x10000 Index 0x6086 Name Motion Profile Type Object Code Data Type Integer16 Object Class...
  • Page 123 XtrapulsPac - User Guide Index 0x6068 Name Position Window Time Object Code Data Type Unsigned16 Object Class Access PDO Mapping Possible Unit Milliseconds Value Range 0...32767 Default Value Index 0x607F Name Max Profile Velocity Object Code Data Type Unsigned32 Object Class...
  • Page 124 XtrapulsPac – User Guide Position Profile Speed Modulation Configuration Index 0x3082 Name Position Profile Speed Modulation Configuration Description This object allows defining the effect of the Position Profile Speed Modulation signal. Data Type Unsigned16 Object Class Access PDO Mapping Default Value...

  • Page 125: Homing Mode

    XtrapulsPac - User Guide Software Position Range Limit The Software Position Range Limit defines a Positive Position Limit and a Negative Position Limit, which act as hardware limit switches. The Software Position Range Limit is activated when Axis Type (0x3360) is linear.
  • Page 126 XtrapulsPac – User Guide Manufacturer Specific Objects: Index Object Name Type Attr. 0x309C Homing Current Limit Unsigned16 0x309D End On Home Position Unsigned16 0x3218 Homing Operation Indicator Unsigned16 The homing procedure is launched on rising edge of bit 4 of the Control Word and can be interrupted when clear.
  • Page 127 XtrapulsPac - User Guide Homing Method The Homing Method defines various ways of the drive to search the homing position. Index 0x6098 Name Homing Method Object Code Data Type Integer8 Object Class Access PDO Mapping Default Value Chapter 3 – Reference...
  • Page 128 XtrapulsPac – User Guide Value Description Method supported: 1..14, 17..30, 33..35. Methods specific: -1, -2, -3, -4. Search for Method Search for Switch Remarks Index Pulse Negative Limit Switch Exterior Positive Limit Switch Exterior Positive Home Switch Exterior Positive Home Switch...
  • Page 129 XtrapulsPac - User Guide Axis Negative Direction Positive Direction Motion Speed: Home Position Home Switch Speed Trajectory 1 Starting Position Trajectory 2 Motion Speed : Switch Side Index Pulse Speed Search Direction Trajectory 3 Exterior Interior Exterior Index Pulses Index Pulses...
  • Page 130 XtrapulsPac – User Guide Homing Speeds Homing Speeds defines the motor speed when searching the homing position. Index 0x6099 Name Homing Speeds Object Code ARRAY Number of Elements Data Type Unsigned32 Value Description Sub Index Description Speed during search of switch...
  • Page 131 XtrapulsPac - User Guide Functional Description The "Homing Current Limit" parameter defines the limit of current in the motor during the homing procedure. When the mechanical limit is reached, the current in the motor increases up to this limit and the motor speed is 0.

  • Page 132: Interpolated Position Mode

    XtrapulsPac – User Guide Homing Operation Indicator Index 0x3218 Name Homing Operation Indicator Object Code Data Type Unsigned16 Object Class Access PDO Mapping Default Value This object allows keeping the result of a homing operation: - it is cleared when drive is switched on - it is set if the position sensor is absolute multi-turn.
  • Page 133 XtrapulsPac - User Guide Interpolation Submode Select Index 0x60C0 Name Interpolation Submode Select Object Code Data Type Integer16 Object Class Access PDO Mapping Value Range see below Default Value Interpolation Submode Description Select Linear interpolation PV interpolation P3 interpolation When in linear interpolation mode, only the first parameter of the interpolation data record is used. The data must be the position reference.

  • Page 134: Profile Velocity Mode

    XtrapulsPac – User Guide This sub-index contains the position reference in IP mode. Sub Index Description Second parameter of ip function Data Type Integer32 Object Class Access PDO Mapping Possible This sub-index contains the speed reference in IP mode if the interpolation submode select (0x60C0) is -1 (interpolation PV).
  • Page 135 XtrapulsPac - User Guide Index 0x6083 Name Profile Acceleration Object Code Data Type Unsigned32 Object Class Access PDO Mapping Unit User acceleration unit Value Range Default Value 0x10000 Index 0x6084 Name Profile Deceleration Object Code Data Type Unsigned32 Object Class...
  • Page 136 XtrapulsPac – User Guide The Velocity Threshold defines a symmetrical range of accepted velocity relatively to the 0. If the motor current velocity is within the velocity threshold, this 0 velocity is considered as reached (bit 12 of status word - Velocity = 0 –...

  • Page 137: Profile Torque Mode

    XtrapulsPac - User Guide 3.2.3.7 - Profile Torque Mode Profile Torque Mode In this mode, the drive operates only with current loops and there is no speed or position control. Object Dictionary Entries Index Object Name Type Attr. 0x6071 Target Torque...

