Page 1 Manual C5 Fieldbus: USB Valid with firmware version FIR-v1504 Manual Version 1.2.0 and since hardware version W004 NANOTEC ELECTRONIC GmbH & Co. KG Tel. +49 (0)89-900 686-0 Kapellenstraße 6 Fax +49 (0)89 900 686-50 85622 Feldkirchen/Munich, Germany info@nanotec.com...
Page 2: Table Of Contents
Manual C5 (USB) Contents Contents 1 Editorial....................... 6 2 Safety instructions and warnings.............7 2.1 Important information..........................7 2.2 Personnel qualifications.........................7 2.3 Danger and warning signs........................7 2.4 Other information...........................8 3 About this manual..................9 3.1 Introduction............................9 3.2 Numerical values........................... 9 3.3 Bits................................. 9 3.4 Counting direction (arrows)........................
Page 3 Manual C5 (USB) Contents 9 Special functions..................56 9.1 Digital inputs and outputs........................56 9.2 I t motor overload protection.......................58 9.3 Save Objects............................60 10 Programming with NanoJ..............61 10.1 Introduction............................61 10.2 Available computing time........................61 10.3 Interaction of the user program with the motor controller..............61 10.4 OD entries for controlling and configuring the VMM.................
Page 4 Manual C5 (USB) Contents 2065h Jerk Numerator..........................96 2066h Jerk Denominator........................... 97 2067h Jerk Limit (internal).........................97 2084h Bootup Delay..........................98 2101h Fieldbus Module..........................98 2200h Sampler Control..........................99 2201h Sampler Status..........................100 2202h Sample Data Selection.........................100 2203h Sampler Buffer Information......................103 2204h Sample Time In Ms........................
Page 5 Manual C5 (USB) Contents 6065h Following Error Window....................... 181 6066h Following Error Time Out......................181 6067h Position Window........................... 182 6068h Position Window Time........................182 606Bh Velocity Demand Value........................183 606Ch Velocity Actual Value........................183 606Dh Velocity Window...........................184 606Eh Velocity Window Time........................184 6071h Target Torque..........................185 6072h Max Torque..........................
Page 6: Editorial
© Copyright 2014 Nanotec Electronic GmbH & Co. KG. All rights reserved. The firmware in our motor controllers may contain software components produced by third parties. The licensing conditions and copyrights of these code components can be found in the "Copyright notice"...
Page 7: Safety Instructions And Warnings
Manual C5 (USB) 2 Safety instructions and warnings 2 Safety instructions and warnings 2.1 Important information This technical manual must be carefully read before installation and commissioning of the motor controller. ® Nanotec reserves the right to make technical alterations and further develop hardware and software in the interests of its customers to improve the function of this product without prior notice.
Page 8: Other Information
Manual C5 (USB) 2 Safety instructions and warnings CAUTION The CAUTION sign without the warning symbol indicates a possibly hazardous situation that, when the instruction is neglected, may possiblycause an accident or damage to this device or other devices. 2.4 Other information The following additional information panels are used in this documentation: This panel indicates a possibility for simplifying work.
Page 9: About This Manual
Manual C5 (USB) 3 About this manual 3 About this manual 3.1 Introduction This manual is directed toward programmers intending to program a motor controller using the motor ® controller from Nanotec 3.2 Numerical values Numerical values are always presented in decimal notation. If hexadecimal notation must be used, this is indicated by a subscript "h"...
Page 10: Version Notes
Manual C5 (USB) 3 About this manual 3.5 Version notes Version Version Date Changes manual firmware 1.0.0 FIR-v1419 03.03.2014 Published 1.0.3 FIR-v1419 12.05.2014 Small corrections, field "Specified Value" in object dictionary description now used 1.1.0 23.07.2014. • Added chapter "Save Objects", added "Persistent" to the object description •...
Page 11: Technical Data And Pin Configuration
Manual C5 (USB) 4 Technical data and pin configuration 4 Technical data and pin configuration 4.1 Dimensioned drawings Version 1.2.0 / 11.03.2015 / FIR-v1504...
Page 12: Electrical Properties
Manual C5 (USB) 4 Technical data and pin configuration 4.2 Electrical properties Operating voltage 12 V DC to 48 V DC +/-5% Peak current 6 A effective Commutation Stepper motor open loop, BLDC Operating mode • Profile Position • Velocity •...
Page 13: Pin Configuration
Manual C5 (USB) 4 Technical data and pin configuration LED on LED off 4.3.2 Error Should there be an error, an error number is indicated by the LED within one second. In the following illustration, the error is signaled with the number 3.
Page 14 Manual C5 (USB) 4 Technical data and pin configuration 4.4.2 Analog input and digital outputs (connector X1) Pin 1 is marked with an asterisk "*". X5 S1 The switching between 24 V and 5 V is done thie the object 3240 as well as the switching between "single ended"...
Page 15 Manual C5 (USB) 4 Technical data and pin configuration 4.4.4 Motor connection (connector X3) Pin 1 is marked with an asterisk "*". X5 S1 Stepper motors BLDC motors not used 4.4.5 Motor controller voltage supply (connector X4) Safety instruction CAUTION Danger of electrical overvoltage! •...
Page 16 Manual C5 (USB) 4 Technical data and pin configuration 4.4.6 USB (connector X5) A cable of type "Micro USB" is required for this USB port. 4.4.7 DIP switch (connector S1) Version 1.2.0 / 11.03.2015 / FIR-v1504...
Page 17: Configuration
Manual C5 (USB) 5 Configuration 5 Configuration 5.1 General information The following options exist for configuring the motor controller: DIP switches Four DIP switches are fitted on the side. More information can be found in the section " DIP switches".
Page 18: Usb Port
Manual C5 (USB) 5 Configuration mode On On Off analog speed Offset 5 V (joystick mode) Maximum revolution speed is 1000 rpm On On On analog speed Offset 5 V (joystick mode) Maximum revolution speed is 100 rpm The notation is: clock/direction Activates the clock/direction mode, therefore the pins "enable", "clock"...
Page 19: Configuration File
Manual C5 (USB) 5 Configuration Note • The motor is brought to idling when the USB cable is connected. The "Switched On" mode is set (see the " DS402 Power State machine" section). • The voltage supply for the motor controller must also be switched on for USB operation.
Page 20 Manual C5 (USB) 5 Configuration This restarts the motor controller. The file reset.txt is deleted at the restart. 5.4.3 Structure of configuration file Comments Lines that start with a semicolon are ignored by the motor controller. Example ; This is a comment line...
Page 21: Nanoj Program
Manual C5 (USB) 5 Configuration 5.4.4 Short-circuit evaluation DIP switches can only be used for executing certain assignments. The following syntax is used for short-circuit execution: #<No>:<Assignment> <No> The number of the DIP switch printed on the switch is given here. Permissible values are 1 to 4 <Assignment>...
Page 22 Manual C5 (USB) 5 Configuration In Windows you can create a file with file extension bat and the following content: • Copy <SOURCE PATH>\<OUTPUT>.usr <TARGET>:\vmmcode.usr . For example: copy c:\test\main.usr n:\vmmcode.usr For Linux you can create a script with file extension sh and the following content: •...
Page 23: Commissioning
