Festo SEC-AC-305-CO Manual
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Festo SEC-AC-305-CO Manual

Smart electromotor controller
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Smart Electromotor Controller
Manual
Commissioning of
the Servomotor−
Controller Type
SEC−AC−305−CO
SEC−AC−508−CO
Fieldbus protocol
CANopen
Manual
534 277
en 0802a
[715 651]

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Summary of Contents for Festo SEC-AC-305-CO

  • Page 1 Smart Electromotor Controller Manual Commissioning of the Servomotor− Controller Type SEC−AC−305−CO SEC−AC−508−CO Fieldbus protocol CANopen Manual 534 277 en 0802a [715 651]...
  • Page 3 ....... . . 534 277 © (Festo AG & Co.KG, D 73726 Esslingen, Federal Republic of Germany 2008) Internet: http://www.festo.com...
  • Page 4 Contents and general instructions Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 5: Table Of Contents

    ..........2−9 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 6 ..........5−23 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 7 ..........6−21 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 8 ............B−1 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 9: Designated Use

    Please observe the standards specified in the relevant chapters and comply with technical regulations, as well as with national and local regulations. Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 10: Target Group

    Service Please consult your local Festo repair service if you have any technical problems. Notes on the use of this manual The information and data contained in this document have been composed to the best of our knowledge.

  • Page 11: Trademarks

    Supplementary information on commissioning with field bus coupling and diagnosing the motor controller SEC−AC Profibus DP" with CANopen field bus coupling. type P.BE−SEC−AC−PB−... Software WMEMOC", Parametrizing program for the SEC−AC. type WMEMOC−3.3 Fig. 0/1: Manuals on the SEC−AC Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 12: Further Documentation About Canopen

    Technical Documentation CANopen the user should own this book. Order address CAN in Automation (CiA) International Headquarter Am Weichselgarten 26 91058 Erlangen / Germany Tel. +49−(0)9131−601091 Fax: +49−(0)9131−601092 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 13: Important User Instructions

    ... This means that failure to observe this instruction may result in damage to property. The following pictogram marks passages in the text which describe activities with electrostatically sensitive compo nents. Electrostatically sensitive components may be damaged if they are not handled correctly. Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 14 Festo product. Text markings The bullet indicates activites which may be carried out in · any order. 1. Figures denote activities which must be carried out in the numerical order specified. Hyphens indicate general activities. Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 15 (up to 1000 V) devices EN 60 204−1: Electric systems with electronic operating media EN 50 178: Equipment for high voltage systems with electronic operating media EN 61 800−3: Electric drives with adjustable speed EN 292 EN 954 XIII Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 16 Contents and general instructions Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 17: Introduction

    Introduction Chapter 1 1−1 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 18 ........1−3 1−2 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 19: About This Manual

    CANopen. If a CAN module is plugged into the controller the features of CANopen have to be activated once via RS232. Preferably this should be done via the parameter set−up pro gram. 1−3 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 20 1. Introduction 1−4 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 21: Cabling And Pin Assignment

    Cabling and pin assignment Chapter 2 2−1 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 22 ..........2−9 2−2 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 23: Description

    (X303). By means of 5 DIP switches 16 differ ent node addresses can be set or a 120 W terminating resis tor can be switched in, as desired. Pin assignment and setting of the node address Fig. 2/2: Sketch of the module 2−3 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 24 Sub−D−Stecker, 9−pol., male Designation switch Designation Designation Knoten−Nr. LSB AIN# Knoten−Nr. CAN−L AGND Knoten−Nr. CAN−GND 5V Output Knoten−Nr. MSB 120 terminating resis CAN−SHIELD tor between CAN L and tor between CAN−L and CAN−GND CAN−H CAN−H 2−4 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 25: Absolute Maximum Ratings

    Can in Automation User Group. A 120 W terminating resistor is integrated and can be swit ched in via SW1, 5. 2.5.2 Electrical features The CAN bus output of the module is fully compatible with "ISO 11898−24 V". 2−5 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 26: A−D Converter

    Critical frequency (−3dB) 3500 ìs Rise time, step response Frequency characteristic TP 1.O. Resolution Integral linearity ±0.5 ±1 Differential linearity ±0.5 ±1 Drift offset 0..70°C See Fig. 2/3 Drift amplification 0..70°C See Fig. 2/3 See Fig. 2/2 2−6 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 27 2. Cabling and pin assignment Amplifier fault [LSB] Input voltage [V] Fig. 2/3: Typical curve of amplifier fault vs input voltage (example measured values) 2−7 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 28 2. Cabling and pin assignment Fault [LSB] Temperature [°C] Fig. 2/4: Typical curve of the offset (dotted line) and am plifier fault vs temperature (example measured values) 2−8 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 29: Can Bus Cabling

    CAN cards or the PLC. For cabling shielded cable with exactly two twisted pairs · have to be used. One twisted pair is used for CAN−H and CAN−L. One twisted pair is used commonly for CAN−GND. 2−9 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 30 For further informations refer to the Controller Area Network protocol specification, Ver. 2.0, Robert Bosch GmbH, 1991. Technical data CAN bus cable: 2 twisted pairs, d ≥ 0.22 mm loop resistance < 0,2 Ω/m char. impedance 100−120 Ω shielded 2−10 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 31: Activation Of Canopen

    Activation of CANopen Chapter 3 3−1 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 32 ........3−7 3−2 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 33: Survey

    This parameter determines the used baudrate in kBaud. Please note that high baudrates can only be achieved with short cable length. Mode With the mode parameter special functions like changing the node number by digital inputs can be set. 3−3 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 34: Activation By Terminal Program

    Activation of CANopen 0008 Activates check if node exist twice (node verification) 0010 Adds DIN0...DIN3 to basic node number 0020 Adds AIN1 to basic node number 0040 Reserved, must be zero 8000 Reserved, must be zero 3−4 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 35 10 kBaud 000A 125 kBaud 007D BASIC NODE NUMBER Basic node number of the device. It can be modified by digital inputs (see MODE). BUS ? Read command Read configuration. Answer according to write command. 3−5 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 36: Examples For The Activation Of Canopen Communication

    Mode: CANopen with node verification BUS:0A:01F4:000C Node number: 1+ Value of digital inputs Baudrate: 1000 kB Mode: CANopen with node verification BUS:01:03E8:001C Node number: any, e.g. 0 Baudrate: any, e.g. 0 Mode: deactivate CANopen BUS:00:0000:0000 3−6 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 37: Activation By Transfer Window

    Options | User level to Expert. Fig. 3/1: After entering the BUS command in the upper input line press the Send button. The syntax of the command can be found in chapter 3.2 and 3.3. 3−7 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 38 3. Activation of CANopen 3−8 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 39: Access Methods/Sdo Access

    Access methods/SDO access Chapter 4 4−1 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 40 Network management (NMT service) ....... 4−27 4−2 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 41: Survey

