Page 1 Decentralized positioning drives MP-200 _Additional safety instructions _EtherCAT communication _Configuration / Parameterization _Troubleshooting / Diagnosis User Manual Interface...
Page 2 All other specified products, names and logos serve exclusively for information purposes and may be trademarks of their respective owners, without any special marking to indicate this.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 153...
Page 3: Table Of Contents
4.8 PDO mapping ......................... 29 4.9 Further information ......................... 29 5 DSP 402 drive profile ........................30 5.1 DSP 402 state machine ......................31  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 4 6 Installation- / connection notes, pin assignments ............... 66 7 Optional holding brake / ballast circuit ..................67 8 Commissioning ..........................67 8.1 Device description file ......................67  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 153 TR-EMO-BA-GB-0022 v03...
Page 5 9.4.27 Object 0x6073: Limit for Torque generating Current ..........102 9.4.28 Object 0x6074: Required Torque ................103 9.4.29 Object 0x6075: Motor rated Current/mA ............... 103  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 6 10.7 Control word and Status word ....................131 10.7.1 General ......................... 131 10.7.2 Status bit 2 - Warning ..................131  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 153 TR-EMO-BA-GB-0022 v03...
Page 7 13.1 Power supply cables with Solenoid Valve or M23 Connectors ..........151 13.2 Test parameters for "EncoTRive RELC" ................151 14 EtherCAT Conformance Test Tool 1.20.80.0 ................152  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 8: List Of Tables
Table 35: SDO Abort Codes ........................ 145 Table 36: EMCY Error register, object 0x1001..................146 Table 37: EMCY Error code, object 0x1003 ..................150  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 153...
Page 9: List Of Figures
Formula 8: Speed factor ........................59 Formula 9: Default value, speed factor ....................59 Formula 10: Acceleration factor ......................61 Formula 11: Default for acceleration factor ................... 61  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 10: Revision Index
Adaptations, up to point of time: MAH 6-May-2019; in document “EncoTRiveReManualEng.rtf”. The document is now fully integrated and no 09/29/20 longer needs to be referenced.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 153 TR-EMO-BA-GB-0022 v03...
Page 11: General Information
The following documentation therefore also applies:  operator’s operating instructions specific to the system,  this encoTRive EtherCAT manual,  the assembly/installation instructions TR-EMO-BA-DGB-0015  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 11 of 153...
Page 12: References
IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems Table 1: References  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 13: Abbreviations Used / Terminology
Remote Transmission Request read/write Service Data Object second Control word STW.x Bit x of the control word Programmable Logic Controller  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 13 of 153...
Page 14: Table 2: Abbreviations Used / Terminology
Extensible Markup Language write only Status word ZSW.x Bit x of the status word Table 2: Abbreviations used / Terminology  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 15: Additional Safety Instructions
EtherCAT Manual, particularly the chapter "Additional safety instructions". This particularly applies for personnel who are only deployed occasionally, e.g. in the parameterization of the encoTRive.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 16: Technical Data
4...20 A, 50...300 W; depending of the motor Drive ..............3 phase field oriented control for brushless DC motors PWM and regulator cycle ........100 µs  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 17: Ethercat / Ds-402
Full EtherCAT and DS402 conformance .... according to CTT 1.20.52 and 1.20.80 FoE = Bootstrap mode for firmware updates ..not supported DS-402 operating modes ........1, 3, 6, 8, 9, 10  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 19: Ethercat Information
As Fast-Ethernet works with Full Duplex, a physical ring structure also results. Figure 1: EtherCAT functional principle  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 20: Protocol
EtherCAT frames can thus be sent by any Ethernet controllers (master), and standard tools (e.g. monitor) can be used. Figure 2: Ethernet frame structure  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 153...
Page 21: Ethercat State Machine (Esm)
Stop Output Update, Stop Input Update Stop Input Update, Stop Mailbox Communication Stop Output Update, Stop Input Update, Stop Mailbox Communication Table 3: States, State Machine  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 22: Transition Into The Operational State
If activation of the output data was not possible, the drive remains in SAFE-OPERATIONAL status and outputs an error message.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 153...