Manual C5 (USB) 6 Commissioning 6 Commissioning 6.1 Safety instructions WARNING This product is causing high frequenty disturbances, arrangements for disturbance suppression may be necessary in a living environment . CAUTION Alternating electromagnetic fields! Alternating electromagnetic fields around current-carrying cables, especially around the supply and motor cables, can cause interference in the motor and other devices.
Page 24 Manual C5 (USB) 6 Commissioning 6.2.2 Analog mode CAUTION Make sure that the voltage at the analog input does not exceed the value of 10 V. Read the "Configuration" section on the motor controller if you have not already done so.
Page 25: General Concepts
Manual C5 (USB) 7 General concepts 7 General concepts 7.1 DS402 Power State machine 7.1.1 State machine CANopen DS402 To switch the motor controller to an operational state, a state machine must be run through. This is defined in CANopen standard DS402. State changes are requested in object 6040 (control word).
Page 26 Manual C5 (USB) 7 General concepts Command Bit in object 6040 Transition Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shutdown 1, 5, 8 Switch on Disable voltage 0 6, 7, 9, 12 Quick stop Disable operation Enable...
Page 27 Manual C5 (USB) 7 General concepts This state can also be reached through a bus error with the EtherCAT field bus type. In this case, the system automatically changes back to the "Switch on disabled" state after the bus error is eliminated.
Page 28 Manual C5 (USB) 7 General concepts Value in object 605A Description Braking with "quick stop ramp" and subsequent state change to "Switch on disabled" 3 to 32767 Reserved 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 the following table).
Page 29: User-Defined Units
Manual C5 (USB) 7 General concepts Value in object 605E Description Braking with "slow down ramp" (deceleration depending on operating mode) Braking with "quick stop ramp" (deceleration depending on operating mode) 3 to 32767 Reserved 7.2 User-defined units 7.2.1 Overview Settings The motor controller supports the possibility of setting user-defined units.
Page 30 Manual C5 (USB) 7 General concepts Object Mode Meaning 60FF Profile Velocity Mode Speed specification 6099 Homing mode Speed for searching the index/switch 6081 Profile Position Mode Target speed 6082 Profile Position Mode End speed The internal speed in mechanical revolutions per second is multiplied by a factor for numerator (2061 and denominator (2062 ).
Page 31 Manual C5 (USB) 7 General concepts Encoder cycles (608F Resolution of the position encoder = polarity (607E Bit 0) x Motor revolutions (608F If the value of 608F or 608F are set to "0", the motor controller continues computing internally with a "1".
Page 32: Operating Modes
Manual C5 (USB) 8 Operating modes 8 Operating modes 8.1 Profile Position 8.1.1 Special feature C5 USB Note Because this motor controller does not contain a field bus, the following operating mode is only used with the NanoJ program. Further information on programming and use of a NanoJ program can be found in the "Programming with NanoJ"...
Page 33 Manual C5 (USB) 8 Operating modes Controlword 6040 Bit 9 Bit 5 Definition The current speed is held until the current target position is reached, and only then is the new target position moved to with the new values. See the figure in "Setting move commands".
Page 34 Manual C5 (USB) 8 Operating modes Profile of the move command Destination point (607A Actual Speed New destination point (6040 , Bit 4) Destination point confirmation (6041 , Bit 12) Destination point reached (6041 , Bit 10) Further move commands Bit 12 in object 6041 (status word, set-point acknowledge) changes to "0"...
Page 35 Manual C5 (USB) 8 Operating modes Destination point (6040 , Bit 4) Apply changes immediately (6040 , Bit 5) Destination point (607A Saved Destination point Destination point Destination point confirmation (6041 , Bit 12) Destination point reached (6041 , Bit 10)
Page 36 Manual C5 (USB) 8 Operating modes Options for moving to a target position If bit 9 in object 6040 (control word) is "0", the actual target position is first moved to completely. In this example, the end speed (6082 ) of the first target position is zero. If bit 9 is set to "1", the end speed is held until the target position is reached;...
Page 37 Manual C5 (USB) 8 Operating modes Objects for the positioning run The following graphic shows the objects involved for the marginal conditions for the positioning run. Target position 607A Position range limit 607B Target position Limit Software position limit 607D...
Page 38 Manual C5 (USB) 8 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 jerk (60A4 End acceleration Begin deceleration jerk (60A4 jerk (60A4 8.1.5 Jerk-limited and non-jerk-limited mode...
Page 39: Velocity
Manual C5 (USB) 8 Operating modes 8.2 Velocity 8.2.1 Special feature C5 USB Note Because this motor controller does not contain a field bus, the following operating mode is only used with the NanoJ program. Further information on programming and use of a NanoJ program can be found in the "Programming with NanoJ"...
Page 40: Profile Velocity
VL quick-stop 604A Control word 6040 Bit 8 (halt) 8.3 Profile Velocity 8.3.1 Special feature C5 USB Note Because this motor controller does not contain a field bus, the following operating mode is only used with the NanoJ program. Version 1.2.0 / 11.03.2015 / FIR-v1504...
Page 41 Manual C5 (USB) 8 Operating modes Note Further information on programming and use of a NanoJ program can be found in the "Programming with NanoJ" section. 8.3.2 Description This mode operates the motor in Velocity Mode with expanded ramps. Unlike velocity mode (see "Velocity"), the actual speed can be monitored via an external encoder in this mode.
Page 42 Manual C5 (USB) 8 Operating modes If bit 6 is set to "1", the sign (plus/minus) of the target speed is reversed. • 6083 (Profile acceleration): Sets the value for the acceleration ramp in velocity mode. • 6084 (Profile Deceleration): Sets the value for the braking ramp in velocity mode.
Page 43: Profile Torque
Profile acceleration (6083 Profile deceleration (6084 Max. deceleration (60C6 8.4 Profile Torque 8.4.1 Special feature C5 USB Note Because this motor controller does not contain a field bus, the following operating mode is only used with the NanoJ program. Further information on programming and use of a NanoJ program can be found in the "Programming with NanoJ"...
Page 44 Manual C5 (USB) 8 Operating modes 8.4.3 Activation To activate the mode, the value "4" must be set in object 6060 (Modes Of Operation) (see "DS402 Power State machine"). 8.4.4 Control word The following bits in object 6040 (control word) have a special function: •...
Page 45: Homing
Manual C5 (USB) 8 Operating modes Torque curve Target torque 6071 1sec Torque slope Torque slope 6087 6087 1sec 8.5 Homing 8.5.1 Special feature C5USB Note Because this motor controller does not contain a field bus, the following operating mode is only used with the NanoJ program.
Page 46 Manual C5 (USB) 8 Operating modes Bit 13 Bit 12 Bit 10 Description Homing error occurred, velocity is not 0 Homing error occurred, velocity is 0 Object entries The following objects are required to control this mode: • 607C (Home Offset): Specifies the difference between the zero position of the application and the reference point of the machine.
Page 47 Manual C5 (USB) 8 Operating modes Index pulse Reference switch 6099 6099 609A 609A Tolerance bands of the limit switches Forbidden Tolerance Tolerance Forbidden Area zone 2056 zone 2056 Area Negative Positive direction direction Negative Reference Positive limit switch switch limit switch 8.5.3 Reference run method...
Page 48 Manual C5 (USB) 8 Operating modes Homing on block Homing on block functions perfectly only in closed loop mode at the moment. The finer points that have to be observed for homing on block in closed loop mode, for instance, are given in detail in the section on controls.