    As a rule the servo controller will be parametrized and con trolled by SDOs. Additional types of messages (so called Communication Objects, COB) are defined for special applica tions. They will be sent either by the superimposed control or the servo controller: 4−3 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 42 The following Figure shows the schematic structure of a CANopen message: 601h Len D0 D1 D2 D3 D6 D7 Number of data bytes (in this case 8) Data bytes 0...7 Identifier Fig. 4/2: 4−4 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 43: Access By Sdo

    −128... 127 UINT16 16 bit value, unsigned 0... 65535 INT16 16 bit value, signed −32768 ... 32767 UINT32 32 bit value, unsigned 0... (2 −1) INT32 32 bit value, signed −(2 ) ... (2 −1) 4−5 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 44: Sdo Sequences To Read Or Write Parameters

    IX0 IX1 SU D0 D1 D2 D3 IX0 IX1 SU 1) Lower byte of Index (hex) 2) Higher byte of Index (hex) 3) Subindex (hex) 4) Token for 8 bit 5) Token for 16 bit 6) Token for 32 bit 4−6 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 45: Sdo Error Messages

    Command IX1 SU ..Answer: 80 IX0 IX1 Error token Error code (4 Byte) Fig. 4/3: 4−7 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 46: Simulation Of Sdo Accesses Via Rs232

    SDO accesses via the serial port. Consequently it is possible to check objects written to the controller via CAN bus by using the serial port. Particularly using the transfer window (see File | Transfer) will simplify the building of applications. 4−8 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 47 The access via RS232 is only implemented for checking your application. The protocol is inapplicable for real time access to the controller and may cause errors. In addition the syntax of this protocol may change without notice. 4−9 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 48: Pdo−Message

    PDO is send on each modification of the statusword. So the host computer need not to poll all the time but a message is sent to it auto matically if an event occurs. 4−10 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 49 Start of velocity actual value(D4...D7) Start of position actual value (D0...D3) Fig. 4/4: Almost any desired data frame can be built this way. The fol lowing chapter shows how to parametrize the servo controller for that purpose: 4−11 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 50: Description Of Objects

    PDO. By specifying the length also parts of an object can be mapped into a PDO. Only multiple of 8 bit are allowed start ing with the LSB. 4−12 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 51 The PDO will be updated on every received SYNC message, but not send until requested by a Remote Frame. Remote− TPDOs The PDO will always be updated and sent, if requested by a Remote Frame. 4−13 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 52 16 von 32 Bit Digital inputs The 1st Transmit−PDO (TPDO1) should be used and should always be sent if a digital input changes but at most every 10 ms. The PDO should use identifier 201 4−14 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 53 The PDO should be sent at most every 10 ms (100 x100 s). } inhibit_time = 64 4. Identifier parametrieren The PDO should use identifier 201 . For activating bit 31 has to be cleared. } COB_ID_used_by_PDO = 00000201 4−15 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 54: Objects For Parametrizing Pdos

    (100 μs) 1801 UINT16 0000 1A01 number of mapped objects UINT8 1A01 first mapped object UINT32 60410010 1A01 second mapped object UINT32 60610008 1A01 third mapped object UINT32 00000000 1A01 fourth mapped object UINT32 00000000 4−16 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 55 80000201 1400 transmission type UINT8 1600 number of mapped objects UINT8 1600 first mapped object UINT32 60400010 1600 second mapped object UINT32 00000000 1600 third mapped object UINT32 00000000 1600 fourth mapped object UINT32 00000000 4−17 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 56: Activation Of Pdos

    At least one object has to be mapped into the PDO and the number_of_mapped_objects must not be zero. The Identifier of the PDO has to be defined. The communication status of the servo controller has to be operational (see chapter 4.7, Network management (NMT service). 4−18 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 57: Sync−Message

    080h. The identifier can be read via the object COB_ID_sync_message. Object attribute Attribute value Index 1005 Name COB_ID_sync_message Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Units Value Range 00000080 Default Value 00000080 4−19 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 58: Emergency Message

    Reason / Meaning 3220 Undervoltage in the intermediate circuit of the power stage 4310 Motor temperature exceeds the upper range 4210 Power stage temperature exceeds the upper range 5111 Undervoltage in the internal power supply 4−20 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 59 Internal calculation overflow due to the Factor Group 2312 I2t limitation active On this fault please contact your supplier. 1) Most frequent cause: Faulty cabling and /or EMI problems 2) Most frequent cause: Incorrect parametrizing of the Factor Group 4−21 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 60: Objects

    Index Comment Type Acc. Default Value 1003 pre_defined_error_field UINT8 1003 standard_error_field_0 UINT32 00000000 1003 standard_error_field_1 UINT32 00000000 1003 standard_error_field_2 UINT32 00000000 1003 standard_error_field_3 UINT32 00000000 4−22 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 61: Node−Guarding

    The servo controller responds by a byte which contains the toggle−bit and the NMT state (see chapter 4.7 Network management (NMT service)): Structure of the response of the servo controller: node guarding telegramm +node number Togglebit NMT−State 4−23 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 62: Objects

    4.6.1 Objects Object 100C : guard_time Object attribute Attribute value Index 100C Name guard_time Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Units Value Range 0 − 20000 Default Value 4−24 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 63 100Eh (node_guarding_ID). This identifier is used for the messages going from the superimposed control to the servo controller and in the opposite direction. Object attribute Attribute value Index 100E Name node_guarding_ID Object Code Data Type UINT32 4−25 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 64 Object attribute Attribute value Index 6510 Subindex Name node_guarding_without_rtr_bit Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Units Value Range 0 (off ) , 1 (active) Default Value 4−26 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 65: Network Management (Nmt Service)

    Please note The communication status has to be set for node guarding and PDO communication as these features only work if the communication status has been set to "operational". 4−27 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 66 + node number SDO (Controller to host) + node number T−PDO1 Standard values. Can be changed on demand Can be changed on demand. T−PDO2 R−PDO1 R−PDO2 SYNC EMCY + node number NODE−GUARDING + node number 4−28 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 67: Adjustment Of Parameters/Load And Save Set Of Parameters

    Adjustment of parameters/Load and save set of parameters Chapter 5 5−1 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 68 ..........5−86 5−2 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 69 Therefore the chronological order suggested by the following chapters should be abided. After explaining the parameter adjustment the device control and the several modes of operation will be presented. 5−3 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 70: Load And Save Set Of Parameters

    CANopen object 1010 (save_all_parameters) and is only possible while the output power stage is switched off. When the servo con troller is switched on the application parameter set is copied to the current parameter set. 5−4 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 71 This method has the disadvantage that the parameter set−up software is needed for every start of a new ma chine or in case of repair (exchange of servo controller). Therefore this method only makes sense for individual units. 5−5 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 72 Before switching on the power stage for the first time, as sure that the servo controller contains the desired para meters. An incorrect parameter set−up may cause uncontrolled behaviour of the motor and thereby personal or material damage may occur. 5−6 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 73: Objects