  • Page 138: Sequence Mode

    XtrapulsPac – User Guide This parameter defines the torque slope when the target torque is changed. Index 0x6087 Name Torque Slope Object Code Data Type Unsigned32 Object Class Access PDO Mapping Unit per thousand of rated current per second Value Range...
  • Page 139 XtrapulsPac - User Guide Sequence Number: allows the selection of the sequence to be executed. The "Sequence Number" can be connected to physical logic inputs or set via the fieldbus to select the sequence. Start Condition: A Logic bit pattern can be defined as a condition for a sequence to be started. The "Start Condition"...

  • Page 140: Positioning Sequence

    XtrapulsPac – User Guide Object Definition Sequence Control These objects allow controlling the execution of a sequence. Index Object Name Type Attr. 0x3601 ARRAY Sequence Inputs 0x3602 ARRAY Sequence Outputs 0x3603 Minimum Sequence Pulse Unsigned16 0x3604 RECORD Output Pulse Configuration...
  • Page 141 XtrapulsPac - User Guide Sequence 1: SeqType = POS Speed = 150000 AccelTime = 400 DecelTime = 0 NextSeq = 2 Sequence 2: SeqType = POS Speed = 250000 AccelTime = 300 DecelTime = 400 Supported keywords and parameters for a positioning sequence...

  • Page 142: Homing Sequence

    XtrapulsPac – User Guide 3.2.3.8.2 - Homing Sequence The Home sequence allows performing a homing procedure. The main parameters of a home sequence are: Home Offset Home method Speeds Acceleration Current limit (Torque Limit) for method -1, -2, -3 and -4.
  • Page 143 XtrapulsPac - User Guide The main parameters of a speed sequence are: Speed setpoint Acceleration Time Deceleration Time Running Time If the Running Time is 65535 (maximum of 16-bit) then the running phase will be executed forever. An "End Condition" can be used to exit this sequence.

  • Page 144: Torque Sequence

    XtrapulsPac – User Guide Supported keyword and parameters for a speed sequence Keyword Direct parameter entry Description SeqType 0x3611-1 value = SPEED for SEQUENCE.TXT file or value = 3 for direct parameter object NextSeq 0x3611-2 see sequence parameters SeqCount 0x3611-3...

  • Page 145: Gearing Sequence

    XtrapulsPac - User Guide Supported keywords and parameters for a torque sequence Keyword Direct parameter entry Description SeqType 0x3611-1 Value = TORQUE for SEQUENCE.TXT file or Value = 4 for direct parameter object NextSeq 0x3611-2 See sequence parameters SeqCount 0x3611-3...
  • Page 146 XtrapulsPac – User Guide Gearing global parameters: Beside parameters defined in a sequence, the gearing function has other global parameters which are not defined in the sequence and are applied to all gearing sequences. Defines: Master input: - master input source - master start position - hardware inputs for starting.

  • Page 147: Sequence Chaining

    XtrapulsPac - User Guide 3.2.3.8.6 - Sequence Chaining The sequence chaining is controlled by 4 parameters: - SeqCount, - SeqNext, - SeqLink, - and StartCond. "SeqCount" defines how many times this sequence will be executed. Then the sequencer will link to SeqNext if the counter is not 0 or link to SeqLink if the counter has expired.
  • Page 148 XtrapulsPac – User Guide CONDITIONAL JUMP The conditional jump is controlled by using the “StartCond” and the “SeqNext”, “SeqCount” and “SeqLink” parameters. Application example: Sequence 1: SeqNext = 2 SeqCount = 0 SeqLink = -1 Sequence 2: SeqNext = 3...

