NANOTEC ELECTRONIC N5 Technical Manual
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NANOTEC ELECTRONIC N5 Technical Manual

Fieldbus: canopen; n5-1-2; n5-2-2
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Technical Manual N5
Fieldbus: CANopen
For use with the following devices:
N5-1-2, N5-2-2
Valid with firmware version FIR-v1650
Technical Manual Version: 2.0.1
and since hardware version W007

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  • Page 1 Technical Manual N5 Fieldbus: CANopen For use with the following devices: N5-1-2, N5-2-2 Valid with firmware version FIR-v1650 Technical Manual Version: 2.0.1 and since hardware version W007...

  • Page 2: Table Of Contents

    Technical Manual N5 (CANopen) Contents Contents 1 Introduction....................8 1.1 Version information..........................8 1.2 Copyright, marking and contact......................9 1.3 Intended use............................9 1.4 Warranty and disclaimer........................10 1.5 Specialist staff............................. 10 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..........................11...
  • Page 3 Technical Manual N5 (CANopen) Contents 6.8 Cyclic Synchronous Velocity....................... 79 6.9 Cyclic Synchronous Torque........................ 80 6.10 Clock-direction mode......................... 81 6.11 Auto setup............................83 7 Special functions..................85 7.1 Digital inputs and outputs........................85 7.2 Automatic brake control........................93 7.3 I t Motor overload protection.......................96 7.4 Saving objects.............................
  • Page 4 Technical Manual N5 (CANopen) Contents 1604h Receive PDO 5 Mapping Parameter....................168 1605h Receive PDO 6 Mapping Parameter....................171 1606h Receive PDO 7 Mapping Parameter....................173 1607h Receive PDO 8 Mapping Parameter....................175 1800h Transmit PDO 1 Communication Parameter................177 1801h Transmit PDO 2 Communication Parameter................179 1802h Transmit PDO 3 Communication Parameter................181...
  • Page 5 Technical Manual N5 (CANopen) Contents 2065h Jerk Numerator..........................243 2066h Jerk Denominator......................... 244 2084h Bootup Delay..........................244 2101h Fieldbus Module Availability......................245 2102h Fieldbus Module Control......................246 2103h Fieldbus Module Status........................247 2300h NanoJ Control..........................249 2301h NanoJ Status..........................250 2302h NanoJ Error Code........................250 2303h Number Of Active User Program....................
  • Page 6 Technical Manual N5 (CANopen) Contents 6061h Modes Of Operation Display......................309 6062h Position Demand Value........................310 6063h Position Actual Internal Value...................... 310 6064h Position Actual Value........................311 6065h Following Error Window....................... 311 6066h Following Error Time Out......................312 6067h Position Window........................... 312 6068h Position Window Time........................313...
  • Page 7 Technical Manual N5 (CANopen) Contents 11.9 lwIP..............................346...

  • Page 8: Introduction

    1 Introduction 1 Introduction The N5 is a controller for the open loop or closed loop operation of stepper motors and the closed loop operation of BLDC motors. 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

    Windows 98/NT/ME/2000/XP/7/10 are registered trademarks of the Microsoft Corporation. 1.3 Intended use The N5 controller is used to control stepper and BLDC motors and is designed for use under the approved Environmental conditions. Any other use is considered unintended use.

  • Page 10: Warranty And Disclaimer

    Technical Manual N5 (CANopen) 1 Introduction 1.4 Warranty and disclaimer Nanotec produces component parts that are used in a wide range of industrial applications. The selection and use of Nanotec products is the responsibility of the system engineer and end user.

  • Page 11: Emphasis In The Text

    Technical Manual N5 (CANopen) 1 Introduction 1.9 Emphasis in the text The following conventions are used in the document: Text set in bold indicates cross references and hyperlinks: • The following bits in object 6041 (statusword) have a special function: •...
  • Page 12 Technical Manual N5 (CANopen) 1 Introduction Max. acceleration (60C5 Max. deceleration (60C6 Version: 2.0.1 / FIR-v1650...

  • Page 13: Safety And Warning Notices

    Technical Manual N5 (CANopen) 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 14: Technical Details And Pin Assignment

    Technical Manual N5 (CANopen) 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 … 95 % Altitude of site above sea level (without drop in performance) 1500 m...

  • Page 15: Dimensioned Drawings

    N5-1-2 • 12 V - 48 V +/-5% DC for the high-current version with designation N5-2-2 and up to hardware version w007 • 12 V -5% …57.4 V DC for the high-current version with designation N5-2-2 and from hardware version w007b...

  • Page 16: Overtemperature Protection

    Technical Manual N5 (CANopen) 3 Technical details and pin assignment Property Description / value Rated current N5-1-2 (low current): 10 A N5-2-2 (high current): 18 A Peak current N5-1-2 (low current): 10 A N5-2-2 (high current): 40 A for 5 seconds Commutation Stepper motor – open loop, stepper motor – closed loop with encoder, BLDC motor –...
  • Page 17 Technical Manual N5 (CANopen) 3 Technical details and pin assignment • Motor current: 10 A (N5-1 low current)/18 A (N5-2 high current) rms • Operation mode: Velocity Mode, full step, 30 rpm • Ambient temperature: 45 °C • Altitude of site: 500 m above sea level •...

  • Page 18: Led Signaling

    Technical Manual N5 (CANopen) 3 Technical details and pin assignment 3.5 LED signaling 3.5.1 Power LED Normal operation In normal operation, the green power LED L1 flashes briefly once per second. Case of an error If an error has occurred, the LED turns red and signals an error number. In the following figure, the error number 3 is signaled.

  • Page 19: Pin Assignment

    Technical Manual N5 (CANopen) 3 Technical details and pin assignment 3.6 Pin assignment 3.6.1 Overview Connector Function Ethernet Encoder and Hall sensor connection Digital/analog inputs and outputs Brake connection Motor connection Voltage supply External logic supply, input voltage +24 V DC...
  • Page 20 Technical Manual N5 (CANopen) 3 Technical details and pin assignment Ethernet CANopen Master Power (Motor) Encoder Power supply shielding (optional) 3.6.2 Connector X1 – Ethernet Pin 1 is marked with an asterisk "*". 3.6.3 Connector X2 – encoder/Hall sensor Note Two types of encoder/Hall sensor are supported: 1.
  • Page 21 Technical Manual N5 (CANopen) 3 Technical details and pin assignment Function Note +5 V DC (factory setting) or +24 V DC, output voltage switchable by means of software with object 2059 5/24 V signal, max. 1 MHz 5/24 V signal, max. 1 MHz 5/24 V signal, max.
  • Page 22 Technical Manual N5 (CANopen) 3 Technical details and pin assignment Function Note Input 1 5 V / 24 V digital input, switchable by means of software with object 3240 , max. 1 MHz Input 2 5 V / 24 V digital input, switchable by means of software with object 3240, max.
  • Page 23 Technical Manual N5 (CANopen) 3 Technical details and pin assignment Connection data Conductor cross section, flexible, min. 0.14 mm 0.5 mm Conductor cross section, flexible, min. Wire-end sleeve without 0.25 mm 0.5 mm plastic sleeve, min. Conductor cross section, min. AWG Min.
  • Page 24 Technical Manual N5 (CANopen) 3 Technical details and pin assignment Function Function Note (stepper (BLDC motor) motor) Shielding Shielding Shielding Not used Shielding Shielding Shielding Connection data Conductor cross section, rigid 0.2 mm 2.5 mm Conductor cross section, flexible 0.2 mm 2.5 mm...
  • Page 25 N5-2 (high current) and up to hardware version w007: 51.5 V DC • N5-2 (high current) and hardware version w007b and higher: 58.5 V DC. With this version, you must – if desired – also enter this threshold value in 2034h Upper Voltage Warning Level.
  • Page 26 Technical Manual N5 (CANopen) 3 Technical details and pin assignment • Controller communication • Encoder Note The windings of the motor are not supplied by the logic supply. In this case, a voltage of 24 V DC must be connected to X7. With a 24 V encoder, object 2059 must be set to the value "1".
  • Page 27 Technical Manual N5 (CANopen) 3 Technical details and pin assignment Function Note CAN+ CAN- CAN GND Internally connected to PIN 7 n.c. n.c. CAN_SHLD Connection for the shielding Internally connected to PIN 3 +UB Logic +24 V DC, input voltage, current consumption approx. 60 mA 3.6.10 Connector X9 –...
  • Page 28 Technical Manual N5 (CANopen) 3 Technical details and pin assignment 3.6.12 Switch S2 – CANopen node-ID and baud rate Hex coding switch for setting the CANopen node-ID and baud rate. See chapter Setting node-ID and baud rate. The value of this switch is added to the value of switch S1; this switch thereby sets the 1s place.

  • Page 29: Commissioning

    Technical Manual N5 (CANopen) 4 Commissioning 4 Commissioning Described in this chapter is how you establish communication with the controller and set the necessary parameters to make the motor ready for operation. You can configure the controller via Ethernet using NanoIP –...
  • Page 30 Technical Manual N5 (CANopen) 4 Commissioning 4.1.2 Establishing connection with the controller Setting the IP address Each of the connected devices (controller and communication partners) in an Ethernet network or with a point-to-point Ethernet connection requires a unique IP address. This can either be obtained automatically (DHCP) or generated (Auto-IP) or assigned statically.
  • Page 31 Technical Manual N5 (CANopen) 4 Commissioning b. Select Network and Sharing Center. c. Select Change advanced sharing settings. d. Open the Public section. e. Under Network discovery, select the Turn on network discovery option. 2. Activating the UPnP service: a. Press the Windows Start button and then right-click on Computer and select Manage.
  • Page 32 Technical Manual N5 (CANopen) 4 Commissioning A static IP address is also assigned to the communication partner. Settings using the Windows 7 operating system as an example: 1. Press the Windows Start button and select Control Panel. 2. Select Network and Sharing Center.
  • Page 33 Technical Manual N5 (CANopen) 4 Commissioning Example Accessing a value in the object dictionary: http://192.168.2.100/od/6040/00 This string is used to access entry 6040 subindex 0 in the object dictionary. The reply is made as a JSON string and reflects the content of this object.