    Object attribute Attribute value Index 1011 Name restore_default_parameters Object Code ARRAY Number of Elements Data Type UINT32 Object attribute Attribute value Sub−Index Description restore_all_default_parameters Access PDO Mapping Units Value Range 64616F6C ("load") Default Value 5−7 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 74 Object attribute Attribute value Index 1010 Name store_parameters Object Code ARRAY Number of Elements Data Type UINT32 Object attribute Attribute value Sub−Index Description save_all_parameters Access PDO Mapping Units Value Range 65766173 ("save") Default Value 5−8 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 75: Conversion Factors (Factor Group)

    In general the user specific units defined by the Factor Group are called position_units, speed_units and ac celeration_units. The following Figure shows the function of the Factor Group: 5−9 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 76 The default setting of the Factor Group is as follows: Value Name Unit Remark Length position_units Increments 65536 Increments equals 1 revolution Velocity speed_units Revolution per minute Acceleration acceleration_units rpm/s Increase of velocity per second 5−10 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 77: Objects

    (65536 Increments equals 1 Revolution). It consists of numerator and divisor: Object attribute Attribute value Index 6093 Name position_factor Object Code ARRAY Number of Elements Data Type UINT32 5−11 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 78 (R feed_constant Ratio between revolutions on the driven side (ROUT) and equivalent motion in position_units (e.g. 1 rev = 360°) velocity_encoder_resolution Internal resolution of position values: 1 RIN equals 65536 = 65536 Ink. Increments. 5−12 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 79 Therefore it may be necessary to extend the fraction to generate integers: EXAMPLE 1. Desired unit on the driven side (position_units) 2. feed_constant: How many position_units are 1 revolution (R 3. gear_ratio: R per R 4. Calculate equation 5−13 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 80 : velocity_encoder_factor The object velocity_encoder_factor converts all speed values of the application from speed_units into the internal unit in crements per second (65536 Increments equals 1 Revol ution). It consists of numerator and divisor: 5−14 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 81 Description numerator Access PDO Mapping Possible Units increments Value Range 1..(2 −1) Default Value 65536 Object attribute Attribute value Sub−Index Description divisor Access PDO Mapping Possible Units increments Value Range 1..(2 −1) Default Value 5−15 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 82 1. Desired unit on the driven side (speed_units) 2. feed_constant: How many position_units are 1 revolution 3. time_factor_v: Desired time unit contains how many sec onds ? 4. gear_ratio: R per R 5. Calculate equation 5−16 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 83 : acceleration_factor The object acceleration_factor converts all acceleration va lues of the application from acceleration_units into the inter nal unit increments per second (65536 Increments equals 1 Revolution). It consists of numerator and divisor: 5−17 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 84 Description numerator Access PDO Mapping Possible Units increments Value Range 1..(2 −1) Default Value 65536 Object attribute Attribute value Sub−Index Description divisor Access PDO Mapping Possible Units increments Value Range 1..(2 −1) Default Value 5−18 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 85 1. Desired unit on the driven side (acceleration_units) 2. feed_constant: How many position_units are 1 revol ution(R 3. time_factor_a: Desired (time unit) contains how many seconds 4. gear_ratio: R per R 5. Calculate equation 5−19 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 86 65536 655360Inc s 1s 2 (mm/10s div: 1263 631.5mm 10 6315mm 10s 631.5 mm/10 1/10 mm/s num: 524288 1s 2 65536 524288Inc s 1s 2 (mm/10s div: 6315 631.5mm 10 6315mm 10s 631.5 mm/10 5−20 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 87 Stored parameters will not be affected. Object attribute Attribute value Index 607E Name polarity Object Code Data Type UINT8 Meaning velocity_polarity_flag multiply by 1 (default) multiply by −1 (invers) position_polarity_flag multiply by 1 (default) multiply by −1 (invers) 5−21 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 88: Power Stage Parameters

    IGBTs. The clock frequency can be reduced from 10 kHz to 5 kHz for some representatives of the device family SEC−AC−... to reduce the thermal load of the power stage in applications using high motor currents. 5−22 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 89: Objekte

    Warning Both signals do not ensure that the motor is de−energised, although the power stage has been switched off. 5−23 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 90 Value Range 0: Digital inputs enable power stage and enable controller. 1: Digital inputs enable power stage and enable controller and RS232. 2: Digital inputs enable power stage and enable controller and Fieldbus Default Value 5−24 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 91 14%. In contrast the control behaviour and the smooth running properties at low speed diminish a little. This object can only be written if the power stage is switched off. 5−25 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 92 Object attribute Attribute value Sub−Index Description power_stage_temperature Data Type INT16 Access PDO Mapping Units °C Value Range −40...150 Default Value 5−26 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 93 Default Value Object 6510 : nominal_dc_link_circuit_voltage The nominal device voltage in mV can be read via the object nominal_dc_link_circuit_voltage . Object attribute Attribute value Sub−Index Description nominal_dc_link_circuit_voltage Data Type UINT32 Access PDO Mapping Units 5−27 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 94 Default Value Object 6510 : max_dc_link_circuit_voltage The max_dc_link_circuit_voltage indicates above which volt age in the intermediate circuit the power stage is switched off at once for reasons of safety and an error message is sent. 5−28 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 95 Below this voltage the servo controller decelerates and switches off the power stage afterwards. Beside this an error message is sent. Object attribute Attribute value Sub−Index Description min_dc_link_circuit_voltage Data Type UINT32 Access PDO Mapping Units 5−29 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 96 Value Range 0 (inactive), 1 (active) Default Value Object 6510 : nominal_current The nominal current of the device can be read via this object. It is also the upper limit for the object 6075 (motor_rated_current). 5−30 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 97 It is also the upper limit for the object 6073 (max_current). Object attribute Attribute value Sub−Index Description peak_current Data Type UINT32 Access PDO Mapping Units Value Range dependent of servo controller Default Value dependent of servo controller 5−31 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 98: Current Control And Motor Adaptation

    Please remember that direction of rotation and offset angle also depend on the used cable set. Therefore the parameter sets only work if wiring is identical. 5−32 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 99: Objects