Page 49 Manual C5 (USB) 8 Operating modes Index pulse Reference switch In the methods 5 and 6, the right switch flank of the reference switch is used as a reference: Index pulse Reference switch Methods 7 to 14 These methods reference the home switch and index pulse (with limit switches).
Page 50 Manual C5 (USB) 8 Operating modes Index pulse Reference switch Negative limit switch Methods 17 and 18 These methods reference the limit switch without the index pulse. Method 17 references the negative limit switch: Negative limit switch Method 18 references the positive limit switch:...
Page 51 Manual C5 (USB) 8 Operating modes Reference switch In the methods 21 and 22 (equivalent to methods 5 and 6), the right switch flank of the reference switch is used as a reference: Reference switch Methods 23 to 30 These methods reference the home switch without the index pulse (with limit switches).
Page 52: Clock/Direction Mode
Manual C5 (USB) 8 Operating modes Reference switch Negative limit switch Methods 33 and 34 Reference the next index pulse. For these methods, referencing is only to respective next index pulse: Index pulse Method 35 References to the actual position.
Page 53 Manual C5 (USB) 8 Operating modes min. 200ns clock input min. 1µs (max. 1MHz) • The scaling of the steps is done via the objects 2057 and 2058 . The following formula is applied: 2057h step width per pulse = 2058h By default the value for "step width per pulse"...
Page 54: Analogue Mode
Manual C5 (USB) 8 Operating modes min. 35µs clock input direction input 8.7 Analogue Mode 8.7.1 Description This mode is an equivalent to the velocity mode but uses the height of a voltage of an analogue input as target. This values gets sampled once in a millisecond.
Page 55 Manual C5 (USB) 8 Operating modes +max dead zone Rotational speed -max Analogue input voltage 8.7.4 Maximum speed of rotation The maximum speed of rotation can be switched with DIP-switch number 3 (see chapter "DIP switches") between 100 rev/min and 1000 rev/min. In case another rotational speed is necessary the...
Page 56: Special Functions
Manual C5 (USB) 9 Special functions 9 Special functions 9.1 Digital inputs and outputs The motor controller has digital inputs and outputs. 9.1.1 Digital inputs Overview Note The digital inputs are sampled only once a millisecond. Changes in the input signal shorter than one millisecond cannot be processed.
Page 57 Manual C5 (USB) 9 Special functions This bit specifies the value to be read in as the input value if the same bit was set in object 3240 • 3240 This object contains the unmodified input value. Computation of the inputs...
Page 58: I 2 T Motor Overload Protection
Manual C5 (USB) 9 Special functions • 3250 This object does not have any function and is included for compatibility reasons. Bits of the outputs Example of the computation of the bits for the outputs: Range of normal Range of output pins...
Page 59 Manual C5 (USB) 9 Special functions • 203B Maximum Duration Of Peak Current - specifies the maximum time period of the maximum current in ms. The following objects indicate the actual state of I • 203B Threshold - specifies the limit in mA, from which is determined whether switching is to the maximum current or nominal current.
Page 60: Save Objects
Manual C5 (USB) 9 Special functions 9.3 Save Objects Objects can only be saved with the file cfg.txt, the save machanism with the object 1011 and 1010 is deactivated with this controller. Version 1.2.0 / 11.03.2015 / FIR-v1504...
Page 61: Programming With Nanoj
Manual C5 (USB) 10 Programming with NanoJ 10 Programming with NanoJ 10.1 Introduction The VMM (Virtual Machine Monitor) is a protected execution environment within the firmware. The user can load his or her own programs ("User Program") in this environment via usb. These can trigger functions in the motor controller, for example by reading or writing entries in the object directory.
Page 62: Od Entries For Controlling And Configuring The Vmm
Manual C5 (USB) 10 Programming with NanoJ Via a PDO mapping, OD values in the form of variables are made available to the user program. Before a user program receives its 1-ms time slot, the firmware transfer the values for this from the OD to the variables of the user program.
Page 63: Nanoj Easy V2
Manual C5 (USB) 10 Programming with NanoJ • Start the vmm program with setting the object 2300 , Bit 0 to "1". or restart the controller. • Check the object 2302 if an error has occurred and check the objekts 2301 , Bit 0 to be set to "1"...
Page 64 Manual C5 (USB) 10 Programming with NanoJ }// eof 2. When the program has been properly translated: Rename the output file " main.usr" to " vmmcode.usr". 3. Use USB to copy the file to the motor controller (see the "USB (connector X5)" section). The motor controller must be restarted to launch the program;...
Page 65: System Calls
Manual C5 (USB) 10 Programming with NanoJ Potential error source A potential source of error is a write access by means of the od_write() function on an object in the object directory that was also created as a mapping. The code shown below is faulty: map U16 controlWord as output 0x6040:00 #include "...
Page 66 Manual C5 (USB) 10 Programming with NanoJ index Index of the object being read in the object directory subindex Subindex of the object being read in the object directory Return value Content of the OD entry Note Active waiting for a value in the object directory should always be associated with a yield().
Page 67: Object Directory Description
Manual C5 (USB) 11 Object directory description 11 Object directory description 11.1 Overview You can find a description of objects in this section of the manual. Here you will find information on the following: • Functions • Object descriptions ("Index") •...
Page 68: Value Description
Manual C5 (USB) 11 Object directory description an ARRAY, the data type of subentries may vary, meaning, for example, that subentry 1 may have a different data type than subentry 2. • VISIBLE_STRING: The object specifies a character string encoded in ASCII. These character strings are not terminated by a zero string.
Page 69: Description
Manual C5 (USB) 11 Object directory description All data for subentries with subindex 1 or higher are listed in the table with the heading "Value description". The table contains the following entries: Subindex Number of the currently specified subentry. Name The name of the subentry.
Page 70: 1000H Device Type
Manual C5 (USB) 11 Object directory description Example [2] Description of bits 3 and 2, these bits logically belong together. The 2 in square brackets specifies the number of associated bits. • Value 00 : The description at this position applies when bit 2 and bit 3 are at "0".
Page 71: 1001H Error Register
Manual C5 (USB) 11 Object directory description 1001h Error Register Function Error register: In the event of an error, the corresponding error bit is set. It is automatically deleted when the error no longer exists. Object description Index 1001 Object Name...
Page 72 Manual C5 (USB) 11 Object directory description Object description Index 1003 Object Name Pre-defined Error Field Object Code ARRAY Data type UNSIGNED32 Savable Firmware Version FIR-v1426 Change History Amount of subentries has changed from 2 to 9 Value description Subindex...
Page 73 Manual C5 (USB) 11 Object directory description Admissible Values Specified Value 00000000 Subindex Name Standard Error Field Data type UNSIGNED32 Access Read only PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Standard Error Field Data type UNSIGNED32 Access Read only...
Page 74 Manual C5 (USB) 11 Object directory description Error Number [8] This allows the reason for the error to be fully narrowed down. The meaning of the number can be found in the following table. Error number Description Input voltage too high...
Page 75: 1008H Manufacturer Device Name