  • Page 34: Configuration Via Canopen

    2005h CANopen Baudrate, and 2009h CANopen NodeID. Rotary switch The N5 is equipped with two hex coding switches – similar to that shown in the following figure. You can set the source for the CANopen node-ID and the baud rate using the combination of numbers from both rotary switches.
  • Page 35 Technical Manual N5 (CANopen) 4 Commissioning General • If the rotary switches are set to the value "1", the node-ID is set to "1" and the baud rate is permanently set to 1000 kBd. In the event of problems with the configuration, communication can thereby always be established with the controller and any errors reversed.

  • Page 36: Setting The Motor Data

    Technical Manual N5 (CANopen) 4 Commissioning 1. Connect the CANopen master to the controller via the CAN- and CAN+ cables. Check the connection of your CAN-GND and that the necessary 120 ohm termination resistor is present between CAN+ and CAN-.

  • Page 37: Auto Setup

    Technical Manual N5 (CANopen) 4 Commissioning • to connection X4, see Connector X4 – brake connection How the automatic brake control can be activated is described in chapter Automatic brake control. 4.5 Auto setup To determine a number of parameters related to the motor and the connected sensors (encoders/Hall sensors), an auto setup is performed.
  • Page 38 Technical Manual N5 (CANopen) 4 Commissioning Parameter Motor without encoder Motor with encoder Motor with encoder and index without index Alignment (shifting of the electrical zero to the index.) Parameter Motor without Hall Motor with Hall sensor sensor Hall transitions 4.5.2 Execution...

  • Page 39: Test Run

    Technical Manual N5 (CANopen) 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?)
  • Page 40 Technical Manual N5 (CANopen) 4 Commissioning CAN Master Controller write 6060 = 02 read 6061 (= 02 write 6042 = 00C8 write 6040 = 0006 read 6041 (Bit 9, 5 und 0 = 1?) write 6040 = 0007 read 6041...

  • Page 41: General Concepts

    Technical Manual N5 (CANopen) 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 42 Technical Manual N5 (CANopen) 5 General concepts Feedback Stepper motor BLDC motor Sensorless Various operating modes can be used depending on the control mode. The following list contains all the types of operation that are possible in the various control modes.
  • Page 43 Technical Manual N5 (CANopen) 5 General concepts • In object 2030 (Pole Pair Count), enter the number of pole pairs (see motor data sheet: for a stepper motor with 2 phases, a step angle of 1.8° corresponds to 50 pole pairs and 0.9°...
  • Page 44 Technical Manual N5 (CANopen) 5 General concepts Clock-Direction operating mode Change of the step resolution via objects 2057 (Clock Direction Multiplier) and 2058 (Clock Direction Divider). Optimize acceleration / deceleration ramps by adjusting the pulse frequency to pass through the resonance range as quickly as possible.

  • Page 45: Cia 402 Power State Machine

    Technical Manual N5 (CANopen) 5 General concepts Commissioning An auto setup must be performed before using closed loop mode. The auto setup operating mode automatically determines the necessary parameters (e.g., motor data, feedback systems) that are necessary for optimum operation of the field oriented control. All information necessary for performing the auto setup can be found in chapter Auto setup.
  • Page 46 Technical Manual N5 (CANopen) 5 General concepts Low-level power voltage switched on for controller Software cannot Not ready to Start High-level voltage can be switched on rectify error switch on Switched on Fault disabled Ready to switch on High-level power...
  • Page 47 Technical Manual N5 (CANopen) 5 General concepts Holding torque in the Switched on state Ex works, no holding torque is built up in the Switched on state. If a holding torque is already needed in this state, the value "1" must be written in 3212...
  • Page 48 Technical Manual N5 (CANopen) 5 General concepts Low-level power voltage switched on for controller Software cannot Not ready to Start High-level voltage can be switched on rectify error switch on Switched on Fault disabled Ready to switch on Disable voltage...
  • Page 49 Technical Manual N5 (CANopen) 5 General concepts Ready to switch on Transition to the Ready to switch on state (shutdown option): In this case, the action stored in object 605B is executed (see following table). Value in object 605B Description -32768 …...

  • Page 50: User-Defined Units

    Technical Manual N5 (CANopen) 5 General concepts Value in object 605E Description -32768 … -1 Reserved Immediate stop Braking with slow down ramp (braking deceleration depending on operating mode) Braking with quick stop ramp (braking deceleration depending on operating mode) 3 …...
  • Page 51 Technical Manual N5 (CANopen) 5 General concepts With a target position (607A ) of 2000, the motor moves exactly one mechanical revolution The physical resolution of the connected position encoder (of the present feedback in general) is set in object 2052 or determined by Auto setup.
  • Page 52 Technical Manual N5 (CANopen) 5 General concepts 2061 velocity 2062 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...

  • Page 53: Limitation Of The Range Of Motion

    Technical Manual N5 (CANopen) 5 General concepts The internal unit is revolutions per second (rps The factor n for the acceleration is calculated from the factor for numerator (2065 ) divided by the factor for the denominator (2066 When entering values, the following applies correspondingly: Internal value = n...
  • Page 54 Technical Manual N5 (CANopen) 5 General concepts Task Cycle time Application 1 ms NanoJ application 1 ms Current controller 31.25 µs (32 kHz) Speed controller 31.25 µs (32 kHz) Position controller 31.25 µs (32 kHz) Version: 2.0.1 / FIR-v1650...

  • Page 55: Operating Modes

    Technical Manual N5 (CANopen) 6 Operating modes 6 Operating modes 6.1 Profile Position 6.1.1 Overview Description Profile Position Mode is used to move to positions relative to the last target position or to an absolute position (last reference position). During the movement, the limit values for the speed, starting acceleration/braking deceleration and jerks are taken into account.
  • Page 56 Technical Manual N5 (CANopen) 6 Operating modes Statusword The following bits in object 6041 (statusword) have a special function: • Bit 10 (Target Reached): This bit is set to "1" if the last target was reached and the motor remains...
  • Page 57 Technical Manual N5 (CANopen) 6 Operating modes Other travel commands Bit 12 in object 6041 (statusword, set-point acknowledge) changes to "0" if another travel command can be buffered (see time 1 in the following figure). As long as a target position is being moved to, a second target position can be passed to the controller in preparation.
  • Page 58 Technical Manual N5 (CANopen) 6 Operating modes Destination point (607A h ) Actual Speed New destination point (6040 h , Bit 4) Destination point confirmation (6041 h , Bit 12) Destination point reached (6041 h , Bit 10) Possibilities for moving to a target position If bit 9 in object 6040 (controlword) is equal to "0", the current target position is first moved to...
  • Page 59 Technical Manual N5 (CANopen) 6 Operating modes The following applies for the figures below: • A double arrow indicates a new travel command. • The first travel command at the start is always an absolute travel command to position 1100.
  • Page 60 Technical Manual N5 (CANopen) 6 Operating modes - Change on setpoint (6040 :00 Bit 5 = 0) - Move absolute (6040 :00 Bit 6 = 0) - Target position: 300 Target position: 1100 (absolute) 1100 1400 position - Relative to the actual position (60F2...
  • Page 61 Technical Manual N5 (CANopen) 6 Operating modes 6.1.4 Boundary conditions for a positioning move Object entries The boundary conditions for the position that has been moved to can be set in the following entries of the object dictionary: • 607A : (Target Position): Planned target position •...

  • Page 62: Velocity

    Technical Manual N5 (CANopen) 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)
  • Page 63 Technical Manual N5 (CANopen) 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. 6.2.2 Activation To activate the mode, the value "2" must be set in object 6060 (Modes Of Operation) (see "CiA 402...

  • Page 64: Profile Velocity

    Technical Manual N5 (CANopen) 6 Operating modes Speeds in Velocity Mode VL velocity max amount 6046 VL target velocity 6042 Delta speed Delta speed 6048 6049 VL velocity min Delta time Delta time amount 6046 6048 6049 Objects for Velocity Mode The ramp generator follows the target speed, remaining within the set speed and acceleration limits.
  • Page 65 Technical Manual N5 (CANopen) 6 Operating modes • Bit 10 (target speed reached; Target Reached): In combination with bit 8 in the controlword, this bit specifies whether the target speed is reached, if braking is taking place or if the motor is at a standstill (see table).
  • Page 66 Technical Manual N5 (CANopen) 6 Operating modes Activation After the mode is selected in object 6060 (Modes Of Operation) and the "Power State machine" (see "CiA 402 Power State Machine") is switched to Operation enabled, the motor is accelerated to the target speed in object 60FF (see following figures).

  • Page 67: Profile Torque

    Technical Manual N5 (CANopen) 6 Operating modes Velocity window (606D Profile velocity (60FF Velocity window (606D Max. acceleration (60C5 Profile acceleration (6083 Profile deceleration (6084 Max. deceleration (60C6 6.4 Profile Torque 6.4.1 Description In this mode, the torque is preset as a set value and reached via a ramp function.
  • Page 68 Technical Manual N5 (CANopen) 6 Operating modes 6040 6041 Description Bit 8 Bit 10 Specified torque not reached Specified torque reached Axis accelerated Axis speed is 0 • Bit 11: Limit exceeded: The target torque (6071 ) exceeds the maximum torque entered in 6072 6.4.5 Object entries...