    This value can be taken from the motor plate and is specified in mA (effective value, RMS). The upper limit is determined by the object 6510h_40 : nominal_current. Object attribute Attribute value Index 6075 Name motor_rated_current Object Code Data Type UINT32 5−33 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 100 2 for a short while. In this case the value 2000 has to be written into this object. Please note Before writing object 6073 (max_current) the object 6075 (motor_rated_current) must have a valid value. 5−34 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 101 The pole number is always integer. Often the pairs of poles are specified instead of the pole number. Then the pole number corresponds to twice the pairs of poles. Object attribute Attribute value Index 604D Name pole_number Object Code Data Type UINT8 5−35 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 102 6075 (motor_rated_current) in order to protect the motor. The default adjustment is 2 seconds and can be used for most motors. Object attribute Attribute value Index 6410 Name motor_data Object Code Number of Elements 5−36 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 103 5. Adjustment of parameters/Load and save set of parameters Object attribute Attribute value Sub−Index Description iit_time_motor Data Type UINT16 Access PDO Mapping Units Value Range 0 − 5000 Default Value 2000 5−37 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 104 Attribute value Index 6510 Name drive_data Object Code Number of Elements Object attribute Attribute value Sub−Index Description iit_error_enable Data Type UINT16 Access PDO Mapping Units Value Range 0: Warning (statusword) 1: Error 31 Default Value 5−38 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 105 = set−up program value/180°*32767 Object attribute Attribute value Index 6410 Name motor_data Object Code Number of Elements Object attribute Attribute value Sub−Index Description resolver_offset_angle Data Type INT16 Access Yaskawa: ro other: PDO Mapping 5−39 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 106 The gain of the current controller has to be multiplied by · 256. In case of a gain of 1.5 in the parameter set−up pro gram the value 384 = 180 has to be written into the ob ject torque_control_gain. 5−40 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 107 Object attribute Attribute value Index 60F6 Name torque_control_parameters Object Code RECORD Object attribute Attribute value Sub−Index Description torque_control_gain Data Type UINT16 Access PDO Mapping Units 256 = Gain 1 Value Range 20...25600 Default Value 5−41 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 108 PDO Mapping μs Units Value Range 400...65536 Default Value 1000 Please note The resolution of the object torque_control_time (60F6 ) is 102,4 μs. Therefore the reread value may differ h_02 from the written one. 5−42 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 109: Velocity Controller And Overspeed Protection

    The gain of the velocity controller has to be multiplied by 256. In case of a gain of 1.5 in the parameter set−up program the value 384 = 180 has to be written into the object velocity_control_gain. 5−43 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 110 Attribute value Index 60F9 Name velocity_control_parameters Object Code RECORD Object attribute Attribute value Sub−Index Description velocity_control_gain Data Type UINT16 Access PDO Mapping Units 256 = Gain 1 Value Range 20 − 5120 Default Value 2560 5−44 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 111 μs Units Value Range 200 − 2000 Default Value Please note The resolution of the object 60F9h_02h (velocity_control_time) and 60F9h_03h (velocity_control_filter_time) is 204.8 μs. Therefore the reread value may differ from the written one. 5−45 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 112 (as lowest value recommended: 150 rpm). Object attribute Attribute value Index Name over_speed_protec tion_limit_speed Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Units speed units Value Range 0..(2 −1) Default Value 2147483647 5−46 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 113 Entering 0 deactivates this function. Object attribute Attribute value Index Name position_error_switch_off_limit Object Code Data Type UiNT32 Object attribute Attribute value Access PDO Mapping Units position units Value Range 0..(2 −1) Default Value 0 (off ) 5−47 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 114: Position Control Function

    (following_error_window) bit 13 (fol lowing_error) of the object statusword will be set. The per missible time can be defined via the object follow ing_error_time_out. 5−48 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 115 13 (following_error) in the statusword will be set. Fig. 5/10: Following error 5−49 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 116 −x and x , bit 10 (target_reached) will be set in the statusword. 5−50 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 117: Objects

    Object Name Type Attr. 6062 position_demand_value INT32 6063 position_actual_value* INT32 6064 position_actual_value INT32 6065 following_error_window UINT32 6066 following_error_time_out UINT16 6067 position_window UINT32 6068 position_window_time UINT16 60FA control_effort INT32 60FB RECORD position_control_parameter_set 60FC position_demand_value* INT32 5−51 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 118 Warning Incorrect setting of the position control parameters may lead to strong vibrations and so destroy parts of the plant ! 5−52 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 119 (e.g. 500 rpm) via the object position_control_v_max. The object position_error_tolerance_window determines the maximum control deviation without reaction of the position controller. Therewith it is possible to even out backlash within the plant. 5−53 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 120 PDO Mapping Units 256 = Gain 1 Value Range 0...5120 Default Value Object attribute Attribute value Sub−Index Description position_control_time Data Type UINT16 Access PDO Mapping Units milliseconds Value Range 0..65536 Default Value 0 (deactivated) 5−54 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 121 Value Range 0..(2 −1) Default Value Object 6062 : position_demand_value The current position demand value can be read by this object. This position is fed into the position controller by the trajec tory generator. 5−55 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 122 You can use the object 6062h (position_demand_value) to read the position demand value in the user−defined unit. Object attribute Attribute value Index 60FC Name position_demand_value* Object Code Data Type INT32 5−56 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 123 Object attribute Attribute value Index 6064 Name position_actual_value Object Code Data Type INT32 Object attribute Attribute value Access PDO Mapping Possible Units position units Value Range (−2 )..(2 −1) Default Value 5−57 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 124 (position_demand_value). If the actual position (posi tion_actual_value) is outside the trailing error window (fol lowing_ error_window) a trailing error occurs and bit 13 in the object statusword will be set. 5−58 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 125 Object attribute Attribute value Index 6065 Name following_error_window Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Possible Units position units Value Range 0..(2 −1) Default Value 9102 5−59 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 126 The output quantity of the position controller can be read via this object. This value is supplied internally to the speed con troller as desired value. Object attribute Attribute value Index 60FA Name control_effort Object Code Data Type INT32 5−60 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 127 (target_position) is regarded as reached. Object attribute Attribute value Index 6067 Name position_window Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Possible Units position_units Value Range 0..(2 −1) Default Value 1820 5−61 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 128 10 (target_reached) will be set in the statusword. Object attribute Attribute value Index 6068 Name position_window_time Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Possible Units milliseconds Value Range 0..65535 Default Value 5−62 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 129: Encoder Settings

    In case of strange behaviour of the servo controller after parametrizing like an incorrect velocity value e.g., please check the following objects. If you don’t use an external encoder the actual value of all objects has to comply with the default value. 5−63 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 130: Objects