  • Page 149: Sequence Parameters

    XtrapulsPac - User Guide 3.2.3.8.7 - Sequence Parameters Sequence Parameters Supported keyword and parameters for all sequences Keyword Direct parameter entry Description SeqNb 0x3610 Selects the sequence number (0..127) SeqType 0x3611-1 This parameter defines the sequence type: POS (1) HOME (2)
  • Page 150 XtrapulsPac – User Guide Sub Index Description Conditional Input Data Type Integer16 Object Class Access PDO Mapping Default Value This object defines the bits pattern which is used for start condition or end condition. Sequence Outputs Index 0x3602 Name Sequence Outputs...
  • Page 151 XtrapulsPac - User Guide Designation Description This signal is activated when the motor reaches the position and remains enabled until the next motor movement This signal indicates that a sequence is currently executed SPEED This signal indicates that the speed set point is reached during a movement...
  • Page 152 XtrapulsPac – User Guide Sequence Outputs Index 0x3604 Name Output Pulse Configuration Object Code RECORD Number of Elements Value Description Sub Index Description Output Pulse Data Type Unsigned16 Object Class Access PDO Mapping Value Range 0 the bit number is configured as Output...
  • Page 153 XtrapulsPac - User Guide Sequence Phase This object monitors the state inside a sequence. Index 0x3605 Name Sequence Phase Object Code Data Type Unsigned16 Object Class Access PDO Mapping Data Description Bit Number Function begin cruise decel hold inpos CRUISE:...
  • Page 154 XtrapulsPac – User Guide Supported Sequence Types Various sequence types can be implemented in a given firmware and drive model. This object shows supported sequence types. This object is read only. Index 0x360F Name Supported sequence types Object Code Data Type...
  • Page 155 XtrapulsPac - User Guide Sequence Parameters Index 0x3611 Name Sequence Parameters Object Code RECORD Number of Elements This object allows reading/writing all parameters of a sequence which number is given in object 0x3610. Value Description Sub Index Description Sequence Type...
  • Page 156 XtrapulsPac – User Guide Sub Index Description Sequence Link Data Type Integer16 Object Class Access PDO Mapping Value Range -1..127 Default Value Sub Index Description Output Trigger Data Type Unsigned16 Object Class Access PDO Mapping Value Range Default Value Bit Number...
  • Page 157 XtrapulsPac - User Guide Sub Index Description Output Bits = 1 Data Type Unsigned16 Object Class Access PDO Mapping Value Range Default Value Sub Index Description Output Bits Toggle Data Type Unsigned16 Object Class Access PDO Mapping Value Range Default Value...
  • Page 158 XtrapulsPac – User Guide Sub Index Description Position Data Type Integer32 Object Class Access PDO Mapping Unit Position Unit Value Range For a homing sequence, this parameter defines the home offset value. Sub Index Description Position 2 (reserved for future use)
  • Page 159 XtrapulsPac - User Guide Sub Index Description Deceleration Data Type Unsigned32 Object Class Access PDO Mapping Unit Acceleration Unit Value Range Default Value Sub Index Description Acceleration Time Data Type Unsigned16 Object Class Access PDO Mapping Unit Value Range 1..65535...
  • Page 160 XtrapulsPac – User Guide Sub Index Description Configuration 2 Data Type Integer16 Object Class Access PDO Mapping Default Value For a homing sequence, this parameter defines the homing method. Sub Index Description Temporization Data Type Unsigned16 Object Class Access PDO Mapping...

  • Page 161: Sequence File Format

    XtrapulsPac - User Guide 3.2.3.8.8 - Sequence File Format Description 1. Sequence files are text files. Characters are not case sensitive. 2. The parameter syntax is: Key_word = value There must be only one key word per line. 3. The parameter value can be:...
  • Page 162 XtrapulsPac – User Guide Sequence Keyword Supported sequence types: - Positioning sequence - Homing sequence - Speed sequence - Torque sequence General Parameters General parameters are for all sequence types. Key word Signification/Constance SeqType Sequence Type POS, SPEED, HOME, TORQUE, GEAR...

  • Page 163: Stepper Emulation Mode

    XtrapulsPac - User Guide 3.2.3.9 - Stepper Emulation Mode Stepper Emulation Mode The Stepper emulation mode emulates the behaviour of a stepper motor and drive. The position reference is given by the PULSE and DIR inputs: when pulse following control is enabled in the control word, the servo motor position setpoint is received via the PULSE and DIR input pins.
  • Page 164 XtrapulsPac – User Guide Object Dictionary Entries Index Object Name Type Attr. 0x3681 Stepper Emulation Configuration ARRAY 0x3683 Stepper input filter cut-off frequency Integer16 0x3685 Pulse following counter Integer32 0x3686 Position Set Point Integer32 Index 0x3681 Name Stepper Emulation Configuration...
  • Page 165 XtrapulsPac - User Guide Name Description SELECT_INP Inputs Selection: Inputs from Encoder connector (differential line driver inputs) A+/A- -> A or PULSE B+/B- -> B or DIR Inputs from I/O connector (logic opto-coupler inputs) -> A or PULSE -> B or DIR...
  • Page 166 XtrapulsPac – User Guide Simple count: PULSE input PULSE_CNT output 10 ms Double count: PULSE input PULSE_CNT output 10 ms Sub Index Description Stepper input filter proportional gain Data Type Unsigned16 Access PDO Mapping Value 0-65535 Remark This parameter value is automatically calculated when a cut off frequency value is selected (see 0x3683).

  • Page 167: Analog Speed Mode

    XtrapulsPac - User Guide Example of Stepper Emulation Configuration 1. Selection of the Stepper Emulation Mode - Mode of operation 0x6060,0 = -2 (this can be done in Gem Drive Studio) 2. Activate PULSE/DIR inputs: - Enable the TTL incremental encoder input...

  • Page 168: Analog Torque Mode

    XtrapulsPac – User Guide Index 0x304F Name Velocity Ramp 2 Object Code Data Type Unsigned32 Object Class Access PDO Mapping Unit Value Range 0 - 0x3FFF80 Default Value This object defines the deceleration time from maximum motor speed to 0.