  • Page 69: Homing

    Technical Manual N5 (CANopen) 6 Operating modes Torque curve Target torque 6071 1sec Torque slope Torque slope 6087 6087 1sec 6.5 Homing 6.5.1 Overview Description The purpose of the homing method is to align the position zero point of the controller with an encoder index or position switch.
  • Page 70 Technical Manual N5 (CANopen) 6 Operating modes • 6099 (Speed During Search For Switch): Speed for the search of the switch • 6099 (Speed During Search For Zero): Speed for the search of the index • 609A (Homing Acceleration): Starting acceleration and braking deceleration for homing •...
  • Page 71 Technical Manual N5 (CANopen) 6 Operating modes In the following graphics, the negative movement direction is to the left. The limit switch is located before the respective mechanical block; the home switch is located between the two limit switches. The index pulses come from the connected encoder.
  • Page 72 Technical Manual N5 (CANopen) 6 Operating modes Index pulse Negative limit switch Method 2 references to positive limit switch and index pulse: Index pulse Positive limit switch Methods 3 to 6 Reference to the switching edge of the home switch and index pulse.
  • Page 73 Technical Manual N5 (CANopen) 6 Operating modes With these methods, the current position relative to the home switch is not important. With method 10, for example, referencing is always performed to the index pulse to the right of the right edge of the home switch.
  • Page 74 Technical Manual N5 (CANopen) 6 Operating modes Positive limit switch Methods 19 to 22 Reference to the switching edge of the home switch without the index pulse. With methods 19 and 20 (equivalent to methods 3 and 4), the left switching edge of the home switch is...
  • Page 75 Technical Manual N5 (CANopen) 6 Operating modes Reference switch Positive limit switch Methods 27 to 30 take the negative home switch into account: Reference switch Negative limit switch Methods 33 and 34 Reference to the next index pulse. With these methods referencing is only performed to the respective subsequent index pulse:...

  • Page 76: Interpolated Position Mode

    Technical Manual N5 (CANopen) 6 Operating modes Note For Homing Mode 35, it is not necessary to switch the CiA 402 Power State Machine to the "Operation enabled" state. When energizing the motor windings in open loop mode, it is thereby possible to prevent the current position from not being exactly 0 after Homing Mode 35.

  • Page 77: Cyclic Synchronous Position

    Technical Manual N5 (CANopen) 6 Operating modes 6.6.5 Use The controller follows a linearly interpolated path between the current position and the preset target position. The (next) target position must be written in record 60C1 Own interpolated data Data given...
  • Page 78 Technical Manual N5 (CANopen) 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. Activation To activate the mode, the value "8" must be set in object 6060 (Modes Of Operation) (see "CiA 402...

  • Page 79: Cyclic Synchronous Velocity

    Technical Manual N5 (CANopen) 6 Operating modes value of 60C2:02 The following applies here: cycle time = value of 60C2 * 10 seconds. • 60C2 (Interpolation Time Index): This object specifies the time basis of the cycles. Currently, only value 60C2 =-3 is supported;...

  • Page 80: Cyclic Synchronous Torque

    Technical Manual N5 (CANopen) 6 Operating modes • 6085 (Quick-Stop Deceleration): This object contains the braking deceleration for the case that a quick-stop is triggered (see "CiA 402 Power State Machine"). • 605A (Quick-Stop Option Code): This object contains the option that is to be executed in the event of a quick-stop (see "CiA 402 Power State Machine").

  • Page 81: Clock-Direction Mode

    Technical Manual N5 (CANopen) 6 Operating modes Value Description Controller follows the target; object 6071 (Target Torque) is used as the input for position control. Reserved Reserved 6.9.2 Object entries The following objects are necessary for controlling this mode: •...
  • Page 82 Technical Manual N5 (CANopen) 6 Operating modes min. 200ns clock input min. 1µs (max. 1MHz) • The steps are scaled using objects 2057 and 2058 . The following formula applies here: 2057 step width per pulse = 2058 The "step size per pulse" value is set to 128 (2057...

  • Page 83: Auto Setup

    Technical Manual N5 (CANopen) 6 Operating modes min. 35µs clock input direction input Right / left rotation mode (CW / CCW mode) To activate the mode, object 205B must be set to the value "1". In this mode, the input that is used decides the direction of rotation (see following graphic).
  • Page 84 Technical Manual N5 (CANopen) 6 Operating modes 6.11.3 Controlword The following bits in object 6040 (controlword) have a special function: • Bit 4 starts a travel command. This is carried out on a transition from "0" to "1". 6.11.4 Statusword...

  • Page 85: Special Functions

    Technical Manual N5 (CANopen) 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 86 Technical Manual N5 (CANopen) 7 Special functions Input Special function Switching threshold Differential / switchable single-ended Negative limit switch yes, 5 V or 24 V (see 3240 ) single-ended Positive limit switch yes, 5 V or 24 V (see 3240...
  • Page 87 Technical Manual N5 (CANopen) 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...
  • Page 88 Technical Manual N5 (CANopen) 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...
  • Page 89 Technical Manual N5 (CANopen) 7 Special functions Number Signal source Inverted physical input 15 Inverted physical input 16 Inverted Hall input "U" Inverted Hall input "V" Inverted Hall input "W" Inverted encoder input "A" Inverted encoder input "B" Inverted encoder input "Index"...
  • Page 90 Technical Manual N5 (CANopen) 7 Special functions 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 external Example A simple load is to be used with the digital output.
  • Page 91 Technical Manual N5 (CANopen) 7 Special functions Range of normal Range of output pins output pins with special function Bit31 Bit16 Bit15 Bit0 60FEh Bit in 3250h:3 Bit in 3250h:2 0: Value not forced 0: Do not invert logic Value of...
  • Page 92 Technical Manual N5 (CANopen) 7 Special functions Selection of source with 3252:NN high byte Signal Ouput sources Selection of control bit with 3252:NN low byte Bits of 60FE Activation This mode is activated by setting object 3250 (Routing Enable) to 1.

  • Page 93: Automatic Brake Control

    Technical Manual N5 (CANopen) 7 Special functions Number in 3252:01 to 05 01XX Output is always "0" 02XX Encoder signal (6063 ) with frequency divider 1 03XX Encoder signal (6063 ) with frequency divider 2 04XX Encoder signal (6063 ) with frequency divider 4...
  • Page 94 Technical Manual N5 (CANopen) 7 Special functions For information on the interaction of the brake with the motor stopping behavior, see also chapter Power State machine – halt motion reactions. 7.2.2 Activation and connection The brake can be controlled either automatically or manually: •...
  • Page 95 Technical Manual N5 (CANopen) 7 Special functions 1. The motor is brought to a standstill. 2. The time stored in 2038 is allowed to elapse. 3. The brake is activated. 4. The time stored in 2038 is allowed to elapse.

  • Page 96: I 2 T Motor Overload Protection

    Technical Manual N5 (CANopen) 7 Special functions Duty cycle 25% 2038h:6 Duty cycle 50% 2038h:6=50 7.3 I t Motor overload protection 7.3.1 Description Note For stepper motors, only the rated current is specified, not a maximum current. No liability is therefore assumed when using I t with stepper motors.

  • Page 97: Saving Objects

    Technical Manual N5 (CANopen) 7 Special functions 7.3.3 Activation Closed loop must be activated, (bit 0 of object 3202 set to "1", see also chapter Closed Loop). To activate the mode, the three object entries mentioned above (2031 , 203B...
  • Page 98 Technical Manual N5 (CANopen) 7 Special functions Only entire collections of objects (referred to in the following as categories) can be saved together; individual objects cannot be saved. An object can be assigned one of the following categories: • Communication: Parameters related to external interfaces, such as PDO configuration etc.
  • Page 99 Technical Manual N5 (CANopen) 7 Special functions • 1A03 : Transmit PDO 4 Mapping Parameter • 1A04 : Transmit PDO 5 Mapping Parameter • 1A05 : Transmit PDO 6 Mapping Parameter • 1A06 : Transmit PDO 7 Mapping Parameter •...
  • Page 100 Technical Manual N5 (CANopen) 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 •...
  • Page 101 Technical Manual N5 (CANopen) 7 Special functions 7.4.5 Category: drive • 3202 : Motor Drive Submode Select 7.4.6 Category: tuning • 2030 : Pole Pair Count • 2031 : Maximum Current • 2032 : Maximum Speed • 203B : I2t Parameters •...
  • Page 102 Technical Manual N5 (CANopen) 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.