    This may cause an overflow or underflow that will be detected by the controller before releasing the power stage and thereby cause an error. 5−64 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 131 5. Adjustment of parameters/Load and save set of parameters Object attribute Attribute value Index 2020 Name position_controller_resolution Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Units increments Value Range 0..500000000 Default Value 65536 5−65 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 132 Suggestive values are 400−20000μs. Object attribute Attribute value Index 2023 Name synchronization_filter_time Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping μs Units Value Range 410...26843340 Default Value 5−66 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 133 With the object encoder_x2_status it can be determined if a reference pulse (northmarker) has occurred. For incremental encoders this may not occur before 1 complete revolution. For resolver and absolute angle encoders bit 0 is always set. 5−67 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 134 Other: PDO Mapping Units increments Value Range RDC12: 4096 RDC16: 65536 RDC16N: 65536 SinCos: 262144 SinCoder: 262144 Yaskawa: 4096, 8192 or 32768 Incremental encoder: 64 − 500000000 Default Value depends to the used encoder 5−68 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 135 Object attribute Attribute value Sub−Index Description encoder_X2_divisor Data Type INT16 Access PDO Mapping Units Value Range +/− 32767 Default Value Object attribute Attribute value Sub−Index Description encoder_X2_counter Data Type UINT32 Access PDO Mapping Possible 5−69 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 136 Value Range (−2 )..(2 −1) Default Value Object attribute Attribute value Sub−Index Description encoder_X2_control Data Type INT32 Access PDO Mapping Units Value Range b0=1: ignore the northmarker Only incremental encoder: b1=1: sinus−commutation enabled Default Value 5−70 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 137 5. Adjustment of parameters/Load and save set of parameters Object attribute Attribute value Sub−Index Description encoder_X2_status Data Type INT32 Access PDO Mapping Possible Units Value Range 1: northmarker appeared Default Value 5−71 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 138 With the object encoder_x10_status it can be determined if a reference pulse has occurred (this may not occur before one complete revolution). This bit can be cleared. 5−72 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 139 Object attribute Attribute value Index 2025 Name encoder_X10_data_field Object Code RECORD Number of Elements Object attribute Attribute value Sub−Index Description encoder_X10_resolution Data Type UINT32 Access PDO Mapping Units increments Value Range 4...500000000 Default Value 5−73 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 140 Object attribute Attribute value Sub−Index Description encoder_X10_divisor Data Type INT16 Access PDO Mapping Units Value Range +/− 32767 Default Value Object attribute Attribute value Sub−Index Description encoder_X10_counter Data Type UINT32 Access PDO Mapping Possible 5−74 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 141 PDO Mapping Possible Units position units Value Range (−2 )..(2 −1) Default Value Object attribute Attribute value Sub−Index Description encoder_X10_control Data Type INT32 Access PDO Mapping Units Value Range 1: ignore the northmarker Default Value 5−75 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 142 Value Range 1: northmarker appeared Default Value Object attribute Attribute value Sub−Index Description max_X2_X10_position_difference Data Type UINT32 Access PDO Mapping Possible Units Position units Value Range 0 − (2 −1) Default Value 0 (off ) 5−76 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 143 Object attribute Attribute value Access RDC12, RDC16, SinCos, SinCoder Other PDO Mapping Units Increments Value Range RDC12: 4096 RDC16: 4096 RDC16N: 4..65536 SinCos: 2048 SinCoder: 4096 Yaskawa: 0...4096/0...8192/0...32768 Incremental−Encoder: 0...encoder_X2_resolution Heidenhain: 4...65536 Default Value 4096 5−77 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 144: Sources For Demand / Actual Value

    Object 2021 : position_encoder_selection The object position_encoder_selection determines the input for the current position value (X2, X10 or Technology mod ule). Object attribute Attribute value Index 2021 Name position_encoder_selection Object Code Data Type INT16 5−78 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 145 Object attribute Attribute value Index 2022 Name synchronization_encoder_select Object Code Data Type INT16 Object attribute Attribute value Access PDO Mapping Units Value Range 1: No Encoder 1: X10 2: Technology−module Default Value 5−79 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 146: Digital Inputs And Outputs

    Object attribute Attribute value Index 60FD Name digital_inputs Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Possible Units Value Range 0..FFFFFFFF Default Value 5−80 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 147 Power stage locked (Either the signal "controller enable" or "power stage enable" is not set) 16 − 23 Additional inputs of the can module 24 − 27 Target position selectors (POS0−POS3, Din0..Din3) 10000000 Start input 20000000 Sample input 5−81 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 148 Object attribute Attribute value Index 60FE Name digital_outputs Object Code ARRAY Number of Elements Data Type UINT32 Object attribute Attribute value Sub−Index Description digital_outputs_data Access PDO Mapping Possible Units Value Range 0..(2 −1) Default Value 5−82 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 149 Units Value Range 0..(2 −1) Default Value 16711680; 00FF0000 Digital output Brake 16 − 23 Additional digital outputs of the CAN module 25 − 27 Default outputs of the servo controller (Dout1 − Dout3) 5−83 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 150: Homing Switches (Limit / Reference Switch)

    The polarity of the limit switches can be parametrized by the object 6510 (limit_switch_polarity). For B−contacts (normally closed) zero has to be entered, for A−contacts (nor mally opened) one. Object attribute Attribute value Index 6510 Sub−Index Name limit_switch_polarity Object Code Data Type UINT16 5−84 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 151 (normally closed) zero has to be entered, for A−contacts (nor mally opened) one. Object attribute Attribute value Index 6510 Sub−Index Name homing_switch_polarity Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Possible Units Value Range 0, 1 Default Value 5−85 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 152 Object attribute Attribute value Index 6510 Sub−Index Name homing_switch_selector Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Units Value Range 0: SAMPLE input (DIN9) 1: START input (DIN8) Default Value 5−86 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 153 With excessive values for braking acceleration (delay) the delay time will tend towards 0 s. This may result in the fault message "Division by zero" in the parametrizing program. Select a value suitable for your application. 5−87 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 154 5. Adjustment of parameters/Load and save set of parameters 5−88 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 155: Device Control/State Diagram (State Machine)

    Device Control/State diagram (State machine) Chapter 6 6−1 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 156 ..........6−21 6−2 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 157: State Diagram (State Machine)

    Eine solche Kombination wird als Kommando bezeichnet. Beispiel: Enable Operation State diagram All the states and all state transitions together form the so (State Machine) called state diagram: A survey of all states and the possible transitions between two states. 6−3 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 158: The State Diagram Of The Servo Controller (State Machine)

    2, 3 and 4 ("enable controller" under CANopen) the state OPERATION_ENABLE will be reached. In this state the power stage is live and the servo controller controls the motor according to the parametrized mode of operation. 6−4 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 159 (mostly a command by the host, here marked with a frame). How the command has to be built, i.e. what bits have to be set in the controlword, will be shown in the 3rd column (x = not relevant). 6−5 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 160 1. The servo is in the state SWITCH_ON_DISABLED. 2. The state OPERATION_ENABLE should be reached. 3. In accordance to the state diagram (Fig. 6/1) the state transitions 2, 3 and 4 have to be executed. 6−6 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 161 For the state transition 3 the set bit 3 is irrelevant. The host has to wait until the requested state can be read in the statusword. This will be explained more exact in the following sections. 6−7 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 162 The motor is under voltage and will be controlled according to the Fault Reaction Function. FAULT An error has occurred. The power stage has been switched off. The power stage is live. 6−8 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 163 Motor is freely rotatable Command Disable Voltage Disable Voltage x x 0 x Power stage is disabled. Motor is freely rotatable Command Quick Stop Quick Stop x 0 1 x A braking according to quick_stop_option_code is started. 6−9 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 164 If a mechanical motor brake is available it will be released. A defect or an incorrect para meter set−up (Motor current, number of poles, resolver offset angle, etc.) may cause an uncontrolled behaviour of the motor. 6−10 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 165: Controlword