Page 23: Device Profile
The encoTRive supports the CANopen-over-EtherCAT (CoE) mailbox protocol, and consequently the "Device Profile Drives and Motion Control", CiA DS 402, known from CANopen. Figure 4: CANopen over EtherCAT communication mechanism  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 24: Canopen Over Ethercat (Coe)
Figure 6: EtherCAT organized in the ISO/OSI layer model EN 50325-4: Industrial Communication Systems, based on ISO 11898 (CAN) for Controller Device Interfaces. Part 4: CANopen.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 153...
Page 25: Object Dictionary
Important features of SDO and PDO Figure 8: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 26: Compatibility With The Cia Ds-301 Communication Profile
Initiate SDO Download  Download SDO Segment  Initiate SDO Upload  Upload SDO Segment  Abort SDO Transfer  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 27: Transmission Of Sdo Messages
This also applies to read out the complete CoE object directory. The drive supports the so-called “SDO Information Service”. In online mode about this service it is possible to read out all supported objects in one read service.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 28 Initiate SDO Upload service response. The server starts as many Upload SDO Segment services as are required to transfer all data from the server.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 153...
Page 29: Pdo Mapping
+ 49 (0) 9 11 / 5 40 5620 Fax: + 49 (0) 9 11 / 5 40 5629 Email: info@ethercat.org Internet: www.ethercat.org  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 29 of 153...
Page 31: Dsp 402 State Machine
Fault Ready to switch ON Switched ON Operation enabled Quick stop active RUN/HALT Figure 9: DSP 402 state machine  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 31 of 153...
Page 32: Operating Condition
Target reached Internal limit active 12-13 Specific to the mode 14-15 Not used Table 5: Operating states, status word  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 33: State Transitions
T13: The relevant troubleshooting is carried out. ALL STATES -> FAULT REACTION ACTIVE  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 33 of 153...
Page 34: Change Mode Of Operation
Table 7: Change operating state X: not relevant bits Description of the mode of operation-specific bits, see following chapters 5.2 up to 5.7.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 153...
Page 35: Profile Position (Pp)" Operating Mode
Transition 0->1: Reset error Execute positioning Stop Stop axis 9-15 not used Table 8: Control word (object 0x6040), “Profile Position” operating mode  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 35 of 153...
Page 36: Status Word
0x6065 for the minimum duration of the time interval specified in object 0x6066 (Following Error Timeout). 14-15 not used Table 9: Status word (object 0x6041), “Profile Position” operating mode  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 153 TR-EMO-BA-GB-0022 v03...
Page 37: Perform Positioning
(0x6067) around the target position for the duration of the position window time interval (0x6068).  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 38: Absolute / Relative Positioning
1000, a positioning movement by 1000 to the left (target position = -1000) is to be performed. This means that the positioning movement ends at the absolute position 0.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 153...
Page 39: Transfer Of New Movement Records
0x605A Quick Stop Option Code: Quick stop behavior 0x605D Halt Option Code: Behavior in the event of termination of a ramp Table 10: Positioning parameter  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 40: Profile Velocity (Pv)" Operating Mode
Execute speed ramp Stop Stop axis 9-15 not used Table 11: Control word (object 0x6040), “Profile velocity” operating mode  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 41: Status Word
Max. following error Max. following error reached 14-15 not used Table 12: Status word (object 0x6041), “Profile velocity” operating mode  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 41 of 153...
Page 42: Perform Speed Ramp
A change to the target speed during operation results in immediate execution of the ramp, which accelerates or decelerates the current speed value.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 153...
Page 43: Relevant Parameters
0x6085 Deceleration for quick stop 0x6094 Speed factor 0x606B Nominal speed 0x606C Actual speed 0x60FF Target speed Table 13: Speed ramp parameter  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 43 of 153...
Page 44: Homing (Hm)" Operating Mode
Enable bit 4 Halt Stop axis (0x605D) 9-15 not used Table 14: Control word (object 0x6040), “Homing” operating mode  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 45: Status Word
F Homing error occurred, velocity is not 0 Homing error occurred, velocity is 0 not used Table 16: Definition of the homing status bits 10, 12, 13  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 46: Perform Position Adjustment
The homing procedure is started with a rising edge (0->1) in STW.4. Also see chapter “Position adjustment by Homing (operating mode 6)” on page 138. 5.4.4 Relevant parameters  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 153...
Page 47: Cyclic Synchronous Position (Csp)" Operating Mode
Halt is not evaluated! 9-15 not used Table 17: Control word (object 0x6040), “Cyclic synchronous position (CSP)” operating mode  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 47 of 153...