  • Page 103: Canopen

    Technical Manual N5 (CANopen) 8 CANopen 8 CANopen The controller can be addressed by means of CANopen and can function in a network as a slave. In this chapter, the services of the CANopen communication structure are described. In addition, the CANopen messages are individually broken down.
  • Page 104 Technical Manual N5 (CANopen) 8 CANopen Default CAN-ID Service Description in +Node-ID RX Process Data Objects (PDO) +Node-ID TX Process Data Objects (PDO) +Node-ID RX Process Data Objects (PDO) +Node-ID TX Process Data Objects (PDO) +Node-ID RX Process Data Objects (PDO)
  • Page 105 Technical Manual N5 (CANopen) 8 CANopen The "Network Management" message has CAN-ID 0. A message is always two bytes long and has the following structure: NMT Message CAN ID Data Byte 0 Byte 1 <CMD> <NodeID> Here, the <CMD> corresponds to one of the following bytes (see also the legend in the figure of the NMT state diagram): <CMD>...
  • Page 106 Technical Manual N5 (CANopen) 8 CANopen After receiving a SYNC message, there is a time window ("synchronous window") within which PDO messages can be sent and received; after the time of the window has elapsed, all devices must stop sending PDOs. The "synchronous window length" can be set in milliseconds in object 1007 A typical CAN-SYNC operation is divided into four phases (see also the following figure): 1.
  • Page 107 Technical Manual N5 (CANopen) 8 CANopen • If no further errors are pending, the following message is sent: 80 + Node-ID | 00 00 00 00 00 00 00 00 8.2.4 Service Data Object (SDO) A "Service Data Object" permits read or write access of the object dictionary.
  • Page 108 Technical Manual N5 (CANopen) 8 CANopen 3 byte data length: 27 • 4 byte data length: 23 • The <Data> field is written with the data that are to be written; the LSB of the data is entered in byte 4.
  • Page 109 Technical Manual N5 (CANopen) 8 CANopen Server Client Init SDO Upload confirm (OK) CAN ID Data Byte 0 Byte 1 Byte 2 Byte 3 0x00 Byte 4 Byte 5 Byte 6 Byte 7 <CMD> <IDX> <SUBIDX> <Data> 580+NodeID Init SDO Upload confirm (error)
  • Page 110 Technical Manual N5 (CANopen) 8 CANopen switches over to "normal transfer". If the master only supports "expedited transfer", objects 6505 :01, 6505 :02, 6505 :03, etc., can be used to read the string character by character. SDO upload Shown in the following figure is the procedure for an "SDO upload" (client requests that the content of an object be sent to it).
  • Page 111 Technical Manual N5 (CANopen) 8 CANopen Client Server Init SDO Upload confirm CAN ID Data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0x41 <IDX> <SUBIDX> <DATA LENGTH> 580+NodeID The initialization is thereby concluded; all that remains is the upload of the data. A data packet is...
  • Page 112 Technical Manual N5 (CANopen) 8 CANopen Client Server Segment SDO Upload confirm CAN ID Data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 <CMD> <Data> 580+NodeID Byte 0 with <CMD> is structured as follows: <CMD>...
  • Page 113 All data of the transfer grouped together yield the following string (ASCII values): 4E 31 30 20 2D 20 57 54 31 32 30 39 2D 56 31 2E 30 30 2D 38 4D 42 00 This corresponds to string: "N5 - W004-N-DT1209-V1.00-8MB" Aborting the SDO transfer Both the server and the client are authorized to abort the current transfer at any time.
  • Page 114 Technical Manual N5 (CANopen) 8 CANopen Error Code Description 06090011 subindex not existing: An attempt was made to access an invalid subindex of an object; the index, on the other hand, would exist. 06090031 value too great: Some objects are subject to restrictions in the size of the value; in this case, an attempt was made to write an excessively large value to the object.
  • Page 115 Technical Manual N5 (CANopen) 8 CANopen Mapping COB-ID 1601 + Node-ID 1602 + Node-ID 1603 + Node-ID 1604 + Node-ID 1605 + Node-ID 1606 + Node-ID 1607 + Node-ID • Subindex 2 (transmission type): A number is stored in this subindex that defines the time at which the received data become valid.
  • Page 116 Technical Manual N5 (CANopen) 8 CANopen Object dictionary Index Data (hex) Description 1000:00 40192 Device Type RX-PDO Message (1. Mapping) 1600:00 Amount of Mappings CAN ID Data 1600:01 60400010 Mapping #1 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4...
  • Page 117 Technical Manual N5 (CANopen) 8 CANopen • Subindex 2 (transmission type): A number is stored in this subindex that defines the time at which the data are to be copied into the PDO message and when this is to be sent. The number and the corresponding meaning can be found in the following table.
  • Page 118 Technical Manual N5 (CANopen) 8 CANopen switched off. In the following example, two objects are thereby mapped in entries 1A00 – 1A00 . The objects in entries 1A00 – 1A00 are, thus, not mapped (shown in gray). • Each subindex from 1A00...
  • Page 119 Technical Manual N5 (CANopen) 8 CANopen 2. Deactivate the mapping by setting subindex 00h of the corresponding mapping parameter (e.g., 1600 ) to "0". 3. Change the mapping in the desired subindices (e.g., 1600 4. Activate the mapping by writing the number of objects that are to be mapped in subindex 00h of the corresponding mapping parameter (e.g., 1600...
  • Page 120 Technical Manual N5 (CANopen) 8 CANopen <CMD> Nodeguarding Message CAN ID Data Bit number Byte 0 <CMD> 700+NodeID NMT-State toggle bit With nodeguarding, there exist three time intervals (see also the following figure): 1. guard time: The time between two RTR messages. This can be different for each CAN node and is...
  • Page 121 Technical Manual N5 (CANopen) 8 CANopen <CMD> Heartbeat Message CAN ID Data Bit number Byte 0 <CMD> 700+NodeID NMT-State The slave must send the heartbeat message within the heartbeat consumer time. This time is known only to the master and is not stored in the controller.

  • Page 122: Programming With Nanoj

    Technical Manual N5 (CANopen) 9 Programming with NanoJ 9 Programming with NanoJ NanoJ is a programming language similar to C or C++. NanoJ is integrated in the Plug & Drive Studio software. You can find further information in document Plug & Drive Studio: Quick Start Guide at us.nanotec.com.
  • Page 123 Technical Manual N5 (CANopen) 9 Programming with NanoJ Note If the NanoJ program does not yield the computing time after too long a time, it is ended by the operating system. In this case, the number 4 is entered in the statusword for object 2301 ;...
  • Page 124 Technical Manual N5 (CANopen) 9 Programming with NanoJ A list of available system calls can be found in chapter System calls in a NanoJ program. Nanotec recommends accessing a given OD value either by mapping or using a system call with od_write().

  • Page 125: Mapping In The Nanoj Program

    Technical Manual N5 (CANopen) 9 Programming with NanoJ Note In the NanoJ program, only global variables are permitted and they may only be initialized within code. It then follows: No new operator • • No constructors • No initialization of global variables outside of code...
  • Page 126 Technical Manual N5 (CANopen) 9 Programming with NanoJ With this method, a variable in the NanoJ program is linked directly with an entry in the object dictionary. The creation of the mapping must be located at the start of the file here, even before the #include "wrapper.h"...

  • Page 127: System Calls In A Nanoj Program

    Technical Manual N5 (CANopen) 9 Programming with NanoJ 9.2.3 Possible error at od_write() A possible source of errors is a write access with the od_write() function (see System calls in a NanoJ program) of an object in the object dictionary that was simultaneously created as mapping. The...
  • Page 128 Technical Manual N5 (CANopen) 9 Programming with NanoJ index Index of the object to be read in the object dictionary subindex Subindex of the object to be read in the object dictionary Output value Content of the OD entry Note Active waiting for a value in the object dictionary should always be associated with a yield().

  • Page 129: Description Of The Object Dictionary

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 10 Description of the object dictionary 10.1 Overview This chapter contains a description of all objects. You will find information here on: • Functions • Object descriptions ("Index") • Value descriptions ("Subindices") •...

  • Page 130: Value Description

    Technical Manual N5 (CANopen) 10 Description of the object dictionary • VISIBLE_STRING: The object describes a character string coded in ASCII. The length of the string is specified in subindex 0; the individual characters are stored beginning in subindex 1.

  • Page 131: Description

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Listed in the table with the "Value description" heading are all data for sub-entries with subindex 1 or higher. The table contains the following entries: Subindex Number of the currently written sub-entry.

  • Page 132: 1000H Device Type

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Example [2] Description of bits 3 and 2; these bits are logically related. The 2 in square brackets specifies the number of related bits. • Value 00 : The description here applies if bit 2 and bit 3 are "0".

  • Page 133: 1001H Error Register

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 0192 or 0402 (preset value): The CiA 402 standard is supported. 1001h Error Register Function Error register: The corresponding error bit is set in case of an error. If the error no longer exists, it is deleted automatically.

  • Page 134: 1003H Pre-Defined Error Field

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 135 Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 Subindex Name...
  • Page 136 Technical Manual N5 (CANopen) 10 Description of the object dictionary 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. The error in subindex 7 is thereby removed.

  • Page 137: 1005H Cob-Id Sync

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Error number Description Encoder resolution, number of pole pairs and some other values are incorrect. Motor current is too high, adjust the PI parameters. Internal software error, generic Current too high at digital output...

  • Page 138: 1007H Synchronous Window Length

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Note If the CAN-ID is not to correspond to the default value of 80 , it must be ensured that only not-yet unassigned or reserved CAN-IDs are used. Object description...

  • Page 139: 1009H Manufacturer Hardware Version

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 • N5-1-2: N5-1-2 • N5-2-2: N5-2-2...

  • Page 140: 100Ch Guard Time

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Savable Access read only PDO mapping Allowed values Preset value FIR-v1650-B527540 Firmware version FIR-v1426 Change history 100Ch Guard Time Function Object 100C multiplied by object 100Dh Live Time Factor yields the so-called lifetime for the Lifeguarding / Nodeguarding protocol.

  • Page 141: 1010H Store Parameters

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 100D Object name Live Time Factor Object Code VARIABLE Data type UNSIGNED8 Savable yes, category: communication Access read / write PDO mapping Allowed values Preset value Firmware version...
  • Page 142 Technical Manual N5 (CANopen) 10 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...

  • Page 143: 1011H Restore Default Parameters

    Technical Manual N5 (CANopen) 10 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.
  • Page 144 Technical Manual N5 (CANopen) 10 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...

  • Page 145: 1014H Cob-Id Emcy

    Technical Manual N5 (CANopen) 10 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...

  • Page 146: 1018H Identity Object

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Note The Heartbeat protocol has a higher priority than Nodeguarding. If both protocols are activated simultaneously, the Node Guarding Timer is suppressed, but no EMCY message is sent either. This object is only available in device variants with CANopen connection.

  • Page 147: 1020H Verify Configuration

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Access read only PDO mapping Allowed values Preset value Subindex Name Vendor-ID Data type UNSIGNED32 Access read only PDO mapping Allowed values Preset value 0000026C Subindex Name Product Code Data type...
  • Page 148 Technical Manual N5 (CANopen) 10 Description of the object dictionary A network configuration tool or a CANopen manager can use this object to verify the configuration after a reset and, if necessary, perform a new configuration. The tool must set the date and time before the storage mechanism is started (see chapter Saving objects).