Manual C5 (USB) 11 Object directory description 1008h Manufacturer Device Name Function Contains the device name as a string. Object description Index 1008 Object Name Manufacturer Device Name Object Code VARIABLE Data type VISIBLE_STRING Savable Access Read only PDO Mapping...
Page 76: 100Ah Manufacturer Software Version
Manual C5 (USB) 11 Object directory description 100Ah Manufacturer Software Version Function This object contains the software version as a string. Object description Index 100A Object Name Manufacturer Software Version Object Code VARIABLE Data type VISIBLE_STRING Savable Access Read only...
Page 77: 1011H Restore Default Parameters
Manual C5 (USB) 11 Object directory description Specified Value Subindex Name Save All The Parameters To Non-volatile Memory Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Save The Comm Parameters To Non-volatile Memory Data type...
Page 78: 1018H Identity Object
Manual C5 (USB) 11 Object directory description Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Restore All Default Parameters Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Restore The Comm Default Parameters...
Page 79: 2030H Pole Pair Count
Manual C5 (USB) 11 Object directory description Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Vendor-ID Data type UNSIGNED32 Access Read only PDO Mapping Admissible Values Specified Value 0000026C Subindex Name Product Code Data type UNSIGNED32 Access...
Page 80: 2031H Peak Current
Manual C5 (USB) 11 Object directory description Access Read/write PDO Mapping Admissible Values Specified Value 00000032 Firmware Version FIR-v1426 Change History Version FIR-v1422-B36464: Name entry changed from "Pole pair count" to "Pole Pair Count" 2031h Peak Current Function Specifies the maximum current in mA.
Page 81: 2033H Plunger Block
Manual C5 (USB) 11 Object directory description 2033h Plunger Block Function Specifies the maximum positional change in user units (corresponding to Target Position 607A ) that is permitted in the corresponding direction. Object description Index 2033 Object Name Plunger Block...
Page 82: 2035H Lower Voltage Warning Level
Manual C5 (USB) 11 Object directory description Description If the input voltage of the motor controller rises above this threshold value, the motor is switched off and an error is output. This error is automatically reset when the input voltage is less than (voltage of the object 2036 minus 2 volts).
Page 83: 2037H Open Loop Current Reduction Value/Factor
Manual C5 (USB) 11 Object directory description 2037h Open Loop Current Reduction Value/factor Function This object specifies the value to which the current must be reduced when current reduction is activated in open loop. Object description Index 2037 Object Name...
Page 84: 203Ah Homing On Block Configuration
Manual C5 (USB) 11 Object directory description Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Data type INTEGER32 Access Read only PDO Mapping TX - PDO Admissible Values...
Page 85 Manual C5 (USB) 11 Object directory description Object Name Homing On Block Configuration Object Code ARRAY Data type UNSIGNED32 Savable Access PDO Mapping Admissible Values Specified Value Firmware Version FIR-v1426 Change History Amount of subentries has changed from 3 to 4...
Page 86: 203Bh I2T Parameters
Manual C5 (USB) 11 Object directory description • : Specifies the time in ms that the motor is nevertheless still to travel against the block after block detection. • : Specifies the time in ms that the current has to be at least above the minimum current threshold in order to detect a block.
Page 87 Manual C5 (USB) 11 Object directory description Specified Value 00000000 Subindex Name Threshold Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name CalcValue Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000...
Page 88: 2050H Encoder Alignment
Manual C5 (USB) 11 Object directory description 2050h Encoder Alignment Function This value specifies the angle offset between the rotor and the electrical field. Object description Index 2050 Object Name Encoder Alignment Object Code VARIABLE Data type INTEGER32 Savable Access...
Page 89: 2052H Encoder Resolution
Manual C5 (USB) 11 Object directory description Data type INTEGER32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Parameter 2 Data type INTEGER32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Parameter 3 Data type...
Page 90: 2053H Index Polarity
Manual C5 (USB) 11 Object directory description 2053h Index Polarity Function Specifies the index polarity. Object description Index 2053 Object Name Index Polarity Object Code VARIABLE Data type UNSIGNED8 Savable Access Read/write PDO Mapping Admissible Values Specified Value Firmware Version...
Page 91: 2056H Limit Switch Tolerance Band
Manual C5 (USB) 11 Object directory description 2056h Limit Switch Tolerance Band Function Specifies how far positive or negative limit switches may be overrun before the motor controller issues an error. This tolerance range is required, for example, to be able to complete reference runs - in which limit switches can be activated - error-free.
Page 92: 2059H Encoder Configuration
Manual C5 (USB) 11 Object directory description Object description Index 2058 Object Name Clock Direction Divider Object Code VARIABLE Data type INTEGER32 Savable yes, category: application Access Read/write PDO Mapping Admissible Values Specified Value 00000001 Firmware Version FIR-v1426 Change History...
Page 93: 205Ah Encoder Boot Value
Manual C5 (USB) 11 Object directory description 205Ah Encoder Boot Value Function This object has only a functional purpose, if an absolute encoder is used: From this object, the encoder position (in user units) can be read, which was read from the absolute encoder initially at power up of the controller.
Page 94: 2061H Velocity Numerator
Manual C5 (USB) 11 Object directory description Object description Index 2060 Object Name Compensate Polepair Count Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application Access Read/write PDO Mapping Admissible Values Specified Value 00000001 Firmware Version FIR-v1426 Change History...
Page 95: 2063H Acceleration Numerator
Manual C5 (USB) 11 Object directory description Object description Index 2062 Object Name Velocity Denominator Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application Access Read/write PDO Mapping Admissible Values Specified Value 0000003C Firmware Version FIR-v1426 Change History Description...
Page 96: 2064H Acceleration Denominator
Manual C5 (USB) 11 Object directory description 2064h Acceleration Denominator Function Contains the denominator that is used to convert the acceleration specifications in profile position mode. Object description Index 2064 Object Name Acceleration Denominator Object Code VARIABLE Data type UNSIGNED32...
Page 97: 2066H Jerk Denominator
Manual C5 (USB) 11 Object directory description Thus, by setting object 2065 =1 and object 2066 =60, for example, the jerk can be specified in (revolutions/min)/s in profile position mode. 2066h Jerk Denominator Function Contains the denominator that is used to convert the jerk specifications in profile position mode.
Page 98: 2084H Bootup Delay
Manual C5 (USB) 11 Object directory description Change History 2084h Bootup Delay Function This object allows specification of the time period between when the supply voltage is applied to the motor controller and the provision of operability of the motor controller in milliseconds.
Page 99: 2200H Sampler Control
Manual C5 (USB) 11 Object directory description RS485 ECAT Value = "1": An USB interface is available. RS-485 Value = "1": A RS-485 interface is available. RS-232 Value = "1": A RS-232 interface is available. Value = "1": A CANopen interface is available.
Page 100: 2201H Sampler Status
Manual C5 (USB) 11 Object directory description Description Value = "1": The sampler will be activated 2201h Sampler Status Function Shows the operating state of the installed sampler. Object description Index 2201 Object Name Sampler Status Object Code VARIABLE Data type...