Page 48: Status Word
Max. following errors Max. following errors reached 14-15 not used Table 18: Status word (object 0x6041), “Cyclic synchronous position (CSP)” operating mode  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 153 TR-EMO-BA-GB-0022 v03...
Page 49: Perform Operating Mode
Also see chapter “Cyclic synchronous modes (operating modes 8, 9, 10)” on page 137. 5.5.4 Relevant parameters Figure 13: Cyclic synchronous position control function (CSP)  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 50: Cyclic Synchronous Velocity (Csv)" Operating Mode
Halt is not evaluated! 9-15 not used Table 19: Control word (object 0x6040), “Cyclic synchronous velocity (CSV)” operating mode  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 51: Status Word
Target velocity of object 0x60FF used as input to velocity control loop 13-15 not used Table 20: Status word (object 0x6041), “Cyclic synchronous velocity (CSV)” operating mode  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 52: Perform Operating Mode
Also see chapter “Cyclic synchronous modes (operating modes 8, 9, 10)” on page 137. 5.6.4 Relevant parameters Figure 14: Cyclic synchronous velocity control function (CSV)  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 153 TR-EMO-BA-GB-0022 v03...
Page 53: Cyclic Synchronous Torque (Cst)" Operating Mode
Halt is not evaluated! 9-15 not used Table 21: Control word (object 0x6040), “Cyclic synchronous torque (CST)” operating mode  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 53 of 153...
Page 54: Status Word
13-15 not used Table 22: Status word (object 0x6041), “Cyclic synchronous torque (CST)” operating mode  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 153 TR-EMO-BA-GB-0022 v03...
Page 55: Perform Operating Mode
Also see chapter “Cyclic synchronous modes (operating modes 8, 9, 10)” on page 137. 5.7.4 Relevant parameters Figure 15: Cyclic synchronous torque control function (CST)  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 56: Units
 Speed encoder resolution   Default   5000 Motor revolution Formula 4: Default value, speed encoder resolution  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 57: Object 0X6093: Position Factor
Formula 7: Default value, position factor This value, together with the encoder resolution from Formula 2, corresponds to a gear reduction of 1:1 and the position unit increments.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 58 Subindex 1: 1024 / position encoder resolution x gear factor Subindex 2: 3600 / travel per gear revolution ( 360 degrees )  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 153 TR-EMO-BA-GB-0022 v03...
Page 59: Object 0X6094: Speed Factor
The desired unit is now used in all speed-related objects, with the exception of object 0x6069 (Sensor Velocity), which specifies the current speed in speed increments.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany...
Page 60 Subindex 1:  5000  1000000 Subindex 2: Resolution factor for higher resolution. Result: the possibility to exact value input.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 61: Object 0X6097: Acceleration Factor
This value, together with the speed encoder resolution from Formula 4 and a gear reduction of 1:1, corresponds to the acceleration unit "(rpm) / sec".  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 62 Subindex 1:  5000  1000000 Subindex 2: Resolution factor for higher resolution. Result: the possibility to exact value input.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 63 Similarly, user-defined acceleration data in acceleration units is converted into measuring system-related acceleration data in position increments/sec² by multiplying with the AccelerationToPositionUnitFactor.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 64 ) = 700000 – 2*139392 = 421216 degrees still remain. This phase therefore lasts 421216/15840 = 26.6 sec. In total, the ramp is (theoretically) traveled in 2*17.6+26.6 = 61.8 sec.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 153...
Page 65 ) = 1000 – 28 = 968 mm still remain. This phase therefore lasts 968/4 = 242 sec. In total, the ramp is (theoretically) traveled in 258 sec.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 66: Installation- / Connection Notes, Pin Assignments
Recommended parts: STAR-TEC Snap Ferrite 74271221 or 74271222 from Würth. Download pin assignment, version with “Valve Male Connector”: www.tr-electronic.de/f/TR-EMO-TI-DGB-0109 Download pin assignment, version with “M23 Male Connector”: www.tr-electronic.de/f/TR-EMO-TI-DGB-0112  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 67: Optional Holding Brake / Ballast Circuit
The XML file is integrated by the EtherCAT network configuration tool, in order to enable correct configuration and commissioning of the drive. Download:  www.tr-electronic.de/f/TR-EMO-ID-MUL-0018  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 67 of 153...