  • Page 149: 1029H Error Behavior

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Description Subindex 01 (configuration date) is to contain the number of days since 1 January 1984. Subindex 02 (configuration time) is to contain the number of milliseconds since midnight. 1029h Error Behavior Function This object is used to define what the NMT state of the controller should be in case of an error.

  • Page 150: 1400H Receive Pdo 1 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value Description The subindices have the following function: • : This subindex is used to define how to respond in case of a communication error: •...

  • Page 151: 1401H Receive Pdo 2 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name COB-ID Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Transmission Type Data type UNSIGNED8 Access read / write PDO mapping...

  • Page 152: 1402H Receive Pdo 3 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Allowed values Preset value Subindex Name COB-ID Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Transmission Type Data type UNSIGNED8 Access read / write...

  • Page 153: 1403H Receive Pdo 4 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name COB-ID Data type UNSIGNED32 Access read / write PDO mapping Allowed values...

  • Page 154: 1404H Receive Pdo 5 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name COB-ID Data type UNSIGNED32 Access read / write PDO mapping...

  • Page 155: 1405H Receive Pdo 6 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1614 Change history Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values...
  • Page 156 Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 1405 Object name Receive PDO 6 Communication Parameter Object Code RECORD Data type PDO_COMMUNICATION_PARAMETER Savable yes, category: communication Access read only PDO mapping Allowed values Preset value...

  • Page 157: 1406H Receive Pdo 7 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary For details see chapter on configuring the RX-PDO mapping. 1406h Receive PDO 7 Communication Parameter Function Contains the communication parameters for the receiving-side mapping (RX-PDO) in object 1606 See chapter Process Data Object (PDO).

  • Page 158: 1407H Receive Pdo 8 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Allowed values Preset value Description Subindex 01 (COB-ID): The COB-ID is stored here. Subindex 02 (transmission type): A number is stored in this subindex that defines the time at which the received data become valid.

  • Page 159: 1600H Receive Pdo 1 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Preset value 80000000 Subindex Name Transmission Type Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Description Subindex 01 (COB-ID): The COB-ID is stored here. Subindex 02 (transmission type): A number is stored in this subindex that defines the time at which the received data become valid.
  • Page 160 Technical Manual N5 (CANopen) 10 Description of the object dictionary Preset value Subindex Name 1st Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 60400010 Subindex Name 2nd Object To Be Mapped...
  • Page 161 Technical Manual N5 (CANopen) 10 Description of the object dictionary Name 6th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 7th Object To Be Mapped Data type UNSIGNED32...

  • Page 162: 1601H Receive Pdo 2 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 1601h Receive PDO 2 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can receive (RX-PDO 2). The PDO was previously configured via 1401h Receive PDO 2 Communication Parameter. See chapter Process Data Object (PDO).
  • Page 163 Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 4th Object To Be Mapped Data type...

  • Page 164: 1602H Receive Pdo 3 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 00000000 Description Each subindex (1–8) describes a different mapped object. A mapping entry consists of four bytes, which are structured according to the following graphic.
  • Page 165 Technical Manual N5 (CANopen) 10 Description of the object dictionary Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name 1st Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values...

  • Page 166: 1603H Receive Pdo 4 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Allowed values Preset value 00000000 Subindex Name 6th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 7th Object To Be Mapped...
  • Page 167 Technical Manual N5 (CANopen) 10 Description of the object dictionary Firmware version FIR-v1426: "Object Name" entry changed from "Output Control" to "Receive PDO 4 Mapping Parameter". Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read / write...

  • Page 168: 1604H Receive Pdo 5 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Preset value 00000000 Subindex Name 5th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 6th Object To Be Mapped...
  • Page 169 Technical Manual N5 (CANopen) 10 Description of the object dictionary Object name Receive PDO 5 Mapping Parameter Object Code RECORD Data type PDO_MAPPING Savable yes, category: communication Access read / write PDO mapping Allowed values Preset value Firmware version FIR-v1614...
  • Page 170 Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name 4th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 5th Object To Be Mapped Data type...

  • Page 171: 1605H Receive Pdo 6 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 1605h Receive PDO 6 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can receive (RX-PDO 6). The PDO was previously configured via 1405h Receive PDO 6 Communication Parameter. See chapter Process Data Object (PDO).
  • Page 172 Technical Manual N5 (CANopen) 10 Description of the object dictionary Preset value 00000000 Subindex Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 4th Object To Be Mapped...

  • Page 173: 1606H Receive Pdo 7 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Name 8th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 1606h Receive PDO 7 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can receive (RX-PDO 7). The PDO was previously configured via 1406h Receive PDO 7 Communication Parameter.
  • Page 174 Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name 2nd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 3rd Object To Be Mapped Data type...

  • Page 175: 1607H Receive Pdo 8 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 8th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value...
  • Page 176 Technical Manual N5 (CANopen) 10 Description of the object dictionary Name 1st Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 2nd Object To Be Mapped Data type UNSIGNED32...

  • Page 177: 1800H Transmit Pdo 1 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary PDO mapping Allowed values Preset value 00000000 Subindex Name 7th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name...
  • Page 178 Technical Manual N5 (CANopen) 10 Description of the object dictionary Preset value Subindex Name COB-ID Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Transmission Type Data type UNSIGNED8 Access read / write...

  • Page 179: 1801H Transmit Pdo 2 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Description Subindex 01 (COB-ID): The COB-ID is stored here. Subindex 02 (transmission type): A number is stored in this subindex that defines the time at which the received data become valid.
  • Page 180 Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name Transmission Type Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name Inhibit Time Data type UNSIGNED16 Access read / write PDO mapping...

  • Page 181: 1802H Transmit Pdo 3 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 1802h Transmit PDO 3 Communication Parameter Function Contains the communication parameters for the sending-side mapping (TX-PDO) 3. See chapter Process Data Object (PDO). Object description Index 1802 Object name Transmit PDO 3 Communication Parameter...

  • Page 182: 1803H Transmit Pdo 4 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Data type UNSIGNED16 Access read / write PDO mapping Allowed values Preset value 0064 Subindex Name Compatibility Entry Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value...
  • Page 183 Technical Manual N5 (CANopen) 10 Description of the object dictionary Data type PDO_COMMUNICATION_PARAMETER Savable yes, category: communication 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...

  • Page 184: 1804H Transmit Pdo 5 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary PDO mapping Allowed values Preset value Subindex Name Event Timer Data type UNSIGNED16 Access read / write PDO mapping Allowed values Preset value 0000 Description Subindex 01 (COB-ID): The COB-ID is stored here.
  • Page 185 Technical Manual N5 (CANopen) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name COB-ID Data type UNSIGNED32 Access read / write PDO mapping...

  • Page 186: 1805H Transmit Pdo 6 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Name Event Timer Data type UNSIGNED16 Access read / write PDO mapping Allowed values Preset value 0000 Description Subindex 01 (COB-ID): The COB-ID is stored here. Subindex 02 (transmission type): A number is stored in this subindex that defines the time at which the received data become valid.
  • Page 187 Technical Manual N5 (CANopen) 10 Description of the object dictionary PDO mapping Allowed values Preset value Subindex Name COB-ID Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value C0000000 Subindex Name Transmission Type Data type UNSIGNED8...

  • Page 188: 1806H Transmit Pdo 7 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Description Subindex 01 (COB-ID): The COB-ID is stored here. Subindex 02 (transmission type): A number is stored in this subindex that defines the time at which the received data become valid.
  • Page 189 Technical Manual N5 (CANopen) 10 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value C0000000 Subindex Name Transmission Type Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name...

  • Page 190: 1807H Transmit Pdo 8 Communication Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex 4 (compatibility entry): This subindex has no function and exists only for compatibility reasons. Subindex 5 (event timer): This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO.
  • Page 191 Technical Manual N5 (CANopen) 10 Description of the object dictionary Name Transmission Type Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name Inhibit Time Data type UNSIGNED16 Access read / write PDO mapping Allowed values...

  • Page 192: 1A00H Transmit Pdo 1 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 1A00h Transmit PDO 1 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can send (TX-PDO 1). The PDO was previously configured via 1800h Transmit PDO 1 Communication Parameter. See chapter Process Data Object (PDO).
  • Page 193 Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 4th Object To Be Mapped Data type...

  • Page 194: 1A01H Transmit Pdo 2 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 00000000 Description Each subindex (1–8) describes a different mapped object. A mapping entry consists of four bytes, which are structured according to the following graphic.
  • Page 195 Technical Manual N5 (CANopen) 10 Description of the object dictionary Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name 1st Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values...
  • Page 196 Technical Manual N5 (CANopen) 10 Description of the object dictionary Allowed values Preset value 00000000 Subindex Name 6th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 7th Object To Be Mapped...

  • Page 197: 1A02H Transmit Pdo 3 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 1A02h Transmit PDO 3 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can send (TX-PDO 3). The PDO was previously configured via 1802h Transmit PDO 3 Communication Parameter. See chapter Process Data Object (PDO).
  • Page 198 Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 4th Object To Be Mapped Data type...

  • Page 199: 1A03H Transmit Pdo 4 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 00000000 Description Each subindex (1–8) describes a different mapped object. A mapping entry consists of four bytes, which are structured according to the following graphic.
  • Page 200 Technical Manual N5 (CANopen) 10 Description of the object dictionary Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name 1st Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values...
  • Page 201 Technical Manual N5 (CANopen) 10 Description of the object dictionary Allowed values Preset value 00000000 Subindex Name 6th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 7th Object To Be Mapped...