Page 101 Manual C5 (USB) 11 Object directory description Object description Index 2202 Object Name Sample Data Selection Object Code RECORD Data type PDO_MAPPING Savable Firmware Version FIR-v1426 Change History Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access Read/write...
Page 102 Manual C5 (USB) 11 Object directory description Specified Value 00000000 Subindex Name Sample Value #5 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Sample Value #6 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values...
Page 103: 2203H Sampler Buffer Information
Manual C5 (USB) 11 Object directory description Length [8] Contains the length of the object to be mapped in the bit unit. 2203h Sampler Buffer Information Function This object makes additional information available to the sampler. Object description Index 2203...
Page 104: 2204H Sample Time In Ms
Manual C5 (USB) 11 Object directory description Admissible Values Specified Value 00000000 Description The subindices have the following functions: • specifies the maximum size of the sampler buffer in bytes. • contains the momentary filling level of the sampler buffer in bytes.
Page 105: 2301H Nanoj Status
Manual C5 (USB) 11 Object directory description Description Switches the VMM on (value = "1") or off (value = "0"). When there is a rising flank in bit 0, the program is first reloaded and the variable range is reset.
Page 106: 2302H Nanoj Error Code
Manual C5 (USB) 11 Object directory description 2302h NanoJ Error Code Function Indicates which error occurred when the user program was executed. Object description Index 2302 Object Name NanoJ Error Code Object Code VARIABLE Data type UNSIGNED32 Savable Access Read only...
Page 107: 2303H Number Of Active User Program
Manual C5 (USB) 11 Object directory description Number Description 0x1000B Invalid drive number 0x1000C Working range of drive is invalid 0x1000D No valid file system on drive 0x1000E Creation of the file system has failed 0x1000F Access not possible within required time...
Page 108 Manual C5 (USB) 11 Object directory description Admissible Values Specified Value Subindex Name Name Of User Program 1 UB Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Name Of User Program 1 LB Data type...
Page 109: 230Fh Uptime Seconds
Manual C5 (USB) 11 Object directory description Specified Value 00000000 Subindex Name Name Of User Program 4 UB Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Name Of User Program 4 LB Data type...
Page 110: 2310H Nanoj Input Data Selection
Manual C5 (USB) 11 Object directory description Object Name Uptime Seconds Object Code VARIABLE Data type UNSIGNED32 Savable Access Read only PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Firmware Version FIR-v1436 Change History 2310h NanoJ Input Data Selection Function Specifies the object dictionary entries that are copied into the input PDO mapping of the VMM program.
Page 111 Manual C5 (USB) 11 Object directory description Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #3 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #4 Data type UNSIGNED32 Access...
Page 112 Manual C5 (USB) 11 Object directory description PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #9 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #10 Data type UNSIGNED32 Access Read/write PDO Mapping...
Page 113: 2320H Nanoj Output Data Selection
Manual C5 (USB) 11 Object directory description Admissible Values Specified Value 00000000 Subindex Name Mapping #15 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #16 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values...
Page 114 Manual C5 (USB) 11 Object directory description Firmware Version FIR-v1426 Change History Amount of subentries has changed from 2 to 17 Firmware Version FIR-v1436: Entry "Object Name" modified from "VMM Output Data Selection" to "NanoJ Output Data Selection". Value description...
Page 115 Manual C5 (USB) 11 Object directory description Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #6 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #7 Data type...
Page 116 Manual C5 (USB) 11 Object directory description Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #12 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #13 Data type UNSIGNED32 Access...
Page 117: 2330H Nanoj In/Output Data Selection
Manual C5 (USB) 11 Object directory description Index [16] Subindex [8] Length [8] Index [16] Contains the index of the object to be mapped Subindex [8] Contains the subindex of the object to be mapped Length [8] Contains the length of the object to be mapped in the bit unit.
Page 118 Manual C5 (USB) 11 Object directory description Subindex Name Mapping #2 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #3 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex...
Page 119 Manual C5 (USB) 11 Object directory description Name Mapping #8 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #9 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name...
Page 120: 2400H Nanoj Inputs
Manual C5 (USB) 11 Object directory description Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #15 Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Mapping #16 Data type...
Page 121 Manual C5 (USB) 11 Object directory description Object Code ARRAY Data type INTEGER32 Savable Firmware Version FIR-v1426 Change History Amount of subentries has changed from 2 to 33 Firmware Version FIR-v1436: Entry "Object Name" modified from "VMM Inputs" to "NanoJ Inputs".
Page 122 Manual C5 (USB) 11 Object directory description Subindex Name NanoJ Input 5# Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Input 6# Data type INTEGER32 Access Read/write PDO Mapping RX - PDO...
Page 123 Manual C5 (USB) 11 Object directory description Name NanoJ Input 11# Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Input 12# Data type INTEGER32 Access Read/write PDO Mapping RX - PDO...
Page 124 Manual C5 (USB) 11 Object directory description Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Input 18# Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value...
Page 125 Manual C5 (USB) 11 Object directory description Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Input 24# Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex...
Page 126: 2410H Nanoj Init Parameters
Manual C5 (USB) 11 Object directory description PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Input 30# Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Input 31#...
Page 127 Manual C5 (USB) 11 Object directory description Change History Firmware Version FIR-v1450: Entry "Data type" modified from "INTEGER32" to "UNSIGNED8". Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex...
Page 128 Manual C5 (USB) 11 Object directory description PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Init Parameter 6# Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name...
Page 129 Manual C5 (USB) 11 Object directory description Admissible Values Specified Value 00000000 Subindex Name NanoJ Init Parameter 12# Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Init Parameter 13# Data type...
Page 130 Manual C5 (USB) 11 Object directory description Specified Value 00000000 Subindex Name NanoJ Init Parameter 18# Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Init Parameter 19# Data type INTEGER32...
Page 131 Manual C5 (USB) 11 Object directory description Subindex Name NanoJ Init Parameter 24# Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Init Parameter 25# Data type INTEGER32 Access Read/write PDO Mapping...
Page 132: 2500H Nanoj Outputs
Manual C5 (USB) 11 Object directory description Name NanoJ Init Parameter 30# Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Init Parameter 31# Data type INTEGER32 Access Read/write PDO Mapping...