  • Page 169: Gearing Mode

    XtrapulsPac - User Guide 3.2.3.12 - Gearing Mode The gearbox mode is an operation mode which supports gearbox function. The main gearbox control takes effect with the operation mode specific bits in control word (0x6040) and main gearbox indicators are in operation mode specific bits of status word (0x6041).

  • Page 170: Master-Slave Functions

    XtrapulsPac – User Guide 3.2.4 - M ASTER LAVE UNCTIONS 3.2.4.1 - Master-Slave Xtrapuls drives support master-slave relationship in which several drives run as a slave following a master. One drive can be used as a master and the master position reference can be distributed to all other drives via encoder output or CAN bus (EtherCAT®...
  • Page 171 XtrapulsPac - User Guide The slave phase shift is a trapezoidal movement added to the master/slave function output. The slave phase shift is defined with acceleration, speed, and slave distance for phase shift. The master phase shift command and slave phase shift command cannot be activated at the same time.
  • Page 172 XtrapulsPac – User Guide Master-Slave supported Functions Depending on the device model, the supported master-slave functions are: - Master-Slave gearbox - Master-Slave cam Master-Slave Objects Definition Index Object Name Type Attr. 0x3910 Master Inputs Source Unsigned32 0x3911 Master Length Integer32...
  • Page 173 XtrapulsPac - User Guide Index 0x3911 Name Master Length Object Code Data Type Unsigned32 Object Class gb sq cm Access PDO Mapping Unit Master inc Default Value This object defines the modulo value for the master input. Master Offset Signal...
  • Page 174 XtrapulsPac – User Guide Index 0x3916 Name Internal Master Signal Object Code Data Type Integer32 Object Class Access PDO Mapping Unit position unit Default Value This object gives the value of the internal master value (modulo) which will be applied to supported master-slave functions.
  • Page 175 XtrapulsPac - User Guide Index 0x391D Name Master phase shift distance Object Code Data Type Integer32 Object Class Access PDO Mapping Unit master position unit Default Value This object defines the master distance for the master phase shift movement. Master-Slave Control...
  • Page 176 XtrapulsPac – User Guide Master-Slave Status Index 0x3941 Name Master-Slave Status Object Code Data Type Unsigned16 Object Class gb, cm, sq Access PDO Mapping Possible Default Value 0000 Bit Number Function Master-Slave function execute command acknowledged Master-Slave function is triggered...
  • Page 177 XtrapulsPac - User Guide Index 0x392D Name Slave Phase Shift Distance Object Code Data Type Integer32 Object Class gb cm Access PDO Mapping Unit User Position Unit Value Range Default Value This object defines the slave's distance parameter for the slave phase shift function.

  • Page 178: Virtual Master

    XtrapulsPac – User Guide The structure of the entries is the following: Index (16-bit) Sub-index (8-bit) Example: 0x3944,0 = 0x30F20200 connects the Analog input 2 to the slave offset signal. If this object is cleared, then the slave offset value is given from object 0x3943,0.
  • Page 179 XtrapulsPac - User Guide The structure of the entries is the following: Index (16-bit) Sub-index (8-bit) Example: 0x3901,0 = 0x30F10200 connects analog input 1 (32-bit format) to the virtual master speed input (0x3902,0). Index 0x3902 Name Virtual Master Speed defines the target for the virtual master.

  • Page 180: Gearbox Function

    XtrapulsPac – User Guide 3.2.4.3 - Gearbox Function The Xtrapuls drive's gearbox function allows synchronizing the slave movement with a master signal in a relationship defined by a ratio: Slave_Pos = Numerator/Denominator * Master_Pos + Offset The gearbox function can be used: - in a specific operation mode (manufacturer operation mode) - or as a sequence inside the sequencer mode.
  • Page 181 XtrapulsPac - User Guide 2. Constant Distance Synchronization phase Synchronized phase Exit (engagement) (disengagement) Synchronized point Master's speed Slave speed Slave Distance Master Distance In this coupling mode, the slave accelerates to reach the master's speed in order, for the slave, at the synchronized point, to have moved "slave distance"...
  • Page 182 XtrapulsPac – User Guide Gearbox function parameters: Defines the master input source: encoder input, fieldbus signal. Master input 2 sets of gearing ratios (numerator and denominator) can be pre-defined. Ratio select Ratio Select allows selecting the desired ratio set. Ratio selection and ratio value can be modified on-the-fly.
  • Page 183 XtrapulsPac - User Guide Gearbox synchronization techniques: - When “Gearbox Ratio Modulation Source” is defined, the gearbox runs in frequency synchronization. - Otherwise, the gearbox runs in frequence and phase synchronization. There are two possibilities to define the gearbox ratio: o If both Master Modulo (0x3911,0) and Slave Modulo (0x3927,0) are not at zero, then the gearbox ratio is defined with Slave_Modulo/Master_Modulo.
  • Page 184 XtrapulsPac – User Guide Gearbox Ratio Parameters Index 0x3921 Name Gearbox Ratio Parameters Object Code ARRAY Number of Elements Value Description Sub Index Description Gearbox ratio set 1 numerator Data Type Unsigned32 Access PDO Mapping Range 1 to 65536 Sub Index...
  • Page 185 XtrapulsPac - User Guide Sub Index Description Slave Distance Data Type Integer32 Access PDO Mapping Unit Position Unit Sub Index Description Synchronization Distance Data Type Integer32 Access PDO Mapping Unit Position Unit Index 0x3926 Name Gearbox output Object Code Data Type...
  • Page 186 XtrapulsPac – User Guide Bit Number Function 0..1 Exit Mode: slowdown immediate Exit Mode allows exiting immediately the gearbox sequence and link to another sequence without stopping the motor. 2..3 Coupling Mode: with speed ramp (constant acceleration) with constant distance (variable acceleration) with speed ramp and position correction 4..5...