  • Page 202: 1A04H Transmit Pdo 5 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 1A04h Transmit PDO 5 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can send (TX-PDO 5). The PDO was previously configured via 1804h Transmit PDO 5 Communication Parameter. See chapter Process Data Object (PDO).
  • Page 203 Technical Manual N5 (CANopen) 10 Description of the object dictionary Preset value 00000000 Subindex Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 4th Object To Be Mapped...

  • Page 204: 1A05H Transmit Pdo 6 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Name 8th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Description Each subindex (1–8) describes a different mapped object. A mapping entry consists of four bytes, which are structured according to the following graphic.
  • Page 205 Technical Manual N5 (CANopen) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name 1st Object To Be Mapped Data type UNSIGNED32...
  • Page 206 Technical Manual N5 (CANopen) 10 Description of the object dictionary Name 5th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 6th Object To Be Mapped Data type UNSIGNED32...

  • Page 207: 1A06H Transmit Pdo 7 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Length [8] This contains the length of the object to be mapped in units of bits. 1A06h Transmit PDO 7 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can send (TX-PDO 7). The PDO was previously configured via 1806h Transmit PDO 7 Communication Parameter.
  • Page 208 Technical Manual N5 (CANopen) 10 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value...

  • Page 209: 1A07H Transmit Pdo 8 Mapping Parameter

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Preset value 00000000 Subindex Name 8th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Description Each subindex (1–8) describes a different mapped object.
  • Page 210 Technical Manual N5 (CANopen) 10 Description of the object dictionary Change history Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name 1st Object To Be Mapped Data type...
  • Page 211 Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name 5th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name 6th Object To Be Mapped Data type...

  • Page 212: 1F50H Program Data

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex [8] This contains the subindex of the object to be mapped. Length [8] This contains the length of the object to be mapped in units of bits. 1F50h Program Data Function This object is used to program memory areas of the controller.

  • Page 213: 1F51H Program Control

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Name Program Data NanoJ Data type DOMAIN Access read / write PDO mapping Allowed values Preset value Subindex Name Program Data DataFlash Data type DOMAIN Access read / write PDO mapping...

  • Page 214: 1F57H Program Status

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Preset value Subindex Name Program Control Bootloader/firmware Data type UNSIGNED8 Access read / write PDO mapping Allowed values Preset value Subindex Name Program Control NanoJ Data type UNSIGNED8 Access read / write...
  • Page 215 Technical Manual N5 (CANopen) 10 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 Program Status Bootloader/firmware...

  • Page 216: 2005H Canopen Baudrate

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 2005h CANopen Baudrate Function This object contains the baud rate of the CANopen bus. Object description Index 2005 Object name CANopen Baudrate Object Code VARIABLE Data type UNSIGNED8 Savable yes, category: communication...

  • Page 217: 2009H Canopen Nodeid

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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...

  • Page 218: 2010H Ip-Configuration

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Allowed values Preset value Firmware version FIR-v1426 Change history 2010h IP-Configuration Function This object is used to configure the Ethernet interface. Object description Index 2010 Object name IP-Configuration Object Code...

  • Page 219: 2011H Static-Ipv4-Address

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 2011h Static-IPv4-Address Function Contains the static IPv4 address in the form of a 32-bit word. Object description Index 2011 Object name Static-IPv4-Address Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: communication...

  • Page 220: 2012H Static-Ipv4-Subnet-Mask

    Technical Manual N5 (CANopen) 10 Description of the object dictionary The corresponding adjustment value is then C0A80200 2012h Static-IPv4-Subnet-Mask Function Contains the subnet mask of the static IP address in the form of a 32-bit word. Object description Index 2012...

  • Page 221: 2014H Current-Ipv4-Address

    Technical Manual N5 (CANopen) 10 Description of the object dictionary The corresponding adjustment value is then FFFFFF00 2014h Current-IPv4-Address Function Contains the currently active IP address in the form of a 32-bit word. Object description Index 2014 Object name Current-IPv4-Address...

  • Page 222: 2015H Current-Ipv4-Subnet-Mask

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 2 => 02 0 => 0 The corresponding adjustment value is then C0A80200 2015h Current-IPv4-Subnet-Mask Function Contains the currently active subnet mask of the static IP address in the form of a 32-bit word.

  • Page 223: 2030H Pole Pair Count

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 255 => FF 0 => 0 The corresponding adjustment value is then FFFFFF00 2030h Pole Pair Count Function Contains the number of pole pairs of the connected motor. Object description...

  • Page 224: 2032H Maximum Speed

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Firmware version FIR-v1426 Change history Firmware version FIR-v1614: "Savable" entry changed from "yes, category: application" to "yes, category: tuning". Firmware version FIR-v1614: "Object Name" entry changed from "Peak Current" to "Max Current".

  • Page 225: 2034H Upper Voltage Warning Level

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Savable yes, category: application Access read / write PDO mapping 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.

  • Page 226: 2036H Open Loop Current Reduction Idle Time

    Technical Manual N5 (CANopen) 10 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...

  • Page 227: 2038H Brake Controller Timing

    Technical Manual N5 (CANopen) 10 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...
  • Page 228 Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 Close Brake Idle Time...

  • Page 229: 2039H Motor Currents

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Preset value 00000000 Subindex Name PWM Frequency Data type UNSIGNED32 Access read / write PDO mapping Allowed values between 0 and 2000 (7D0 Preset value 00000000 Subindex Name PWM Duty Cycle...
  • Page 230 Technical Manual N5 (CANopen) 10 Description of the object dictionary Firmware version FIR-v1504: "PDO mapping" table entry for subindex 03 changed from "no" to "TX-PDO". Firmware version FIR-v1504: "PDO mapping" table entry for subindex 04 changed from "no" to "TX-PDO".

  • Page 231: 203Ah Homing On Block Configuration

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 232: 203Bh I2T Parameters

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Name Minimum Current For Block Detection Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value FFFFFFBA Subindex Name Block Detection Time Data type INTEGER32 Access read / write...
  • Page 233 Technical Manual N5 (CANopen) 10 Description of the object dictionary Firmware version FIR-v1614: "Savable" entry changed from "yes, category: application" to "yes, category: tuning". Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values...

  • Page 234: 203Dh Torque Window

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Preset value 00000000 Subindex Name LimitedCurrent Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Status Data type UNSIGNED32 Access read / write...

  • Page 235: 203Eh Torque Window Time

    Technical Manual N5 (CANopen) 10 Description of the object dictionary If the value is set to "FFFFFFFF" , monitoring is switched off, the "Target reached" bit in object 6041 (controlword) is never set. Object description Index 203D Object name Torque Window...

  • Page 236: 2051H Encoder Optimization

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 2050 Object name Encoder Alignment Object Code VARIABLE Data type INTEGER32 Savable yes, category: tuning Access read / write PDO mapping Allowed values Preset value 00000000 Firmware version...

  • Page 237: 2052H Encoder Resolution

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name Parameter 1 Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Parameter 2 Data type INTEGER32 Access read / write PDO mapping...

  • Page 238: 2056H Limit Switch Tolerance Band

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Change history Firmware version FIR-v1540: "Savable" entry changed from "no" to "yes, category: tuning". Description A negative value means that the encoder is driven in the opposite direction of the motor. This can be corrected by reversing the polarity of a motor winding.

  • Page 239: 2058H Clock Direction Divider

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Savable yes, category: application Access read / write PDO mapping Allowed values Preset value 00000080 Firmware version FIR-v1426 Change history 2058h Clock Direction Divider Function The clock count value in clock/direction mode is divided by this value before it is processed further.

  • Page 240: 205Ah Encoder Boot Value

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Change history Firmware version FIR-v1614: "Savable" entry changed from "yes, category: application" to "yes, category: tuning". Description TYPE VOLT VOLT If this bit is set to the value "0", the supply voltage for the encoder is set to 5 V. If the bit is set to the value "1", the supply voltage is set to 24 V.

  • Page 241: 205Bh Clock Direction Or Clockwise/Counter Clockwise Mode

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 205Bh Clock Direction Or Clockwise/Counter Clockwise Mode Function This object can be used to switch the clock-direction mode (value = "0") to the right/left rotation mode (value = "1"). Object description...

  • Page 242: 2061H Velocity Numerator

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 2061h Velocity Numerator Function Contains the counter that is used for converting from user-defined speed values to the internal revolutions/second. See chapter User-defined units. Object description Index 2061 Object name...

  • Page 243: 2064H Acceleration Denominator

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 2063 Object name Acceleration Numerator Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application Access read / write PDO mapping Allowed values Preset value 00000001 Firmware version...

  • Page 244: 2066H Jerk Denominator

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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/second .

  • Page 245: 2101H Fieldbus Module Availability

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 UNSIGNED32 Savable Access read only...

  • Page 246: 2102H Fieldbus Module Control

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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. E-IP ™...

  • Page 247: 2103H Fieldbus Module Status

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 248 Technical Manual N5 (CANopen) 10 Description of the object dictionary Allowed values Preset value Subindex Name Fieldbus Module Disable Mask Data type UNSIGNED32 Access read only PDO mapping Allowed values Preset value 00000008 Subindex Name Fieldbus Module Enabled Data type...

  • Page 249: 2300H Nanoj Control

    Technical Manual N5 (CANopen) 10 Description of the object dictionary E-CAT EtherCAT interface SPI interface MRTU Modbus RTU protocol MTCP Modbus TCP protocol E-IP ™ EtherNet/IP protocol 2300h NanoJ Control Function Controls the execution of a NanoJ program. Object description...

  • Page 250: 2301H Nanoj Status

    Technical Manual N5 (CANopen) 10 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...
  • Page 251 Technical Manual N5 (CANopen) 10 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"...

  • Page 252: 2303H Number Of Active User Program

    Technical Manual N5 (CANopen) 10 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...
  • Page 253 Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 2304 Object name Table Of Available User Programs Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Firmware version FIR-v1426 Change history Value description Subindex Name...
  • Page 254 Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name Name Of User Program 2 LB Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Name Of User Program 3 UB...