Page 133 Manual C5 (USB) 11 Object directory description PDO Mapping Admissible Values Specified Value Subindex Name NanoJ Output 1# Data type INTEGER32 Access Read/write PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Output 2# Data type...
Page 134 Manual C5 (USB) 11 Object directory description Admissible Values Specified Value 00000000 Subindex Name NanoJ Output 7# Data type INTEGER32 Access Read/write PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Output 8# Data type INTEGER32...
Page 135 Manual C5 (USB) 11 Object directory description Specified Value 00000000 Subindex Name NanoJ Output 13# Data type INTEGER32 Access Read/write PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Output 14# Data type INTEGER32 Access Read/write...
Page 136 Manual C5 (USB) 11 Object directory description Subindex Name NanoJ Output 19# Data type INTEGER32 Access Read/write PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Output 20# Data type INTEGER32 Access Read/write PDO Mapping TX - PDO...
Page 137 Manual C5 (USB) 11 Object directory description Name NanoJ Output 25# Data type INTEGER32 Access Read/write PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Output 26# Data type INTEGER32 Access Read/write PDO Mapping TX - PDO...
Page 138: 2600H Nanoj Debug Output
Manual C5 (USB) 11 Object directory description Data type INTEGER32 Access Read/write PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Subindex Name NanoJ Output 32# Data type INTEGER32 Access Read/write PDO Mapping TX - PDO Admissible Values Specified Value...
Page 139 Manual C5 (USB) 11 Object directory description Admissible Values Specified Value Subindex Name Value #2 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #3 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values...
Page 140 Manual C5 (USB) 11 Object directory description Specified Value Subindex Name Value #8 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #9 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value...
Page 141 Manual C5 (USB) 11 Object directory description Subindex Name Value #14 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #15 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex...
Page 142 Manual C5 (USB) 11 Object directory description Name Value #20 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #21 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name...
Page 143 Manual C5 (USB) 11 Object directory description Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #27 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #28 Data type...
Page 144 Manual C5 (USB) 11 Object directory description Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #33 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #34 Data type UNSIGNED8 Access...
Page 145 Manual C5 (USB) 11 Object directory description PDO Mapping Admissible Values Specified Value Subindex Name Value #39 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #40 Data type UNSIGNED8 Access Read only PDO Mapping...
Page 146 Manual C5 (USB) 11 Object directory description Admissible Values Specified Value Subindex Name Value #45 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #46 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values...
Page 147 Manual C5 (USB) 11 Object directory description Specified Value Subindex Name Value #51 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #52 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value...
Page 148 Manual C5 (USB) 11 Object directory description Subindex Name Value #57 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #58 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex...
Page 149: 3202H Motor Drive Submode Select
Manual C5 (USB) 11 Object directory description Name Value #63 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Value #64 Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Description The VMM program stores the debug outputs here that have been called up with the function VmmDebugOutputString(), VmmDebugOutputInt(), and suchlike.
Page 150: 320Ah Motor Drive Sensor Display Open Loop
Manual C5 (USB) 11 Object directory description • Value = "0": Open loop • Value = "1": Closed loop Value = "1": Simulate v-control via an S ramp Brake Value = "1": Switch on the brake controller CurRed (Current Reduction) Value = "1": Current reduction activated in open loop...
Page 151: 320Bh Motor Drive Sensor Display Closed Loop
Manual C5 (USB) 11 Object directory description PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Torque Data type INTEGER32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Velocity Data type INTEGER32 Access Read/write PDO Mapping Admissible Values...
Page 152 Manual C5 (USB) 11 Object directory description Object Name Motor Drive Sensor Display Closed Loop Object Code ARRAY Data type INTEGER32 Savable yes, category: application Firmware Version FIR-v1426 Change History Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8...
Page 153: 3210H Motor Drive Parameter Set
Manual C5 (USB) 11 Object directory description Description The following subindices haven a meaning: • : Unused • : Unused • : Changes the source of object 6044 • Value = "-1": The internally calculated value is entered in object 6044 •...
Page 154 Manual C5 (USB) 11 Object directory description Data type INTEGER32 Access Read/write PDO Mapping Admissible Values Specified Value 00000000 Subindex Name Data type INTEGER32 Access Read/write PDO Mapping Admissible Values Specified Value 00001B58 Subindex Name Data type INTEGER32 Access Read/write...
Page 155: 3212H Motor Drive Flags
Manual C5 (USB) 11 Object directory description Access Read/write PDO Mapping Admissible Values Specified Value 00002EE0 Subindex Name Data type INTEGER32 Access Read/write PDO Mapping Admissible Values Specified Value 00027100 Subindex Name Data type INTEGER32 Access Read/write PDO Mapping Admissible Values...
Page 156: 3220H Analog Inputs
Manual C5 (USB) 11 Object directory description Savable yes, category: application Access Read only PDO Mapping Admissible Values Specified Value Firmware Version FIR-v1450 Change History Firmware Version FIR-v1450: Entry "Data type" modified from "INTEGER8" to "UNSIGNED8". Value description Subindex Name...
Page 157: 3221H Analogue Inputs Control
Manual C5 (USB) 11 Object directory description Change History Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Analogue Input 1 Data type INTEGER16 Access Read only PDO Mapping...
Page 158: 3225H Analogue Inputs Switches
Manual C5 (USB) 11 Object directory description Firmware Version FIR-v1426 Change History Description In general: If a bit is set to 0, the analog input measures the voltage; if the bit is set to 1, the current is measured. Setting for analog input 1...
Page 159: 3240H Digital Inputs Control
Manual C5 (USB) 11 Object directory description Specified Value Subindex Name Analogue Input Switch1 Data type UNSIGNED16 Access Read only PDO Mapping TX - PDO Admissible Values Specified Value 0000 Description In subindex 1 the nodeId of the rotary switch(es) is registered if a CANopen interface is available to the controller.
Page 160 Manual C5 (USB) 11 Object directory description Specified Value 00000000 Subindex Name Function Inverted Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name Force Enable Data type UNSIGNED32 Access Read/write PDO Mapping...
Page 161: 3250H Digital Outputs Control
Manual C5 (USB) 11 Object directory description Description The subentries have the following function: • : This subindex switches on the special functions of the respective input if the bit has the value "1". • : This subindex inverts the logic of an input if the respective input has the value "1".
Page 162: 3320H Read Analogue Input
Manual C5 (USB) 11 Object directory description Subindex Name Function Inverted Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Subindex Name Force Enable Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO...