  • Page 187: Application Feature

    XtrapulsPac - User Guide 3.2.5 - A PPLICATION EATURE 3.2.5.1 - Digital Input/Output configuration Digital Inputs / Outputs The Xtrapuls drive allows: - connecting any physical logic input to any bit in any variable, - connecting any bit in any variable to any physical logic output.
  • Page 188 XtrapulsPac – User Guide Digital Inputs Index 0x60FD Name Digital Inputs Object Code Data Type Unsigned32 Object Class Access PDO Mapping Possible Default Value Function Logic Input Negative Limit Switch Function: running stopped in negative direction with stop on current limit...
  • Page 189 XtrapulsPac - User Guide Digital Inputs Configuration Index 0x3050 Name Digital Inputs Configuration Object Code ARRAY Number of Elements The digital Inputs configuration allows affecting any digital input to one bit in a variable indicated by index and sub-index. Value Description...
  • Page 190 XtrapulsPac – User Guide Digital Outputs Index 0x60FE Name Digital Output Object Code ARRAY Number of Elements Value Description Sub Index Description Digital Output Data Type Unsigned32 Access PDO Mapping Possible Default Value Function Motor Brake OUT1 Physical Output 1...
  • Page 191 XtrapulsPac - User Guide Digital Outputs Configuration Index 0x3054 Name Digital Outputs Configuration Object Code ARRAY Number of Elements The digital outputs configuration allows affecting one bit of any variable indicated by the index and sub-index to a physical output.
  • Page 192 XtrapulsPac – User Guide Digital Inputs/Outputs 16-bit format Index 0x3058 Name Digital IO 16bits Object Code ARRAY Object Class Number of Elements Value Description Sub Index Description Digital Inputs 16b status of digital inputs depending on the polarity (0x3051) setup.
  • Page 193 XtrapulsPac - User Guide Virtual Inputs/Outputs Index 0x3059 Name Virtual Inputs/Outputs Object Code ARRAY Object Class Number of Elements Value Description Sub Index Description Virtual Inputs Data Type Unsigned16 Access PDO Mapping Default Value The Pac drive has 5 virtual inputs IN6 to IN10 (bit 5 to bit 9).

  • Page 194: Analog Inputs/Output

    XtrapulsPac – User Guide 3.2.5.2 - Analog Inputs/Output Xtrapuls servo drives have 2 analog inputs: Index Object Name Type Attr. 0x30F1 RECORD Analog Input 1 0x30F2 RECORD Analog Input 2 Analog Inputs Index 0x30F1, 0x30F2 Name Analog Input Object Code...
  • Page 195 XtrapulsPac - User Guide Sub Index Description Gain Data Type Integer16 Access PDO Mapping Value Range Default Value Sub Index Description Filter Data Type Unsigned16 Access PDO Mapping Unit Value Range 5-20000 Default Value The filter is applied on Analog Input 16-bit Value.
  • Page 196 XtrapulsPac – User Guide The XtrapulsPac drive has 1 analog output: - PWM techniques at 48 kHz - output sampling at 2 kHz - output signal can be connected to any variable Object definitions Index Object Name Type Attr. 0x30A1...