  • Page 255: 230Fh Uptime Seconds

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Program 2: subindex 3 and 4 Program 3: subindex 5 and 6 Program 4: subindex 7 and 8 Example: Program 1 with designation " test.usr" is, thus, coded as follows:...
  • Page 256 Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 2310 Object name NanoJ Input Data Selection Object Code ARRAY 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"...

  • Page 257: 2320H Nanoj Output Data Selection

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Index [16] SubIndex [8] Length [8] Index [16] This contains the index of the object to be mapped. SubIndex [8] This contains the subindex of the object to be mapped.

  • Page 258: 2330H Nanoj In/Output Data Selection

    Technical Manual N5 (CANopen) 10 Description of the object dictionary PDO mapping Allowed values Preset value Subindex - 10 Name Mapping #1 - #16 Data type UNSIGNED32 Access read only PDO mapping Allowed values Preset value 00000000 Description Each subindex (1–16) describes a different mapped object.

  • Page 259: 2400H Nanoj Inputs

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Firmware version FIR-v1650-B472161 Change history Firmware version FIR-v1436: "Object Name" entry changed from "VMM In/output Data Selection" to "NanoJ In/output Data Selection". Firmware version FIR-v1650-B472161: "Savable" entry changed from "yes, category: application" to "no".

  • Page 260: 2410H Nanoj Init Parameters

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Change history The number of entries was changed from 2 to 33. Firmware version FIR-v1436: "Object Name" entry changed from "VMM Inputs" to "NanoJ Inputs". Firmware version FIR-v1436: "Name" entry changed from "VMM Input N#"...

  • Page 261: 2500H Nanoj Outputs

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Change history Firmware version FIR-v1450: "Data Type" entry changed from "INTEGER32" to "UNSIGNED8". Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values...

  • Page 262: 2600H Nanoj Debug Output

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex - 20 Name NanoJ Output #1 - #32 Data type INTEGER32 Access read / write PDO mapping...

  • Page 263: 2701H Customer Storage Area

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 264: 2800H Bootloader And Reboot Settings

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Access read / write PDO mapping Allowed values Preset value 00000000 2800h Bootloader And Reboot Settings Function With this object, a reboot of the firmware can be triggered and the short circuiting of the motor windings in bootloader mode switched off and on.

  • Page 265: 3202H Motor Drive Submode Select

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Name Reboot Delay Time In Ms Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Bootloader HW Config Data type UNSIGNED32 Access read / write...

  • Page 266: 320Ah Motor Drive Sensor Display Open Loop

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Firmware version FIR-v1540: "Savable" entry changed from "yes category: travel" to "yes, category: drive". Description BLDC Torque CurRed Brake CL/OL CL/OL Changeover between open loop and closed loop • Value = "0": open loop •...
  • Page 267 Technical Manual N5 (CANopen) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Commutation Data type INTEGER32 Access read / write PDO mapping...

  • Page 268: 320Bh Motor Drive Sensor Display Closed Loop

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Description The following subindices have a function: • : Not used • : Not used • : Changes the source of object 6044 • Value = "-1": The internally calculated set value is entered in object 6044 •...

  • Page 269: 3210H Motor Drive Parameter Set

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name Torque Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value 00000000 Subindex Name Velocity Data type INTEGER32 Access read / write PDO mapping Allowed values...
  • Page 270 Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 3210 Object name Motor Drive Parameter Set Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Name" entry changed from "S_P" to "Position Loop, Proportional Gain (closed loop)".
  • Page 271 Technical Manual N5 (CANopen) 10 Description of the object dictionary PDO mapping Allowed values Preset value Subindex Name Position Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000800 Subindex Name...
  • Page 272 Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name Flux Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00002EE0 Subindex Name Torque Current Loop, Proportional Gain (closed Loop)

  • Page 273: 3212H Motor Drive Flags

    Technical Manual N5 (CANopen) 10 Description of the object dictionary • Subindex 02 : Integral component of the S-controller (position) • Subindex 03 : Proportional component of the V-controller (speed) • Subindex 04 : Integral component of the V-controller (speed) •...
  • Page 274 Technical Manual N5 (CANopen) 10 Description of the object dictionary PDO mapping Allowed values Preset value Subindex Name Enable Legacy Power Mode Data type INTEGER8 Access read / write PDO mapping Allowed values Preset value Subindex Name Override Field Inversion...

  • Page 275: 3220H Analog Inputs

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 3220h Analog Inputs Function Displays the instantaneous values of the analog inputs in digits. With object 3221 , the respective analog input can be configured as current or voltage input.

  • Page 276: 3221H Analogue Inputs Control

    Technical Manual N5 (CANopen) 10 Description of the object dictionary • Voltage input: x digits * 10 V / 1024 digits • Current input: x digits * 20 mA / 1024 digits 3221h Analogue Inputs Control Function With this object, an analog input can be switched from voltage measurement to current measurement.

  • Page 277: 3240H Digital Inputs Control

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Object Code ARRAY Data type UNSIGNED16 Savable Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1650-B527540 Change history Firmware Version FIR-v1436: Table entry "PDO Mapping" at sub-index 01 modified from "RX - PDO"...
  • Page 278 Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 3240 Object name Digital Inputs Control Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Firmware version FIR-v1426 Change history Firmware version FIR-v1426: Subindex 01 : "Name" entry changed from "Special Function Disable"...
  • Page 279 Technical Manual N5 (CANopen) 10 Description of the object dictionary Allowed values Preset value 00000000 Subindex Name Force Value Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Subindex Name Raw Value Data type...

  • Page 280: 3242H Digital Input Routing

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Description The subindices have the following function: • 3240 (Special Function Enable): This bit allows special functions of an input to be switched off (value "0") or on (value "1"). If input 1 is not used as, e.g., a negative limit switch, the special function must be switched off to prevent an erroneous response to the signal generator.
  • Page 281 Technical Manual N5 (CANopen) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex - 24 Name Input Source #1 - #36 Data type...
  • Page 282 Technical Manual N5 (CANopen) 10 Description of the object dictionary Number Signal source Hall input "W" Encoder input "A" Encoder input "B" Encoder input "Index" USB Power Signal "Ethernet active" status DIP switch 1 DIP switch 2 DIP switch 3...

  • Page 283: 3250H Digital Outputs Control

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Number Signal source Inverted DIP switch 7 Inverted DIP switch 8 3250h Digital Outputs Control Function This object can be used to control the digital outputs as described in chapter " Digital inputs and outputs".
  • Page 284 Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 Data type...

  • Page 285: 3252H Digital Output Routing

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Subindex Name Reserved2 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...
  • Page 286 Technical Manual N5 (CANopen) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Output Control #1 Data type UNSIGNED16 Access read / write...

  • Page 287: 3320H Read Analogue Input

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Name Output Control #5 Data type UNSIGNED16 Access read / write PDO mapping TX-PDO Allowed values Preset value 0093 3320h Read Analogue Input Function Displays the instantaneous values of the analog inputs in user-defined units.

  • Page 288: 3321H Analogue Input Offset

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 ). If both object entries are still set to the default values, the value in 3320 is specified in the "ADC digits"...

  • Page 289: 3322H Analogue Input Pre-Scaling

    Technical Manual N5 (CANopen) 10 Description of the object dictionary PDO mapping Allowed values Preset value 00000000 Subindex Name Analogue Input 2 Data type INTEGER32 Access read / write PDO mapping Allowed values Preset value 00000000 Description • Subindex 00 : Number of offsets •...

  • Page 290: 3700H Following Error Option Code

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 read / write...

  • Page 291: 4012H Hw Information

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Value Description Braking with "slow down ramp" (deceleration (deceleration ramp) depending on operating mode) Braking with "quick stop ramp" (deceleration (deceleration ramp) depending on operating mode) 3 … 32767 Reserved...

  • Page 292: 4013H Hw Configuration

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Description Subindex 01: Contains the size of the connected EEPROM in bytes. The value "0" means that no EEPROM is connected. 4013h HW Configuration Function This object is used to set certain hardware configurations.

  • Page 293: 4014H Operating Conditions

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 4014h Operating Conditions Function This object is used to read out the current environment values for the controller. Object description Index 4014 Object name Operating Conditions Object Code ARRAY Data type...

  • Page 294: 4040H Drive Serial Number

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Name Voltage UB Logic [mV] Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000 Subindex Name Temperature PCB [Celsius * 10] Data type INTEGER32 Access...

  • Page 295: 603Fh Error Code

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 4041 Object name Device Id Object Code VARIABLE Data type OCTET_STRING Savable Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1540 Change history Description...
  • Page 296 Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 6040 Object name Controlword Object Code VARIABLE Data type UNSIGNED16 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value 0000 Firmware version...

  • Page 297: 6041H Statusword

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 6041h Statusword Function This object returns information about the status of the CiA 402 Power State Machine. Object description Index 6041 Object name Statusword Object Code VARIABLE Data type UNSIGNED16...

  • Page 298: 6042H Vl Target Velocity

    Technical Manual N5 (CANopen) 10 Description of the object dictionary SYNC (synchronization) Value = "1": Controller is in sync with the fieldbus; value = "0": Controller is not in sync with the fieldbus REM (Remote) Remote (value of the bit is always "1")

  • Page 299: 6043H Vl Velocity Demand

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Change history Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: application". 6043h Vl Velocity Demand Function Specifies the current target speed in user units. Object description Index...

  • Page 300: 6046H Vl Velocity Min Max Amount

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 6046h Vl Velocity Min Max Amount Function This object can be used to set the minimum speed and maximum speed in user-defined units. Object description Index 6046 Object name Vl Velocity Min Max Amount...