    6 and 8 depends on modes_of_operation, which will be ex plained in the chapter hereafter. Object attribute Attribute value Index 6040 Name controlword Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Possible Units Value Range 0...FFFF Default Value 6−11 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 166 As described detailed in the previous chapter the bits 0..3 are used to execute state transitions. The necessary commands are summarised in the following chart. The command Fault Reset will be executed on a rising edge of bit 7 (from 0 to 1). 6−12 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 167 Following the remaining bits of the controlword will be ex plained. The meaning of some bits depends on the object modes_of_operation, i.e. if the controller will be torque or velocity controlled for instance. 6−13 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 168 Resetting this bit will accelerate the motor again. halt On Homing Mode: If this bit is set the current homing operation will be can celled and a homing error will be generated. Resetting this bit has no effect. 6−14 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 169: Auslesen Des Reglerzustands

    0004 0002 0001 NOT_READY_TO_SWITCH_ON 004F 0000 SWITCH_ON_DISABLED 004F 0040 READY_TO_SWITCH_ON 0006F 0021 SWITCHED_ON 006F 0023 OPERATION_ENABLE 006F 0027 FAULT 004F 000F FAULT_REACTION_ACTIVE 004F 000F QUICK_STOP_ACTIVE 006F 0007 Fig. 6/5: Device state (x = not relevant) 6−15 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 170 The example implies, that no more bits in the controlword are set. (For the state transitions only the bits 0..3 are necessary). To identify a state also cleared bits have to be evaluated (see table). Therefore the statusword has to be masked properly. 6−16 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 171: Statusword

    6. Device Control/State diagram (State machine) 6.1.5 Statusword Object 6041 : statusword Object attribute Attribute value Index 6041 Name statusword Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Possible Units Value Range 0..FFFF Default Value 6−17 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 172 1000 set_point_acknowledge/speed_0/homing_attained 2000 following_error/homing_error 4000 unused 8000 trigger_result Fig. 6/6: Bit assignment in the statusword Please note All bits of the statusword are not buffered and therefore representing the actual state of the device. 6−18 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 173 On Profile Velocity Mode: The bit will be set if the actual velocity (velocity_actual_ value) is within the parametrized velocity window (velocity_ window, velocity_window_time). Bit 11 internal_limit_active This bit indicates that the i t limitation is active. 6−19 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 174 This bit is unused at present. It must not be evaluated. Bit 15 trigger_result manufacturer specific This bit will be set, if a trigger event occurs and the corre sponding trigger mask is set accordingly. 6−20 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 175: Objects

    Attribute value Index 605B Name shutdown_option_code Object Code VARVAR Data Type INT16 Object attribute Attribute value Access PDO Mapping Units Value Range 0: Power stage will be switched off. Motor is freely rotatable. Default Value 6−21 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 176 Object attribute Attribute value Index 605C Name disable_operation_option_code Object Code Data Type INT16 Object attribute Attribute value Access PDO Mapping Units Value Range 0: Power stage will be switched off. Motor is freely rotatable. Default Value 6−22 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 177 Quick Stop will be executed. Object attribute Attribute value Index 605A Name quick_stop_option_code Object Code Data Type INT16 Object attribute Attribute value Access PDO Mapping Units Value Range 2: Motor decelerates according to the quick stop acceleration" Default Value 6−23 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 178 Data Type INT16 Object attribute Attribute value Access PDO Mapping Units Value Range 0. Power stage will be switched off The motor is freely rotatable 2: Motor slows down with the quick stop ramp" Default Value 6−24 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 179: Operating Modes/Adjustment Of The Operating Mode

    Operating modes/Adjustment of the Operating Mode Chapter 7 7−1 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 180 ..........7−59 7−2 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 181: Adjustment Of The Operating Mode

    Only some are specified in detail under CANopen: torque controlled operation speed controlled operation homing operation (search for reference) positioning operation 7.1.2 Objects Objects treated in this chapter Index Object Name Type Attr. 6060 modes_of_operation INT8 6061 modes_of_operation_display INT8 7−3 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 182 Unknown or invalid operating mode on CANopen Profile Positioning Mode (position controller with position ing operation) Profile Velocity Mode (speed controller with setpoint ramp) Torque Profile Mode (torque controller with setpoint ramp) Homing mode (homing operation) 7−4 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 183 Object attribute Attribute value Index 6061 Name modes_of_operation_display Object Code Data Type INT8 Object attribute Attribute value Access PDO Mapping Possible Units Value Range −1, 1, 3, 4, 6 Default Value 7−5 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 184 During this period of time it could happen that invalid operating modes (−1) are displayed for a short while. 7−6 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 185: Operating Mode "Homing Mode"

    There are two kinds of speed for the homing operation. The higher search speed (speed_during_search_for_switch) is used to find the limit switch respectively the reference switch. To determine the reference slope exactly a lower speed is used (speed_during_search_for_zero) . 7−7 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 186: Objects

    Object Name Type Attr. 607C home_offset INT32 6098 homing_method INT8 6099 ARRAY homing_speeds UINT32 609A homing_acceleration UINT32 Affected objects from other chapters Index Object Name Type Chapter 6040 controlword UINT16 5.13 6041 statusword UINT16 5.13 7−8 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 187 Fig. 7/2: Home Offset Object attribute Attribute value Index 607C Name home_offset Object Code Data Type INT32 Object attribute Attribute value Access PDO Mapping Possible Units position units Value Range (−2 )..(2 −1) Default Value 7−9 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 188: Objects