Page 68: Object Directory
Integer 32-bit value without sign. UNSIGNED32 32 bit Range of values: 0..2 Visible String Variable ASCII character string Table 25: encoTRive data types  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 69: Communication-Specific Standard Objects Cia Ds-301
1C12 ARRAY SM2 PDO Assignment Unsigned16 1C13 ARRAY SM3 PDO Assignment Unsigned16 Table 26: Communication specific standard objects Little-Endian-Format  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 69 of 153...
Page 70: Object 0X1000: Device Type
0x1003. At the time of occurrence, an error is indicated by an EMCY message. Meaning General error Current Voltage Temperature Communication error (overflow, status error) Device profile-specific error reserved Manufacturer-specific  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 71: Object 0X1003: Pre-Defined Error Field
Older error message (position 2) Subindex 8: Error no. 8 Data type UNSIGNED32 Attribute Default PDO mapping Description Oldest error message (position 8)  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 71 of 153...
Page 72: Object 0X1008: Manufacturer's Device Name
The object contains the software version of the device. This consists of an ASCII character string. Transmission via “Upload SDO Segment Request Protocol”.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 153...
Page 73: Object 0X1010: Save Backup Parameters
1 Subindex 4: Store manufacturer-specific parameters (0x2xxx-objects) Data type UNSIGNED32 Attribute Default PDO mapping Description see subindex 1  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 73 of 153...
Page 74: Object 0X1011: Reset Backup Parameters
Subindex 4: Factory settings for manufacturer-specific parameters (0x2xxx-objects) Data type UNSIGNED32 Attribute Default PDO mapping Description see subindex 1  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 75: Object 0X1018: Identity
Subindex 4: Serial number Data type UNSIGNED32 Attribute Default device specific PDO mapping Description Contains the serial number of the device  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 75 of 153...
Page 76: Structure Of The Mapping Parameter
Length in bit Possible Receive-process data objects (0x1600, 0x1601) see ESI file Possible Transmit-process data objects (0x1A00, 0x1A01) see ESI file  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 77: Objects 0X1600-0X1601: Receive Pdo Mapping
Subindex 80: Eightieth mapped object Data type UNSIGNED32 Attribute Default PDO mapping Description Indicates the index, sub-index and length in bit  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 77 of 153...
Page 78: Objects 0X1A00-0X1A01: Transmit Pdo Mapping
Subindex 80: Eightieth mapped object Data type UNSIGNED32 Attribute Default PDO mapping Description Indicates the index, sub-index and length in bit  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 79: Object 0X1C00: Sync Manager Communication Type
Data type UNSIGNED32 Attribute Default 3: Process data output (Master --> Slave) PDO mapping Description Communication Type Sync Manager 2  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 79 of 153...
Page 80 Data type UNSIGNED32 Attribute Default 4: Process data input (Slave --> Master) PDO mapping Description Communication Type Sync Manager 3  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 81: Object 0X1C12: Sm2 Pdo Assignment
Attribute Default PDO mapping Description PDO mapping object index of the assigned RxPDO. 0x1600: RxPDO 1 0x1601: RxPDO 2  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 81 of 153...
Page 82: Object 0X1C13: Sm3 Pdo Assignment
Attribute Default PDO mapping Description PDO mapping object index of the assigned TxPDO. 0x1A00: TxPDO 1 0x1A01: TxPDO 2  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 83: Manufacturer-Specific Objects
INTEGER16 Attribute Default PDO mapping Description Subindex 3: Current temperature 3/°C Data type INTEGER16 Attribute Default PDO mapping Description  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 83 of 153...
Page 84 INTEGER16 Attribute Default PDO mapping Description Subindex 8: Analog input 4/mV Data type INTEGER16 Attribute Default PDO mapping Description  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 85: Object 0X2F04: Ds402M.mpu32
Subindex 4: Digital Output Negation Mask Data type UNSIGNED32 Attribute Default PDO mapping Description negates individual bits of the output signal (0x60FE)  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 85 of 153...
Page 86 Data type UNSIGNED32 Attribute Default PDO mapping Description Subindex 8: VBallastIn full/mV Data type UNSIGNED32 Attribute Default PDO mapping Description  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 87 Subindex 12: LsiscC30 Data type UNSIGNED32 Attribute Default PDO mapping Description for internal purposes only  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 87 of 153...