  • Page 197: Encoder Emulation Output

    Default Value 0x0100 3.2.5.3 - Encoder Emulation Output The XtrapulsPac version "ak" has an encoder emulation output. "Incremental Encoder" module features: - emulates an incremental encoder output with the resolver position or the encoder position. - sends any value from a different of 2 variables to the incremental output...
  • Page 198 XtrapulsPac – User Guide Encoder Output Structure of the Encoder output: Source 1 Tracking Loop Quadrature Pulse/Dir output Source 2 Quadrature output: Positive count The top Z width is 1/4 of signal period. Index 0x3160 Name Encoder Output Object Code...
  • Page 199 XtrapulsPac - User Guide Sub Index Description Encoder Output Resolution Data Type Unsigned32 Object Class Access PDO Mapping Default Value 0x400 Sub Index Description Encoder Output Deadband Data Type Unsigned16 Object Class Access PDO Mapping Unit Same as input source signal (Encoder Output Resolution x 4)

  • Page 200: Digital Cam

    XtrapulsPac – User Guide When the "Encoder Emulation" bit is set, a scaling of the input variable (reference by sub-index 1) is the following: input value from 0 to 0xFFFF is scaled to output value of 0 to (resolution x 4) Only the lower 16-bit of the input value is processed.
  • Page 201 XtrapulsPac - User Guide Cam Hysteresis Cam Hysteresis Register defines a hysteresis of the cam position. Hysteresis Cam Position 1 Cam Position 2 Digital Cam Positions Index 0x30E0 Name Digital Cam Positions Object Code ARRAY Number of Elements Digital Cam Positions can only be changed when Cam Enable Register = 0 (0x30E1-5).
  • Page 202 XtrapulsPac – User Guide Sub Index Description Cam Type Data Type Unsigned16 Access PDO Mapping Value Range Default Value Each bit of Cam Type register corresponds to a Digital Cam (max. 16 cams) Cam with 1 position Cam with 2 positions...

  • Page 203: Capture

    XtrapulsPac - User Guide 3.2.5.5 - Capture Capture/Touch probe Function Trigger input Data signal input Data captured Capture Function The purpose of the capture function is to latch a data signal (generally position value from a sensor) on a trigger input signal (generally a logic input).
  • Page 204 XtrapulsPac – User Guide Capture Time Filter This parameter defines the time interval threshold of the capture time filter. After the rising or falling edge of the input signal, the input signal level must be stable for a time interval value greater than or equal to the time interval threshold defined by object 0x3371-4 (0x3372-4) in order to get the position capture validated as described below.
  • Page 205 XtrapulsPac - User Guide Objects definition Index Object Name Type Attr. 0x3370 Capture Status Unsigned16 0x337F Capture Status for TPDO Unsigned16 0x3371 RECORD Capture 1 0x3372 RECORD Capture 2 0x3373 RECORD Capture 3 0x3374 RECORD Capture 4 The capture 1 and capture 2 can be accessed by CANopen DSP-402 interface (Touch Probe):...
  • Page 206 XtrapulsPac – User Guide Capture Status for PDO Index 0x337F Description Capture Status for PDO Data Type Unsigned16 Access PDO Mapping Possible Value Default value Bit Number Function Capture 1 enabled Capture Input 1 image A capture on rising edge of input 1 occurred...
  • Page 207 XtrapulsPac - User Guide Sub Index Description Capture 1/2/3/4 source Data Type Unsigned32 Access PDO Mapping This parameter allows connecting a 32-bit dataflow as input of the capture data signal. Only objects 0x3109 (resolver position) and 0x3129 (encoder position) are supported.
  • Page 208 XtrapulsPac – User Guide Sub Index Description Capture Position Filter Data Type Unsigned32 Access PDO Mapping Unit Position unit Sub Index Description Capture Position Data Type Integer32 Access PDO Mapping Unit Position unit Sub Index Description Rising Edge Capture Position...
  • Page 209 Function Enable Touch Probe 1 Trigger First Event Continuous 3, 2 Trigger with Touch Probe 1 Input (IN3 for XtrapulsPac) Trigger with TopZ Touch Probe Source defined by object 0x60D0,1 reserved Enable sampling at positive edge of touch probe 1...
  • Page 210 XtrapulsPac – User Guide Touch Probe Pos1 Pos Value Index 0x60BA Description Touch Probe Pos1 Pos Value Object Code Data Type Integer32 Object class Access PDO Mapping Possible Unit User Position Unit Default value Touch Probe Pos1 Neg Value Index...

  • Page 211: Modulo Function

    XtrapulsPac - User Guide Touch Probe Source Index 0x60D0 Name Touch Probe Source Object Code ARRAY Number of Elements Value Description Value Touch Probe Source Resolver TopZ Encoder TopZ Analog In 2 Analog In 1 TopZ Sub Index Description Touch Probe 1 Source...
  • Page 212 XtrapulsPac – User Guide Bit Number Function Modulo Function disable enable Forward (always in positive direction) Backward (always in negative direction) CLEAR input function disable enable - "Forward" and "Backward" cannot be set at the same time. - "Modulo Enable/Disable" (bit 0) and CLEAR input function (bit 4) cannot be changed when drive is enabled.