Page 163 Manual C5 (USB) 11 Object directory description Object description Index 3320 Object Name Read Analogue Input Object Code ARRAY Data type INTEGER32 Savable Access Read only PDO Mapping Admissible Values Specified Value Firmware Version FIR-v1426 Change History Value description Subindex...
Page 164: 3321H Analogue Input Offset
Manual C5 (USB) 11 Object directory description • Subindex 02 : Analogue value 2 3321h Analogue Input Offset Function Offset that is added to the read-in analog value ( 3320 ) before division with the divider from object 3322 is carried out.
Page 165: 3322H Analogue Input Pre-Scaling
Manual C5 (USB) 11 Object directory description 3322h Analogue Input Pre-scaling Function Value with which the read-in analog value ( 3320 , 3321 ) is divided before it is written into object 3320 Object description Index 3322 Object Name Analogue Input Pre-scaling...
Page 166: 3700H Following Error Option Code
Manual C5 (USB) 11 Object directory description 3700h Following Error Option Code Function The object contains the action to be executed if a "following error" is triggered. Object description Index 3700 Object Name Following Error Option Code Object Code VARIABLE...
Page 167: 603Fh Error Code
Manual C5 (USB) 11 Object directory description 603Fh Error Code Function Contains the last error that occurred. Object description Index 603F Object Name Error Code Object Code VARIABLE Data type UNSIGNED16 Savable Access Read only PDO Mapping TX - PDO...
Page 168: 6041H Statusword
Manual C5 (USB) 11 Object directory description SO (Switched On) Value = "1": Switches to the "Switched on" state EV (Enable Voltage) Value = "1": Switches to the "Enable voltage" state QS (Quick Stop) Value = "0": Switches the "Quick stop" state EO (Enable Operation) Value = "1": Switches to the "Enable operation"...
Page 169: 6042H Vl Target Velocity
Manual C5 (USB) 11 Object directory description OE (Operational Enabled) Value = "1": Motor controller is in the state "Operational Enabled" state FAULT Error occurred VE (Voltage Enabled) Voltage created QS (Quick Stop) Value = "0": Motor controller is in the "Quick Stop" state SOD (Switched On Disabled) Value = "1": Motor controller is in the "Switched on disabled"...
Page 170: 6043H Vl Velocity Demand
Manual C5 (USB) 11 Object directory description 6043h Vl Velocity Demand Function Specifies the actual target speed in user units. Object description Index 6043 Object Name Vl Velocity Demand Object Code VARIABLE Data type INTEGER16 Savable Access Read only PDO Mapping...
Page 171 Manual C5 (USB) 11 Object directory description Object description Index 6046 Object Name Vl Velocity Min Max Amount Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Firmware Version FIR-v1426 Change History Value description Subindex Name Highest Sub-index Supported...
Page 172: 6048H Vl Velocity Acceleration
Manual C5 (USB) 11 Object directory description 6048h Vl Velocity Acceleration Function Sets the acceleration ramp in velocity mode (see " Velocity"). Object description Index 6048 Object Name Vl Velocity Acceleration Object Code RECORD Data type VELOCITY_ACCELERATION_DECELERATION Savable yes, category: application...
Page 173: 6049H Vl Velocity Deceleration
Manual C5 (USB) 11 Object directory description 6049h Vl Velocity Deceleration Function Sets the brake ramp in velocity mode (siehe chapter " Velocity"). Object description Index 6049 Object Name Vl Velocity Deceleration Object Code RECORD Data type VELOCITY_ACCELERATION_DECELERATION Savable yes, category: application...
Page 174: 604Ch Vl Dimension Factor
Manual C5 (USB) 11 Object directory description Object Code RECORD Data type VELOCITY_ACCELERATION_DECELERATION Savable yes, category: application Firmware Version FIR-v1426 Change History Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value...
Page 175: 605Ah Quick Stop Option Code
Manual C5 (USB) 11 Object directory description Firmware Version FIR-v1426 Change History Value description Subindex Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Vl Dimension Factor Numerator Data type INTEGER32...
Page 176: 605Bh Shutdown Option Code
Manual C5 (USB) 11 Object directory description Access Read/write PDO Mapping Admissible Values Specified Value 0001 Firmware Version FIR-v1426 Change History Description Value Description -32768 to -1 Reserved Immediate stop with short-circuit braking Braking with "slow down ramp" (deceleration depending on operating mode) and subsequent state change to "Switch on disabled"...
Page 177: 605Ch Disable Option Code
Manual C5 (USB) 11 Object directory description 605Ch Disable Option Code Function The object contains the action to be executed when the " DS402 Power State machine" transitions from the "Operation enabled" state to the "Switched on" state. Object description...
Page 178: 605Eh Fault Option Code
Manual C5 (USB) 11 Object directory description Description Value Description -32768 to 0 Reserved Braking with "slow down ramp" (deceleration depending on operating mode) Braking with "quick stop ramp" (deceleration depending on operating mode) 3 to 32767 Reserved 605Eh Fault Option Code...
Page 179: 6061H Modes Of Operation Display
Manual C5 (USB) 11 Object directory description Savable Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value Firmware Version FIR-v1426 Change History Description Mode Description Clock/direction mode No mode change/no mode assigned Profile Position Mode Velocity Mode Profile Velocity Mode...
Page 180: 6063H Position Actual Internal Value
Manual C5 (USB) 11 Object directory description Object Name Position Demand Value Object Code VARIABLE Data type INTEGER32 Savable Access Read only PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Firmware Version FIR-v1426 Change History 6063h Position Actual Internal Value Function Contains the actual encoder position in cycles since the drive was switched on.
Page 181: 6065H Following Error Window
Manual C5 (USB) 11 Object directory description Admissible Values Specified Value 00000000 Firmware Version FIR-v1426 Change History 6065h Following Error Window Function Specifies the maximum following error symmetrically to the demanded position. Object description Index 6065 Object Name Following Error Window...
Page 182: 6067H Position Window
Manual C5 (USB) 11 Object directory description Specified Value 0064 Firmware Version FIR-v1426 Change History Firmware Version FIR-v1504: Entry "Savable" modified from "No" to "yes, category: application". Description If the difference between the actual position and the set position is so large that the value of object 6065 is exceeded, bit 11 for "Limit exceeded"...
Page 183: 606Bh Velocity Demand Value
Manual C5 (USB) 11 Object directory description PDO Mapping RX - PDO Admissible Values Specified Value 0064 Firmware Version FIR-v1426 Change History Firmware Version FIR-v1504: Entry "Savable" modified from "No" to "yes, category: application". 606Bh Velocity Demand Value Function Speed specification for the control in the Profile Velocity Mode.
Page 184: 606Dh Velocity Window
Manual C5 (USB) 11 Object directory description Firmware Version FIR-v1426 Change History 606Dh Velocity Window Function Speed window for the Profile Velocity Mode. Object description Index 606D Object Name Velocity Window Object Code VARIABLE Data type UNSIGNED16 Savable Access Read/write...
Page 185: 6071H Target Torque
Manual C5 (USB) 11 Object directory description 6071h Target Torque Function This object contains the target torque for the "Profile Torque" and the "Cyclic Synchronous Torque" mode. Object description Index 6071 Object Name Target Torque Object Code VARIABLE Data type...
Page 186: 607Ah Target Position
Manual C5 (USB) 11 Object directory description Data type INTEGER16 Savable Access Read only PDO Mapping TX - PDO Admissible Values Specified Value 0000 Firmware Version FIR-v1426 Change History 607Ah Target Position Function This object specifies the target position in the "Profile Position" the "Cyclic Synchronous Position"...