Page 88 Subindex 14: LsiscC32 Data type UNSIGNED32 Attribute Default PDO mapping Description for internal purposes only  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 89: Object 0X2F0E: Ds402M.mpx
Also see chapter “Stop conditions: Priorities, Behavior” on page 124.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 89 of 153...
Page 90 Subindex 4: Gear Backlash/Pos.units Data type INTEGER32 Attribute Default PDO mapping Description Reserved  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 91: Objects Of The Dsp 402 Device Profile
6076 Motor rated Torque/Nmm Unsigned32 6077 Actual Torque Integer16 ^ : permanent storage must be performed about object 1010h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 91 of 153...
Page 92: Table 27: Profile Specific Objects
Measuring Range in revolutions Unsigned40 Table 27: Profile specific objects ^ : permanent storage must be performed about object 1010h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 153 TR-EMO-BA-GB-0022 v03...
Page 93: Object 0X6007: Abort Connection Code
65535 PDO mapping Description Commands are transmitted to the drive in this object, see sections 5.1.3, 5.2.1 and 5.3.1.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 93 of 153...
Page 94: Object 0X6041: Status Word
"quick stop" status. Decelerates with deceleration for quick stop (0x6085). After coming to a stop the drive remains in "Quick stop" status.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 153...
Page 95: Object 0X605B: Shutdown Option Code
Table 30: Values for Disable Operation Option Code Value Meaning Switches drive off. Decelerates drive to a stop with current deceleration. Then switches drive off.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 95 of 153...
Page 96: Object 0X605D: Stop Option Code
Decelerates drive to a stop with current deceleration. Decelerates drive with deceleration for Quick stop (0x6085). Decelerates drive at current limit. Decelerates drive at voltage limit.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 97: Object 0X6060: Operation Mode
PDO mapping Description This object, in position units, contains the position to be moved to, resulting from the control algorithm.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 97 of 153...
Page 98: Object 0X6064: Actual Position
The parameter value specifies the minimum time in 1 ms steps for which a tracking error must be present before it is displayed as such in the status word.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany...
Page 99: Object 0X6067: In-Position Window
Attribute Default PDO mapping Description The parameter contains the speed value measured on the speed encoder in speed increments.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 99 of 153...
Page 100: Object 0X606B: Required Velocity
This object monitors whether the required process velocity has been achieved after an eventual acceleration or deceleration (braking) phase. It is given in speed units.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 153...
Page 101: Object 0X606E: Velocity Window Timeout
Data type UNSIGNED16 Attribute Default PDO mapping Description The value is given in multiples of milliseconds, description see object 606Fh  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 101 of 153...
Page 102: Object 0X6071: Target Torque
Description This object represents the maximum permissible torque generating current in the motor and is given per thousand of rated current (0x6075).  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 153...
Page 103: Object 0X6074: Required Torque
Data type UNSIGNED32 Attribute Default PDO mapping Description This object contains the rated torque of the motor in mNm.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 103 of 153...
Page 104: Object 0X6077: Actual Torque
Attribute Default PDO mapping Description This object contains the current voltage of the DC voltage intermediate circuit in mV.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 105: Object 0X607A: Target Position
Data type INTEGER32 Attribute Default PDO mapping Description Maximum position value Depending on gear and pitch the value is different  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 105 of 153...
Page 106: Object 0X607C: Home Offset
Data type INTEGER32 Attribute Default PDO mapping Description Maximum position value Depending on gear and pitch the value is different  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 107: Object 0X607E: Polarity
Attribute Default 9000 PDO mapping Description This parameter specifies the maximum permitted speed of the motor shaft in rpm.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 107 of 153...
Page 108: Object 0X6081: Profile Velocity
This parameter specifies in acceleration units the deceleration used to slow down during a positioning movement, see chapter 5.2 “Profile Position (PP)” operating mode page 35.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 153...
Page 109: Object 0X6085: Quick Stop Deceleration
PDO mapping Description Position increments Subindex 2: Motor revolutions Data type INTEGER32 Attribute Default PDO mapping Description Motor revolutions  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 109 of 153...
Page 110: Object 0X6090: Velocity Encoder Resolution
Speed increments per second Subindex 2: Motor revolutions Data type UNSIGNED32 Attribute Default 5000 PDO mapping Description Motor revolutions per second  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 111: Object 0X6093: Position Factor
Description Position increments Subindex 2: Position increments (denominator) Data type UNSIGNED32 Attribute Default 1024 PDO mapping Description Position units  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 111 of 153...