  • Page 213: Digital Input/Output Extension

    Value 3.2.5.7 - Digital Input/Output extension CANopen I/O extension The XtrapulsPac-ak servo drive version can support and manage an external CANopen I/O module in order to get more inputs and outputs. Features: - Each XtrapulsPac-ak servo drive can handle one and only one CANopen I/O module DS-401 with or without CANopen master.
  • Page 214 XtrapulsPac – User Guide Structure with master CAN bus Structure without master CAN bus Sync message is produced by one XtrapulsPac-ak drive. Objects definition Index Object Name Type Attr. 0x3821 RECORD Digital Inputs Assignment 0x3822 RECORD Digital Outputs Assignment 0x3823...
  • Page 215 XtrapulsPac - User Guide Digital Inputs Assignment Index 0x3821 Name Digital Inputs Assignment Object Code RECORD Number of Elements Value Description Two groups of digital inputs can be assigned to 2 drive variables. variable1 = (digital_inputs & mask1) shift n1 variable2 = (digital_inputs &...
  • Page 216 XtrapulsPac – User Guide Sub Index Description Mask 2 Data Type Unsigned16 Access Save PDO Mapping Default Value Sub Index Description Shift 2 Data Type integer16 Access Save PDO Mapping Default Value Example: Using I/O Module with 8 inputs: 5 inputs will be used to select sequence number and 3 inputs will be used for sequence condition.
  • Page 217 XtrapulsPac - User Guide Digital Outputs Assignment Index 0x3822 Name Digital Outputs Assignment Object Code RECORD Number of Elements Value Description The digital outputs can come from 2 drive variables: digital_outputs = ((variable1 shift n1) and mask1) or ((variable2 shift n2) and mask2)
  • Page 218 XtrapulsPac – User Guide Sub Index Description Mask 2 Data Type Unsigned16 Access Save PDO Mapping Default Value Sub Index Description Shift 2 Data Type integer16 Access Save PDO Mapping Default Value Example: Using I/O Module with 8 outputs: 2 outputs are from status_word and 6 outputs are from sequence_outputs...
  • Page 219 XtrapulsPac - User Guide Analog Inputs Assignment Index 0x3823 Name Analog Inputs Assignment Object Code RECORD Number of Elements Value Description Analog input can be assigned to a drive's variable: variable = (analog_input - offset) x gain / 256 CANopen...
  • Page 220 XtrapulsPac – User Guide Example: Using a 16-bit Analog Input as speed reference (profile velocity mode). resolution = 4096 inc/rev max. speed = 3000 rpm analog input (-32768 .. +32767) max_speed = 3000 / 60 x 4096 = 204800 inc/s...
  • Page 221 XtrapulsPac - User Guide Sub Index Description Gain Data Type integer16 Access Save PDO Mapping Default Value Communication parameters for CANopen I/O module Index 0x3825 Name Communication parameters for CANopen I/O module Object Code RECORD Number of Elements Value Description...
  • Page 222 XtrapulsPac – User Guide Sub Index Description I/O Module's RPDO numbers Number of RPDO receiving digital/analog outputs from drive Data Type Unsigned16 Access Save PDO Mapping Default Value 0x0001 Bit Number Function 0..7 Module's RPDO for digital outputs Not used 1..4...
  • Page 223 XtrapulsPac - User Guide Bit Number Function  Enable I/O module Disable I/O module Auto-restart after communication lost Error if communication lost or module not found 3, 4 Reserved. Must be reset at 0 Map drive PDO for digital I/O...

  • Page 224: Maintenance

    Data Type Integer16 Access PDO Mapping 3.2.6 - M AINTENANCE 3.2.6.1 - Files XtrapulsPac Files The XtrapulsPac drive can store data files in its internal Flash memory: Name Format Description DRIVEPAR.TXT text Drive parameters are saved in these files. object file...

  • Page 225: Firmware Update

    XtrapulsPac - User Guide Object File Object file format The object file (i.e. CANopen object) is a plain text file allowing the definition of an object list in the drive, which values must be defined. The syntaxis is: index,sub=object_value All digital values can be in hexa (preceeded by 0x) or decimal.
  • Page 226 XtrapulsPac – User Guide Update Interface General Commands Index 0x5F30 Name Update Object Code RECORD Number of Elements Value Description Sub Index Description Update_Code Data Type Unsigned16 Access Value Write: Select firmware_Code (> 0) Read back: same code = Update_Code supported, 0 if not supported...
  • Page 227 XtrapulsPac - User Guide Block process Index 0x5F32 Name Block process Object Code RECORD Number of Elements Value Description Sub Index Description Block_Type Data Type Unsigned16 Access Value defines the Block_Type of data bock Sub Index Description buffer_Size (read-only) Data Type...