    Reference point for Home position −18 Positive Endstop Endstop −17 Negative Endstop Endstop −2 Positive Endstop Zero impulse −1 Negative Endstop Zero impulse Negative Limit switch Zero impulse Positive Limit switch Zero impulse Positive Reference switch Zero impulse 7−10 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 189 Object 6099 : homing_speeds This object determines the speeds which are used during the homing operation. Object attribute Attribute value Index 6099 Name homing_speeds Object Code ARRAY Number of Elements Data Type UINT32 7−11 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 190 Units speed units Value Range 0..(2 −1) −1 Default Value 100 min Object attribute Attribute value Sub−Index Description speed_during_search_for_zero Access PDO Mapping Possible Units speed units Value Range 0..(2 −1) −1 Default Value 10 min 7−12 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 191 Object attribute Attribute value Index 609A Name homing_acceleration Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Possible Units acceleration units Value Range 0..(2 −1) Default Value 7−13 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 192 The kind of evaluation of the zero impulse of the used angle encoder The different methods for the homing operation are shown in the following diagrams. The encircled numbers correspond to the code that has to be entered in the object homing_method. 7−14 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 193 Afterwards the drive slowly returns and searches for the exact position of the limit switch. The zero position refers to the first zero impulse of the angle encoder in negative direction from the limit switch. 7−15 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 194 11 into negative direction. Depending on the direction of the motion the zero position refers to the first zero impulse in negative or positive direction from the refer ence switch. This can be seen in the two following diagrams. 7−16 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 195 Please note When using homing operations to the reference switch the limit switches keep its normal function. Fig. 7/6: Homing operation to the reference switch evaluating the zero impulse for a negative start motion 7−17 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 196 This is displayed in the diagram by the rising edge. Afterwards the drive slowly returns and searches for the exact position of the limit switch. The zero position refers to the descending edge from the positive limit switch. 7−18 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 197 27 into negative direction. The zero position refers to the edge from the reference switch. This can be seen in the two following diagrams. Fig. 7/9: Homing operation to the reference switch for a positive start motion 7−19 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 198 For the methods 32 and 33 the direction of the homing oper ation is negative and positive, respectively. The zero position refers to the first zero impulse from the angle encoder in search direction. Fig. 7/11: Homing operation only referring to the zero impulse 7−20 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 199 The stop has to be mechanically di mensioned so that it is not damaged in case of the parame trized maximum current. The zero position refers to the first zero impulse of the angle encoder in negative direction from the stop. 7−21 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 200 The stop has to be mechanically di mensioned so that it is not damaged in case of the parame trized maximum current. The zero position refers directly to the endstop. Fig. 7/14: Homing operation to the negative stop 7−22 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 201 The stop has to be mechanically di mensioned so that it is not damaged in case of the parame trized maximum current. The zero position refers directly to the endstop. Fig. 7/15: Homing operation to the positive stop 7−23 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 202 Start homing operation Homing operation is active 1 } 0 Interrupt homing operation Bit 13 Bit 12 Meaning Homing operation has not yet finished Homing operation executed successfully Homing operation not executed successfully Illegal state 7−24 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 203: Operating Mode (Profile Position Mode)

    (position_demand_value) for the position controller that is described in the chapter Position Controller (position control function, chapter 5.6). These two function blocks can be adjusted independently from each other. Fig. 7/16: Trajectory generator and position controller 7−25 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 204 Factor group (see chapter 5.2: Conversion factors (Factor Group)). The internal quantities are marked by an asterisk and are not imperatively needed by the user. Fig. 7/17: The trajectory generator 7−26 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 205: Objects

    6041 statusword UINT16 5.13 605A quick_stop_option_code INT16 5.13 607E polarity UINT8 5.2 Conversion factors 6093 ARRAY position_factor UINT32 5.2 Conversion factors 6094 ARRAY velocity_encoder_factor UINT32 5.2 Conversion factors 6097 ARRAY acceleration_factor UINT32 5.2 Conversion factors 7−27 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 206 6 (relative) of the object controlword. Object attribute Attribute value Index 607A Name target_position Object Code Data Type INT32 Object attribute Attribute value Access PDO Mapping Possible Units position units Value Range (−2 )..(2 −1) Default Value 7−28 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 207 Index 607B Name position_range_limit Object Code ARRAY Number of Elements Data Type INT32 Object attribute Attribute value Sub−Index Description min_position_range_limit Access PDO Mapping Possible Units position units Value Range (−2 )..(2 −1) Default Value −2 7−29 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 208 3, the user can determine the direction of movement by the sign of the object 6081 (profile_velocity). Object attribute Attribute value Index 6510 Subindex Name position_range_limit_enable Object Code Data Type UINT16 7−30 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 209 The positioning window is speci fied in position_units and always refers to the zero position of the drive (see also: homing operation). Object attribute Attribute value Index 607D Name software_position_limit Object Code ARRAY Number of Elements Data Type INT32 7−31 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 210 PDO Mapping Possible Units position units Value Range (−2 )..(2 −1) Default Value −2 Object attribute Attribute value Sub−Index Description max_position_limit Access PDO Mapping Possible Units position units Value Range (−2 )..(2 −1) Default Value 2147483647 7−32 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 211 Object attribute Attribute value Index 6081 Name profile_velocity Object Code Data Type INT32 Object attribute Attribute value Access PDO Mapping Possible Units speed units Value Range (−2 )..(2 −1) Default Value 7−33 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 212 Object attribute Attribute value Index 6082 Name end_velocity Object Code Data Type INT32 Object attribute Attribute value Access PDO Mapping Possible Units speed units Value Range (−2 )..(2 −1) Default Value 7−34 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 213 Object attribute Attribute value Index 6083 Name profile_acceleration Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Possible Units acceleration units Value Range 0..(2 −1) Default Value 7−35 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 214 Object attribute Attribute value Index 6084 Name profile_deceleration Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Possible Units acceleration units Value Range 0..(2 −1) Default Value 7−36 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 215 The object quick_stop_deceleration is specified in acceler ation_units. Object attribute Attribute value Index 6085 Name quick_stop_deceleration Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Possible Units acceleration units Value Range 0..(2 −1) Default Value 14110 7−37 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 216 6086 Name motion_profile_Type Object Code Data Type INT16 Object attribute Attribute value Access PDO Mapping Possible Units none Value Range 0−3 Default Value Value Kurvenform Linear ramp ramp Jerkless ramp Linear ramp with jerkless start 7−38 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 217 These bits are in a request−response relationship. So it is possible to prepare one positioning job while another job is still running. Fig. 7/18: Positioning job transfer from a host 7−39 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 218 In Figure 7/19 a new positioning motion is started after the previous one has been finished completely. For that purpose the host evaluates the bit target_reached in the object statusword. Fig. 7/19: Simple positioning job 7−40 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 219 Therefore the end position may be undefined if a relative positioning move interrupts a current one. 7−41 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 220: Profile Velocity Mode

    Limitation of the desired torque value (torque_de mand_value) Control of the actual speed (velocity_actual_value) with the window−function/threshold The meaning of the following parameters is described in the chapter Profile Position Mode: profile_acceleration, pro file_deceleration, quick_stop 7−42 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 221 7. Operating modes/Adjustment of the Operating Mode 7−43 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 222: Objects