  • Page 301: 6048H Vl Velocity Acceleration

    Technical Manual N5 (CANopen) 10 Description of the object dictionary If the value of the target speed (object 6042 ) specified here is less than the minimum speed, the minimum speed applies and bit 11 (Internal Limit Reached) in 6041h Statusword is set.

  • Page 302: 6049H Vl Velocity Deceleration

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Description The acceleration is specified as a fraction in user-defined units: Speed change per change in time. Subindex 01 : Contains the change in speed. Subindex 02 : Contains the change in time.

  • Page 303: 604Ah Vl Velocity Quick Stop

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Allowed values Preset value 0001 Description The deceleration is specified as a fraction in user-defined units: Speed change per change in time. Subindex 01 : Contains the change in speed.

  • Page 304: 604Ch Vl Dimension Factor

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Name DeltaTime Data type UNSIGNED16 Access read / write PDO mapping RX-PDO Allowed values Preset value 0001 Description The deceleration is specified as a fraction in user-defined units: Speed change per change in time.

  • Page 305: 605Ah Quick Stop Option Code

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Preset value 00000001 Subindex Name Vl Dimension Factor Denominator Data type INTEGER32 Access read / write PDO mapping RX-PDO Allowed values Preset value 0000003C Description If subindex 1 is set to the value "1" and subindex 2 is set to the value "1"; the speed is specified in revolutions per minute.

  • Page 306: 605Bh Shutdown Option Code

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Value Description Braking with "quick stop ramp" and subsequent state change to "Switch on disabled" 3 … 32767 Reserved 605Bh Shutdown Option Code Function This object contains the action that is to be executed on a transition of the CiA 402 Power State Machine from the Operation enabled state to the Ready to switch on state.

  • Page 307: 605Dh Halt Option Code

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Savable yes, category: application Access read / write PDO mapping Allowed values Preset value 0001 Firmware version FIR-v1426 Change history Description Value Description -32768 … -1 Reserved Immediate stop Braking with "slow down ramp" (deceleration (deceleration ramp) depending on operating mode) and subsequent state change to "Switch on disabled"...

  • Page 308: 605Eh Fault Option Code

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 605Eh Fault Option Code Function The object contains the action specifying how the motor is to be brought to a standstill in case of an error. Object description Index 605E...

  • Page 309: 6061H Modes Of Operation Display

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Preset value Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: application". Description Mode Description Auto setup Clock-direction mode No mode change/no mode assigned...

  • Page 310: 6062H Position Demand Value

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 6062h Position Demand Value Function Indicates the current demand position in user-defined units. Object description Index 6062 Object name Position Demand Value Object Code VARIABLE Data type INTEGER32 Savable Access...

  • Page 311: 6064H Position Actual Value

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 6064h Position Actual Value Function Contains the current actual position 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 312: 6066H Following Error Time Out

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Description If the actual position deviates so much from the demand position that the value of this object is exceeded, bit 13 in object 6041 is set. The deviation must last longer than the time in object 6066 If the value of the "Following Error Window"...

  • Page 313: 6068H Position Window Time

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Data type UNSIGNED32 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value 0000000A Firmware version FIR-v1426 Change history Firmware version FIR-v1504: "Savable" entry changed from "no" to "yes, category: application".

  • Page 314: 606Ch Velocity Actual Value

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 606B Object name Velocity Demand Value Object Code VARIABLE Data type INTEGER32 Savable Access read only PDO mapping TX-PDO Allowed values Preset value 00000000 Firmware version FIR-v1426...

  • Page 315: 606Eh Velocity Window Time

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Object name Velocity Window Object Code VARIABLE Data type UNSIGNED16 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value 001E Firmware version FIR-v1426 Change history Firmware version FIR-v1614: "Savable"...

  • Page 316: 6071H Target Torque

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 6071h Target Torque Function This object contains the target torque for the Profile Torque and Cyclic Synchronous Torque modes in tenths of a percent of the rated torque. Object description...

  • Page 317: 6074H Torque Demand

    Technical Manual N5 (CANopen) 10 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 318: 607Ah Target Position

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Allowed values Preset value 0000 Firmware version FIR-v1540 Change history 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 319: 607Ch Home Offset

    Technical Manual N5 (CANopen) 10 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 Min Position Range Limit Data type INTEGER32...

  • Page 320: 607Dh Software Position Limit

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Firmware version FIR-v1426 Change history 607Dh Software Position Limit Function Defines the limit positions relative to the reference point of the application in user-defined units.

  • Page 321: 607Eh Polarity

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000 Description The target position must lie within the limits set here. Prior to every check, the respective Home Offset...

  • Page 322: 6081H Profile Velocity

    Technical Manual N5 (CANopen) 10 Description of the object dictionary • Profile Position Mode • Cyclic Synchronous Position Mode 6081h Profile Velocity Function Specifies the maximum travel speed in user-defined units. Object description Index 6081 Object name Profile Velocity Object Code...

  • Page 323: 6084H Profile Deceleration

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 6083 Object name Profile Acceleration Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value 000001F4...

  • Page 324: 6086H Motion Profile Type

    Technical Manual N5 (CANopen) 10 Description of the object dictionary PDO mapping RX-PDO Allowed values Preset value 00001388 Firmware version FIR-v1426 Change history 6086h Motion Profile Type Function Specifies the ramp type for the Profile Position and Profile Velocity modes.

  • Page 325: 608Fh Position Encoder Resolution

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Firmware version FIR-v1426 Change history Description This object is calculated as thousandths of the torque, e.g., the value "500" means "50%" of the rated torque; "1100" is equivalent to 110%. The rated torque corresponds to the rated current in object 203B :01.

  • Page 326: 6091H Gear Ratio

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Data type UNSIGNED32 Access read / write PDO mapping Allowed values Preset value 00000001 Description Position Encoder Resolution = Encoder Increments (608F ) / Motor Revolutions (608F 6091h Gear Ratio Function Number of motor revolutions per output shaft revolution.

  • Page 327: 6092H Feed Constant

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 Feed in the case of a linear drive;...

  • Page 328: 6098H Homing Method

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 This object defines the Homing method in Homing Mode.

  • Page 329: 609Ah Homing Acceleration

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping Allowed values Preset value Subindex Name Speed During Search For Switch Data type UNSIGNED32 Access...

  • Page 330: 60A4H Profile Jerk

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 Preset value 000001F4...
  • Page 331 Technical Manual N5 (CANopen) 10 Description of the object dictionary 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 332: 60C1H Interpolation Data Record

    Technical Manual N5 (CANopen) 10 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...

  • Page 333: 60C2H Interpolation Time Period

    Technical Manual N5 (CANopen) 10 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...

  • Page 334: 60C4H Interpolation Data Configuration

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Description The subindices have the following functions: • : Interpolation time. • : Power of ten of the interpolation time: must have the value -3 (corresponds to the time basis in milliseconds).
  • Page 335 Technical Manual N5 (CANopen) 10 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...

  • Page 336: 60C5H Max Acceleration

    Technical Manual N5 (CANopen) 10 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.

  • Page 337: 60F2H Positioning Option Code

    Technical Manual N5 (CANopen) 10 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.
  • Page 338 Technical Manual N5 (CANopen) 10 Description of the object dictionary Bit 1 Bit 0 Definition Position movements are performed relative to the current position (object 6064 Reserved RRO (Request-Response Option) These bits determine the behavior when passing controlword 6040 bit 5 ("new setpoint") –...

  • Page 339: 60F4H Following Error Actual Value

    Technical Manual N5 (CANopen) 10 Description of the object dictionary 60F4h Following Error Actual Value Function This object contains the current following error in user-defined units. Object description Index 60F4 Object name Following Error Actual Value Object Code VARIABLE Data type...

  • Page 340: 60Feh Digital Outputs

    Technical Manual N5 (CANopen) 10 Description of the object dictionary NLS (Negative Limit Switch) Negative limit switch PLS (Positive Limit Switch) Positive limit switch HS (Home Switch) Home switch IN n (Input n) Input n – the number of used bits is dependent on the given controller.

  • Page 341: 60Ffh Target Velocity

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Description To write the outputs, the entries in object 3250 , subindex 02 to 05 , must also be taken into account. OUT4 OUT3 OUT2 OUT1 BRK (Brake) Bit for the brake output (if the controller supports this function).

  • Page 342: 6503H Ieee 802 Mac Address

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Savable Access read only PDO mapping TX-PDO Allowed values Preset value 000003EF Firmware version FIR-v1426 Change history Description The set bit specifies whether the respective mode is supported. If the value of the bit is "0", the mode is not supported.

  • Page 343: 6505H Http Drive Catalogue Address

    Technical Manual N5 (CANopen) 10 Description of the object dictionary Object description Index 6503 Object name IEEE 802 MAC Address Object Code VARIABLE Data type VISIBLE_STRING Savable Access read only PDO mapping Allowed values Preset value Firmware version FIR-v1426 Change history Firmware version FIR-v1650-B472161: "Object Name"...

  • Page 344: Copyrights

    Technical Manual N5 (CANopen) 11 Copyrights 11 Copyrights 11.1 Introduction Integrated in the Nanotec software are components from products from external software manufacturers. In this chapter, you will find the copyright information regarding the used external software sources. 11.2 AES...

  • Page 345: Uip

    Technical Manual N5 (CANopen) 11 Copyrights These notices must be retained in any copies of any part of this documentation and/or software. 11.4 uIP Copyright (c) 2005, Swedish Institute of Computer Science All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1.

  • Page 346: Fatfs

    Technical Manual N5 (CANopen) 11 Copyrights 11.7 FatFs FatFs - FAT file system module include file R0.08 (C)ChaN, 2010 FatFs module is a generic FAT file system module for small embedded systems. This is a free software that opened for education, research and commercial developments under license policy of following trems.
  • Page 347 Technical Manual N5 (CANopen) 11 Copyrights 3. The name of the author may not be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.

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