  • Page 228: Object List

    XtrapulsPac – User Guide 3.3 - OBJECT LIST Parameters in bold are saved into the parameter file. Index Name Description Communication 0x1005 Sync_ID Sync CobID Communication Cycle Period 0x1006 Period 0x100C Guard_T NodeGuarding Guard Time 0x100D LifeTime NodeGuarding Life time factor...
  • Page 229 XtrapulsPac - User Guide General 0x1000 DevType Device Type 0x1008 DevName Manufacturer Device Name 0x1009 Hardware Manufacturer Hardware Version 0x100A Software Manufacturer Software Version 0x5F80 Version Version ver_sw Software Version ver_hw Hardware Version ver_pld PLD Version ver_psoc Power Controller Version...
  • Page 230 XtrapulsPac – User Guide Factor Group Encoder Position Resolution 0x608F PosResol Position Factor 0x6093 Pos1Fact 0x6089 Pos1Nota 0x608A Pos1Dim Position Display Factor 0x3089 Pos1Disp Position Unit Name 0x308A Pos1Unit Motor 0x6410 Motor Data MotorMan MotorNm MotorCod McatDate MmodDate Mtype Mmaxspd...
  • Page 231 XtrapulsPac - User Guide Sensors Position Feedback Sensor Select 0x306A Pos_FB Motor Feedback Sensor Select 0x3070 Motor_FB Resolver Input 0x3100 Resolver Resolver monitoring Res_Sin Res_Cos Res_Amp2 Res_Mod 65536 for one motor revolution Res_Amp 0x3101 Res_Setp Resolver Setup Enable/Setup Resolver Input...
  • Page 232 XtrapulsPac – User Guide Encoder Input 0x3120 Encoder1 Encoder Enc1Sin Enc1Cos Enc1Amp2 Enc1Mod 65536 for one motor revolution Enc1Amp 0x3121 Enc1Setp Encoder Setup Enc1Type Enc1Cfg Enc1Zsh Enc1Zsz Enc1res Enc1turn Enc1Zlen 0x3122 Enc1Err Encoder Error Control Enc1Cnt Enc1Thrs Enc1Lim 0x3124 Enc1CalP...
  • Page 233 XtrapulsPac - User Guide Servo Loops Current Loop 0x3400 Imon Motor Current Monitoring 0x3402 Iofs Motor Current offset measurement 0x3408 Vdcmon DC Voltage monitoring DC Voltage value (V) VdcFilt Filter for DC voltage measurement (Hz) Dynamic Current Limit Input Source...
  • Page 234 XtrapulsPac – User Guide Position Control Modulo configuration 0x307B PosRgEna 0x607B PosRange Position Limit PosRgMin PosRgMax 0x60FB Pos_CTRL Position Control Parameters Set PregType 0x30FC PosLpmon Pos Loop monitoring PosRef PosFB Vref 0x6062 PosDem Position Demand Value (user position unit) 0x60B0...
  • Page 235 XtrapulsPac - User Guide Profile Position Mode 0x607A TargePos Target Position Maximum motor speed 0x6080 MaxSpeed Profile Velocity 0x6081 ProfiVel 0x6082 PPendVel End Velocity Profile Acceleration 0x6083 ProfiAcc Profile Deceleration 0x6084 ProfiDec Motion Profile Type 0x6086 ProfType Position Window 0x6067...
  • Page 236 XtrapulsPac – User Guide Profile Torque Mode 0x6071 TqTarget Target Torque 0x3071 TqSrc Target Torque input source Torque Slope 0x6087 TqSlope 0x6088 TqProfil Torque profile type 0x60B2 TqOffset Offset Torque 0x30B2 TqOfsSrc Offset Torque input source 0x30B3 TqOfs2 Torque Offset 2...
  • Page 237 XtrapulsPac - User Guide Sequence Parameters 0x3610 SQParNb Sequence Parameters Number 0x3611 SQPar Sequence Parameters SQPtype Sequence Type SQPnext Next sequence SQPcnt Sequence Counter SQPlink Sequence Link SQPtrig Output Trigger SQPout0 Output Bits = 0 SQPout1 Output Bits = 1...
  • Page 238 XtrapulsPac – User Guide Application FE Digital Inputs/Outputs 0x60FD Dinput Digital Inputs 0x3050 DInpCfg Digital Inputs Configuration Inp?Cfg Digital Inputs Polarity 0x3051 InpPol 0x60FE Doutput Digital Outputs Dout DoutBMsk 0x3054 DOutpCfg Digital Outputs Configuration Outp?Cfg 0x3055 OutpPol Digital Outputs Polarity...
  • Page 239 XtrapulsPac - User Guide Digital Cam 0x30E0 DCamPos Digital Cam positions DCam?P? 0x30E1 DCamCFg DCamStat DCamType DCamPol DCamHyst DCamEna Oscilloscope 0x5800 Osc_Func Oscillo function support Oscillo Buffer configuration 0x5804 Osc_Buf 0x5805 OscBufDl Oscillo Buffer delay 0x5810 OscChCfg Oscillo Channel config...

Table of Contents

Save PDF