    7. Operating modes/Adjustment of the Operating Mode Fig. 7/21: Structure of the profile velocity mode 7.4.2 Objects Objects treated in this chapter Index Object Name Type Attr. 6069 velocity_sensor_actual_value INT32 606A sensor_selection_code INT16 606B velocity_demand_value INT32 606C velocity_actual_value INT32 7−44 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 223 UINT32 7.4 Operating Mode "Profile Position Mode" 6085 quick_stop_deceleration UINT32 7.4 Operating Mode "Profile Position Mode" 6086 motion_profile_Type INT16 7.4 Operating Mode "Profile Position Mode" 6094 ARRAY velocity_encoder_factor UINT32 5.2 Conversion factors (Factor Group) 7−45 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 224 Object attribute Attribute value Index 6069 Name velocity_sensor_actual_value Object Code Data Type INT32 Object attribute Attribute value Access PDO Mapping Possible Units increments/s Value Range (−2 )..(2 −1) Default Value 7−46 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 225 Therefore only the default angle encoder can be se lected. Object attribute Attribute value Index 606A Name sensor_selection_code Object Code Data Type INT16 Object attribute Attribute value Access PDO Mapping Possible Units Value Range Default Value 7−47 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 226 Object attribute Attribute value Index 606B Name velocity_demand_value Object Code Data Type INT32 Object attribute Attribute value Access PDO Mapping Possible Units speed_units Value Range (−2 )..(2 −1) Default Value 7−48 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 227 The actual velocity value can be read via the object veloc ity_actual_value. Object attribute Attribute value Index 606C Name velocity_actual_value Object Code Data Type INT32 Object attribute Attribute value Access PDO Mapping Possible Units speed_units Value Range (−2 )..(2 −1) Default Value 7−49 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 228 10 (target_reached) will be set in the object statusword. See also: Object 606E (velocity_window_time). Object attribute Attribute value Index 606D Name velocity_window Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Possible Units speed_units Value Range 0−65535 Default Value 7−50 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 229 (target_reached) will be set in the object statusword. Object attribute Attribute value Index 606E Name velocity_window_time Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Possible Units Value Range 0−10000 Default Value 7−51 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 230 12 is cleared in the statu sword. Object attribute Attribute value Index 606F Name velocity_threshold Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Possible Units speed_units Value Range 0−65535 Default Value 7−52 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 231 Therefore the regulator always behaves as if 0 is specified. Object attribute Attribute value Index 6070 Name velocity_threshold_time Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Possible Units Value Range 0−10000 Default Value 7−53 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 232 The velocity_demand_value will not be limited directly according to this object. Object attribute Attribute value Index 6080 Name max_motor_speed Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Possible Units Value Range 0..65535 Default Value 6000 7−54 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 233 The object target_velocity is the setpoint for the ramp gener ator. Object attribute Attribute value Index 60FF Name target_velocity Object Code Data Type INT32 Object attribute Attribute value Access PDO Mapping Possible Units speed_units Value Range (−2 )..(2 −1) Default Value 7−55 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 234: Profile Torque Mode

    (target_torque) which can be smoothed by the integrated ramp generator. So it is also possible to use this servo controller for trajectory control functions where both position controller and speed controller are dislocated to an external computer. 7−56 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 235 7. Operating modes/Adjustment of the Operating Mode Fig. 7/22: Structure of the Profile Torque Mode 7−57 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 236 The operating modes Profile Position Mode and Profile Veloc ity Mode need the torque controller to work properly. There fore it is always necessary to parameterise the torque con troller. 7−58 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 237: Objects

    Index Object Name Type Chapter 6040 controlword INT16 5.13 Device Control 60F9 RECORD motor_parameters 5.4 Current control and motor 6075 motor_rated_current UINT32 5.4 Current control and motor 6073 max_current UINT16 5.4 Current control and motor 7−59 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 238 (object 6076 Object attribute Attribute value Index 6071 Name target_torque Object Code Data Type INT16 Object attribute Attribute value Access PDO Mapping Possible Units per thousand of rated torque Value Range −32768..32767 Default Value 7−60 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 239 Object attribute Attribute value Index 6072 Name max_torque Object Code Data Type UINT16 Object attribute Attribute value Access PDO Mapping Units per thousand of rated torque Value Range 0..65535 Default Value 2000 7−61 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 240 Object attribute Attribute value Index 6074 Name torque_demand_value Object Code Data Type INT16 Object attribute Attribute value Access PDO Mapping Possible Units per thousand of rated torque Value Range −32768..32767 Default Value 7−62 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 241 0.001 Nm. Object attribute Attribute value Index 6076 Name motor_rated_torque Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Units 0.001 Nm Value Range 0..(2 −1) Default Value 1000 7−63 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 242 (object 6076 Object attribute Attribute value Index 6077 Name torque_actual_value Object Code Data Type INT16 Object attribute Attribute value Access PDO Mapping Possible Units per thousand of rated torque Value Range −32768..32767 Default Value 7−64 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 243 (object 6075 Object attribute Attribute value Index 6078 Name current_actual_value Object Code Data Type INT16 Object attribute Attribute value Access PDO Mapping Possible Units per thousand of rated current Value Range −32768..32767 Default Value 7−65 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 244 The voltage is specified in millivolt. Object attribute Attribute value Index 6079 Name DC_link_circuit_voltage Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Possible Units Value Range 0..(2 −1) 7−66 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 245 Object attribute Attribute value Index 6087 Name torque_slope Object Code Data Type UINT32 Object attribute Attribute value Access PDO Mapping Possible Units per thousand of rated torque per second Value Range 0..(2 −1) Default Value 7−67 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 246 0 can be written to this object. Object attribute Attribute value Index 6088 Name torque_profile_Type Object Code Data Type INT16 Object attribute Attribute value Access PDO Mapping Possible Units Value Range Default Value 7−68 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 247 Technical appendix Appendix A A−1 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 248: A. Technical Appendix

    ........A−3 A−2 Festo P.BE−SEC−AC−CO−E N en 0802a...

  • Page 249: A.1 Recommended Components

    Char. impe Order no. Remark resistance (800 Hz) dance Lütze−Electronic max. 60 nF/km 100−120Ω 104 206 Bus (C)Y 186Ω/km 2x2x0,22 Lütze−Superflex max. 60 nF/km 100−120Ω 104 220 suitable for Bus (C) PUR 159,8Ω/km drag chains 2x2x0,25 A−3 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 250 A. Technical appendix A−4 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 251 Index Appendix C B−1 Festo P.BE−SEC−AC−CO−EN en 0802a...

  • Page 252: B. Index

    ............B−3 B−2 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 253 Speed factors ....... . 5−14 B−3 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 254 ......5−23 , 5−24 Enable power stage ......5−23 , 5−24 B−4 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 255 ......5−69 encoder_X2_divisor ......5−69 B−5 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 256 ........7−7 B−6 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 257 ......XIII Kind of homing operation ......7−10 B−7 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 258 ......5−34 Motor nominal current ......5−33 B−8 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 259 ........5−7 B−9 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 260 ......5−75 Object 2025#h_07#h ......5−76 B−10 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 261 Object 607B#h ....... . . 7−29 B−11 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 262 ....... . . 5−52 B−12 Festo P.BE−SEC−AC−CO−E N en 0802a...
  • Page 263 ......5−29 Object 6510#h_37#h ......5−30 B−13 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 264 ......4−17 transmission type ......4−17 B−14 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 265 ....... 5−78 Position demand value ......5−56 B−15 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 266 ....7−30 profile_acceleration ......7−35 B−16 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 267 ......7−37 quick_stop_option_code ......6−23 B−17 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 268 ....7−11 START input as reference switch ....5−86 B−18 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 269 ....... . . 7−55 B−19 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 270 ......7−48 velocity_encoder_factor ......5−14 B−20 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 271 ........7−28 B−21 Festo P.BE−SEC−AC−CO−EN en 0802a...
  • Page 272 B. Index B−22 Festo P.BE−SEC−AC−CO−E N en 0802a...

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