Page 112: Object 0X6094: Velocity Encoder Factor
Speed increments per second Subindex 2: Speed units (denominator) Data type UNSIGNED32 Attribute Default 300000 PDO mapping Description Speed units  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 113: Object 0X6097: Acceleration Factor
17 to 30 are supported = homing without index pulse and 35 = homing on basis of the current position (if no limit switches are available)  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany...
Page 114: Object 0X6099: Homing Speeds
This parameter establishes the acceleration to be used for all accelerations and decelerations for the homing modes and is given in acceleration units.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 153...
Page 115: Object 0X60B0: Position Offset
In cyclic synchronous torque mode it contains the commanded additive torque of the drive, which is added to the target torque value. The value is absolute.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 116: Object 0X60C5: Max Acceleration
PDO mapping Description This object provides the actual value of the following error and is given in user- defined position units.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 153 TR-EMO-BA-GB-0022 v03...
Page 117: Object 0X60Fd: Digital Inputs
Default 0x0000 0000 PDO mapping Description Release / block output: Bit 0 = 1: output 0 is being used  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 117 of 153...
Page 118: Object 0X60Ff: Target Velocity
Position” (bit 5) “Cyclic synchronous position” (bit 7), “Cyclic synchronous velocity” (bit 8) and “Cyclic synchronous torque” (bit 9) operating modes.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 153 TR-EMO-BA-GB-0022 v03...
Page 119: Object 0X6508: Runtime In 0.1 Hours
Object code Data type UNSIGNED40 Attribute Default PDO mapping Description This object provides the distinguishable revolutions for high-resolution position encoders.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 119 of 153...
Page 120: Projecting With Twincat System Manager V2.10
 Connect the voltage supply and turn it on  Now the green and the orange RUN LED are slowly blinking alternatingly every second  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 153...
Page 121: Creation Of A Twincat Project For An Encotrive Device
 Start TwinCAT again in the Run mode. Now the EncoTRive should go to operational: The green state LED should be constantly on.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 122: Changing Data Objects
0x08000022 - Data cannot be transferred or stored to the application because of the present device state. If you really need to change a write-protected parameter, please contact the manufacturer of this device.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 153 TR-EMO-BA-GB-0022 v03...
Page 123: Storing And Resetting Backup Parameters
Loading the default values into it requires a reboot. Before that loading can be undone by another store operation, that recreates the invalidated checksums again.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 124: Stop Conditions, Digital Inputs And Hardware Limit Switches
2 or any other value -> Slow down at the "Quick stop Deceleration" 0x6085 before turning off the drive.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 153 TR-EMO-BA-GB-0022 v03...
Page 125 If this option code is 5 or higher, which means staying in quick stop, this state can be left without turning off the motor by toggling the control word bit 0x80 "Clear Fault" once or twice.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 126 2 or any other value -> Slow down at the "Quick stop Deceleration" 0x6085 before turning off the drive.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 153 TR-EMO-BA-GB-0022 v03...
Page 127: Control Of The Digital Inputs
Since the software version "V1.1 20-September-2016" both masks are mappable, so that they can be written not only by SDOs, but also by RPDOs.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 128: Operation Of The Digital Inputs As Limit Switches
Before that version the limit switches used the stop deceleration, which is however not related to the digital inputs in any way.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 153...
Page 129 -"Max. Software Position Limit" <= "Home Offset" <= -"Min. Software Position Limit" -> "Home Offset" 0x607C >= -[0x607D:1] = -2^26-1 = -67108863 "Home Offset" 0x607C <= -[0x607D:2] = +2^26 = +67108864  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 130 -"Max. Software Position Limit" <= "Home Offset" <= -"Min. Software Position Limit" -> "Home Offset" 0x607C >= -[0x607D:1] = -360*2^12/4 = -368640 "Home Offset" 0x607C <= -[0x607D:2] = +360*2^12/4-1 = +368639  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 153 TR-EMO-BA-GB-0022 v03...
Page 131: Control Word And Status Word
"Actual Velocity" 0x606C and the "Target Velocity" 0x60FF never exceeded the size of the "Velocity Window" 0x606D during the "Velocity Window Timeout" 0x606E.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 132: Status Bit 2 11 - Internal Limit Active
PM means "Permanent magnet". PM motors are much smaller and lighter than asynchronous motors with the same output power, and can accelerate much more.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 132 of 153...