Page 187: 607Ch Home Offset
Manual C5 (USB) 11 Object directory description PDO Mapping Admissible Values Specified Value Subindex Name Min Position Range Limit Data type INTEGER32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 80000001 Subindex Name Max Position Range Limit...
Page 188: 607Eh Polarity
Manual C5 (USB) 11 Object directory description Object description Index 607D Object Name Software Position Limit Object Code ARRAY Data type INTEGER32 Savable yes, category: application Firmware Version FIR-v1426 Change History Value description Subindex Name Highest Sub-index Supported Data type...
Page 189: 6081H Profile Velocity
Manual C5 (USB) 11 Object directory description Object Name Polarity Object Code VARIABLE Data type UNSIGNED8 Savable yes, category: application Access Read/write PDO Mapping Admissible Values Specified Value Firmware Version FIR-v1426 Change History Description The general rule for direction reversal is: Reversal is activated if a bit is set to the value "1". If the value is "0", the direction of rotation is as specified in the respective mode...
Page 190: 6082H End Velocity
Manual C5 (USB) 11 Object directory description Change History 6082h End Velocity Function Specifies the speed at the end of the traveled ramp. This object is computed with user-defined units (see " User-defined units"). The motor controller is delivered with the units set to revolutions per minute.
Page 191: 6085H Quick Stop Deceleration
Manual C5 (USB) 11 Object directory description Object description Index 6084 Object Name Profile Deceleration Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: application Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 000001F4 Firmware Version FIR-v1426...
Page 192: 6087H Torque Slope
Manual C5 (USB) 11 Object directory description Firmware Version FIR-v1426 Change History Description Value = "0": = trapezoid ramp Value = "3": Jerk-limited ramp 6087h Torque Slope Function This object contains the torque slope in torque mode. Object description Index...
Page 193: 6091H Gear Ratio
Manual C5 (USB) 11 Object directory description Specified Value Subindex Name Encoder Increments Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 000007D0 Subindex Name Motor Revolutions Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value...
Page 194: 6092H Feed Constant
Manual C5 (USB) 11 Object directory description PDO Mapping Admissible Values Specified Value 00000001 Subindex Name Shaft Revolutions Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 00000001 Description Gear ratio = motor revolutions (6091 ) / shaft revolutions (6091...
Page 195: 6098H Homing Method
Manual C5 (USB) 11 Object directory description Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000001 Description Feed Constant = Feed (6092 )/Shaft Revolutions (6092 6098h Homing Method Function This object selects the homing mode.
Page 196: 609Ah Homing Acceleration
Manual C5 (USB) 11 Object directory description Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Speed During Search For Switch Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000032 Subindex Name...
Page 197: 60A4H Profile Jerk
Manual C5 (USB) 11 Object directory description Firmware Version FIR-v1426 Change History Description The ramp is only used when starting off. When the switch is reached, the unit is automatically switched to the lower speed and is stopped as soon as it reaches the limit position.
Page 198: 60C2H Interpolation Time Period
Manual C5 (USB) 11 Object directory description Name Begin Deceleration Jerk Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 000003E8 Subindex Name End Deceleration Jerk Data type UNSIGNED32 Access Read/write PDO Mapping Admissible Values Specified Value 000003E8...
Page 199: 60C5H Max Acceleration
Manual C5 (USB) 11 Object directory description Admissible Values Specified Value Subindex Name Interpolation Time Index Data type INTEGER8 Access Read/write PDO Mapping Admissible Values Specified Value Description The subindices have the following functions: • : Interpolation time, units: Specifies the interpolation time; at this time, only times that are powers of two are supported, such as 1, 2, 4, 8, 16, etc.
Page 200: 60F2H Positioning Option Code
Manual C5 (USB) 11 Object directory description Data type UNSIGNED32 Savable yes, category: application Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00001388 Firmware Version FIR-v1426 Change History 60F2h Positioning Option Code Function This object defines the positioning behaviour in "Profile Position" mode.
Page 201: 60F4H Following Error Actual Value
Manual C5 (USB) 11 Object directory description RADO (Rotary Axis Direction Option) These Bits determine the rotation in the "Profile Position" mode. Bit 7 Bit 6 Definition Normal positioning similar to linear axis; If reaching or exceeding the position range limits ( 607B ) the input value shall wrap automatically to the other end of the range.
Page 202: 60Feh Digital Outputs
Manual C5 (USB) 11 Object directory description Object description Index 60FD Object Name Digital Inputs Object Code VARIABLE Data type UNSIGNED32 Savable Access Read only PDO Mapping TX - PDO Admissible Values Specified Value 00000000 Firmware Version FIR-v1426 Change History...
Page 203: 60Ffh Target Velocity
Manual C5 (USB) 11 Object directory description Data type UNSIGNED8 Access Read only PDO Mapping Admissible Values Specified Value Subindex Name Digital Outputs #1 Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000000 Description...
Page 204: 6502H Supported Drive Modes
Manual C5 (USB) 11 Object directory description Change History 6502h Supported Drive Modes Function The object specifies the supported drive modes. Object description Index 6502 Object Name Supported Drive Modes Object Code VARIABLE Data type UNSIGNED32 Savable Access Read only...
Page 205: 6505H Http Drive Catalogue Address
Manual C5 (USB) 11 Object directory description Cyclic Sync Torque mode 6505h Http Drive Catalogue Address Function This object contains the web address of the manufacturer as a string. Object description Index 6505 Object Name Http Drive Catalogue Address Object Code...
Page 206: Copyright Notice
Manual C5 (USB) 12 Copyright notice 12 Copyright notice 12.1 Introduction Components from external software manufacturers are integrated in the Nanotec software. In this section you will find copyright information on the external sources of software components. 12.2 AES FIPS-197 compliant AES implementation Based on XySSL: Copyright (C) 2006-2008 Christophe Devine Copyright (C) 2009 Paul Bakker <polarssl_maintainer at polarssl dot org>...
Page 207: Md5
Manual C5 (USB) 12 Copyright notice AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Page 208: Cmsis Dsp Software Library
Manual C5 (USB) 12 Copyright notice 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the Institute nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
Page 209: Lightwight Ip
Manual C5 (USB) 12 Copyright notice This software is provided by the Institute and contributors "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. In no event shall the Institute or contributors be liable for any direct, indirect, incidental, special, exemplary, or consequential damages (including, but not limited to, procurement of substitute goods or services;...

NANOTEC ELECTRONIC C5 Operational And Programming Manual

Editorial

Safety Instructions and Warnings

About this Manual

Technical Data and Pin Configuration

Configuration

Commissioning

General Concepts

Operating Modes

Clock/Direction Mode

Special Functions

Programming with Nanoj

Object Directory Description

Copyright Notice

Quick Links

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Questions and answers

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Summary of Contents for NANOTEC ELECTRONIC C5

Table of Contents