igus Motion Plastics dryve D1 Manual page 3

Table of contents
5.5.4 Homing .............................................................................................49
5.5.5 Analogue Absolute Feedback ..........................................................50
5.6 Communication ................................................................................51
5.6.1 Ethernet TCP/IP ...............................................................................51
5.6.2 Transmission Protocol ......................................................................52
5.6.3 Bus Systems ....................................................................................53
5.6.4 Ethernet MAC address .....................................................................54
5.7 Inputs/Outputs ..................................................................................55
5.7.1 Digital Inputs ....................................................................................55
5.7.2 Digital Outputs ..................................................................................58
5.7.3 Digital Outputs Signal Characteristics ..............................................58
5.7.4 Analogue Inputs ...............................................................................60
5.7.5 Digital Input Switch Characteristics ..................................................60
5.8 Drive Profile ......................................................................................61
5.8.1 Drive Mode Selection .......................................................................61
5.8.2 Test Function ...................................................................................62
5.8.3 Position Adoption .............................................................................62
5.8.4 Binary ...............................................................................................63
5.8.5 Tipp/Teach .......................................................................................67
5.9 Oscilloscope and Controller Data .....................................................68
5.9.1 Oscilloscope Settings .......................................................................68
5.9.2 Controller Data .................................................................................69
5.9.3 Controller Data Fine-Tuning .............................................................70
5.10 Feed Rate Specification ...................................................................71
5.11 Absolute Feedback...........................................................................73
5.12 Impulse check ..................................................................................73
5.12.1 Impulse Check with Physical Limitation ............................................74
5.12.2 Impulse Check without Limit .............................................................74
5.13 Restore Factory Settings ..................................................................74
6 External Signal Exchange ..............................................................................75
6.1 Binary ...............................................................................................75
6.1.1 Binary Mode Requirements ..............................................................75
6.1.2 Binary Signal Sequence ...................................................................76
6.2 Tipp/Teach .......................................................................................78
6.2.1 Tipp/Teach Requirements ................................................................78
6.2.2 Tipp/Teach Signal Sequence ...........................................................79
6.3 Step/Direction ...................................................................................81
6.4 CANopen ..........................................................................................82
6.4.1 Special Features of SDO/PDO Communication ...............................82
6.4.2 Telegram Structure...........................................................................82
6.4.3 PDO mapping ...................................................................................82
6.4.4 Network management ......................................................................83
6.4.5 Necessary User Interface Settings ...................................................84
6.4.6 State Machine Visualisation .............................................................85
6.4.7 Statusword .......................................................................................86
6.4.8 Controlword ......................................................................................87
6.4.9 Parameter Entry ...............................................................................87
6.4.10 Homing .............................................................................................88
6.4.11 Profile Position Mode .......................................................................89
6.4.12 Profile Velocity Mode ........................................................................89
Operating Manual dryve D1, ST-, DC-, EC/BLDC-Motor Control System - V2.4
3/121