Page 133: Profile Position Mode (Operating Mode 1)
If a special behavior on disabling the operation, shutdown, fault, stop, quick-stop and loss of connections is desired, the related option codes must also be set.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany...
Page 134 11 "Internal limits active" in the status word 0x6041. If the torque reaches the torque limit, the drive also sets the status bit "Internal limits active".  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 134 of 153...
Page 135 It must be triggered again by another rising edge of the control bit "New set-point". Sets of set-points are currently not supported.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 136: Profile Velocity Mode (Operating Mode 3)
The drive then can work for example as a stand-alone replacement of a spring.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 136 of 153...
Page 137: Cyclic Synchronous Modes (Operating Modes 8, 9, 10)
Every store operation to an EEPROM triggers a complete verify of both of them. Therefore every 3 minutes the EEPROMS are completely verified, due to the updated runtime. If invalid blocks are found, the related emergencies are set.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 138: Position Adjustment By Homing (Operating Mode 6)
12 from 0 to 1, and stores the new position adjustment permanently. "Status word" 0x6041 Bit 13 (Homing Error) must be 0.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 138 of 153...
Page 139 It also must include the corrected min. software position limit, minus a negative reserve. It also must include the corrected max. software position limit, plus a positive reserve.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 140 .. = -70 "Actual Position" 0x6064 at the max. sw. pos. limit = corrected max. sw. pos. limit = .. = +3040  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 140 of 153...
Page 141: Manual Tuning Of The Position And Speed Regulation
If they are related to the current regulation, the may even destroy the drive. The write-protection exists for good reasons.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...
Page 142 If you found better settings, save the changes for the next startup by writing 0x65766173 to "Save Manufacturer Parameters" 0x1010:0x4.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 142 of 153 TR-EMO-BA-GB-0022 v03...
Page 143: Gear Backlash Cancellation (Opmodes -48=0Xd0)
"Backlash target pos.1/Pos. units" 0x2E05:0x11 // read-only. "Backlash target pos.2/Pos. units" 0x2E05:0x12 // read-only. "Backlash trailing pos./Pos. units" 0x2E05:0x13 // read-only.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 143 of 153...
Page 144: Twincat System Manager - Example Program (Download)
Manuel travelling to target speed, absolute and relative  Example program for creation of own TwinCAT applications Download: www.tr-electronic.de/f/zip/TR-EMO-SW-GB-0037  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 144 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 145: Troubleshooting And Diagnosis Options
Reason: current device status 0x08 00 00 23 Dynamic creation error in the object dictionary, or no object dictionary present Table 35: SDO Abort Codes  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 146: Emcy Error Information
Temperature Communication error (overflow, status error) Device profile-specific Reserved, always 0 Manufacturer-specific Table 36: EMCY Error register, object 0x1001  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 146 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020...
Page 147: Error Code, Object 0X1003 (Bit 0-15)
Shutdown due to low temperature of drive (power stages) or sensor failure 0x4390 Warning due to high temperature of drive (power stages) . . .  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 148 0x607D must have at least 2 position units. 0x6359 The preset value is outside of the position range.. TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 148 of 153 TR-EMO-BA-GB-0022 v03...
Page 149 Monitoring, recovered from bus off 0x8150 Monitoring, collision of the CAN-ID Protocol error – generic error 0x8200 . . .  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03 Page 149 of 153...
Page 150: Table 37: Emcy Error Code, Object 0X1003
Command can only be executed if the drive is switched off. 0xFF82 Homing mode is not supported. Table 37: EMCY Error code, object 0x1003  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 150 of 153 TR-EMO-BA-GB-0022 v03...
Page 151: Encotrive Re - Accessories, Test Setup
Position factor = 0x1000/360 (1 pos.unit = 1 degree) Position range = -1024*360 .. +1024*360-1 = -368640..+368639 = 0xFFFA6000..0x00059FFF Quickstop option code = 5  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020 TR-EMO-BA-GB-0022 v03...
Page 152: Ethercat Conformance Test Tool 1.20.80.0
Save the project file. If you load it later, you can repeat the tests without typing the startup commands again.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 152 of 153 TR-EMO-BA-GB-0022 v03...
Page 153 If you expand the tree-view, all green circles under this test should become green after a while. All other test doesn’t require special preparations or firmware versions. You may run them at any time in any sequence.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 09/29/2020...

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