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MOVENSYS Dunamis User Manual

Open loop stepping system ethercat network
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Open Loop Stepping System
EtherCAT Network
User Manual
• Dunamis Step EtherCAT
MOVENSYS Inc.

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Summary of Contents for MOVENSYS Dunamis

  • Page 1 Open Loop Stepping System EtherCAT Network User Manual • Dunamis Step EtherCAT MOVENSYS Inc.

  • Page 2: Table Of Contents

    3.2.2 PDO Assign ........................3.3 EtherCAT State Machine ......................3.4 Synchronization ........................3.4.1 Free Run ........................3.4.2 SM Event ........................3.4.3 DC Sync Event ......................3.5 EtherCAT Slave Information ....................CiA402 Drive Profile 4.1 Drive Status Control ......................... MOVENSYS Inc.
  • Page 3 5.4.2 Change I/O Signal Level ....................EtherCAT Object Dictionary 6.1 Indication Type of Objects ....................... 6.1.1 Index and Sub-Index ....................6.1.2 Name ..........................6.1.3 Data Type ........................... 6.1.4 Access .......................... 6.1.5 SAVE ............................6.1.6 PDO Mapping ....................... 6.1.7 Constant Value ........................MOVENSYS Inc.
  • Page 4 6.5.29 Object 60BBh: Touch probe 1 negative value .............. 6.5.30 Object 60BCh: Touch probe 2 positive value ............... 6.5.31 Object 60BDh: Touch probe 2 negative value ............. 6.5.32 Object 60C2h: Interpolation time period ..............6.5.33 Object 60D0h: Touch probe source ................MOVENSYS Inc.
  • Page 5 6.6.15 Object 201Bh: Limit Deceleration ................6.6.16 Object 2020h: Error code history setting ..............6.6.17 Object 2021h: Error code history ................. 6.6.18 Object 2025h: Lifetime Record ..................6.6.19 Object 2030h: Advanced settings ................6.6.20 Object 2040h: Safety Mode ..................MOVENSYS Inc.

  • Page 6: Introduction

    • After reading the manual, keep the manual near the product so that any user can read the manual whenever needed. [MOVENSYS, in principle, repairs or replaces the DUNAMIS series free of charge if a problem occurs due to a defect in the product within one year.

  • Page 7: Safety Precautions

    • Contents of this manual are subject to change without prior notice for functional improvement, change of specifications or user’s better understanding. • When the manual is damaged or lost, please contact with MOVENSYS’ agents or our company to get a manual again.
  • Page 8 Use non-flammable materials such as metal in the place where the product is to be installed. Oth- erwise, a fire may occur. When installing several units of ‘MOVENSYS Inc.’s products in a sealed place, install a cooling fan to keep the ambient temperature as 50°C or lower. Otherwise a fire or other kinds of accidents may occur due to overheating.
  • Page 9 Do not change cabling while power is being supplied. Otherwise, the user may get injured or the product may get damaged. Do not reconstruct the product. Otherwise, an electric shock may occur or the reconstructed product can not get After Sales Service. MOVENSYS Inc.

  • Page 10: Product Specification

    Chapter 1 Product Specification MOVENSYS Inc.

  • Page 11: Model Naming

    35 : 35mm 42 : 42mm 56 : 56mm 60 : 60mm Motor Length S : Small M : Medium L : Large XL : Extra Large Brake Blank : Without Brake BK : Brake Figure 1.1: Model Naming MOVENSYS Inc.

  • Page 12: Product Dimension

    1. Product Specification 1.2 Product Dimension Figure 1.2: Dimensions of BHY-Step EtherCAT MOVENSYS Inc.

  • Page 13: Ethercat Specifications

    Control Profile CiA402 drive profile (IEC61800-7) Cyclic Synchronous Position Mode Supported Operation Mode Profile Position Mode Homing Mode Free Run, SM Event, DC SYNC Event Synchronization (minimum cycle time: 250us) Processing Data Configurable PDO Mapping Table 1.1: Communication Specification MOVENSYS Inc.

  • Page 14: Drive Specification

    LED Display Power status, Alarm status, Run status, STEP On status 3 dedicated input (LIMIT+, LIMIT-, ORIGIN) Input Signals 7 user inputs (Photocoupler Input) I/O Signal Brake Output Signals 6 user outputs (Photocoupler Output Table 1.2: Drive Specification MOVENSYS Inc.

  • Page 15: Installation

    Chapter 2 Installation MOVENSYS Inc.

  • Page 16: Precautions Of Installation

    3. Do not install this product under direct rays or near magnetic or radioactive objects. 4. If more than 2 drives are installed in a line, keep the interval of 20mm or more vertically and 50mm or more horizontally at least. over 50mm over 20mm MOVENSYS Inc.

  • Page 17: System Configuration

    2. Installation 2.2 System Configuration Figure 2.1: System Configuration Diagram of BHY-Step EtherCAT MOVENSYS Inc.

  • Page 18: External Wiring Diagram

    2. Installation 2.3 External Wiring Diagram BHY-Step EtherCAT Figure 2.3: External Wiring Diagram of BHY-Step EtherCAT MOVENSYS Inc.

  • Page 19: Appearance And Part Name

    2. Installation 2.4 Appearance and Part Name Figure 2.5: Appearance of BHY-Step EtherCAT MOVENSYS Inc.

  • Page 20: Ethercat Id

    If error generates from controller (Fault Status), 7-Segment indicates Error value instead of EtherCAT ID Value. Error value is ‘E-000’ types then 2 digits will be indicated at 7-Segment. Figure 2.8: Error value indication (ex: E-015) Please refer to 4.2 Error Code regarding indication value MOVENSYS Inc.

  • Page 21: Ethercat Status Led

    Non-error status or Power OFF Blinking Extra Error Single Flash Sync Error Double Flash Watch-dog Error Link not established in physical layer Link/Activity Green Link established in physical layer Flickering In operation after establishing link Table 2.1: EtherCAT Status LED MOVENSYS Inc.

  • Page 22: Encoder Connection Connector

    Connection hood F.GND Table 2.2: EtherCAT Connector EtherCAT Communication Cable Recommend to use communication cable Min. CAT5e level above. • CAT5e or above • Shield type : SF/FTP, S/FTP, SF/UTP • Length : Max. 50m (Distance between Nodes) MOVENSYS Inc.

  • Page 23: I/O Connector

    Please individually prepare Power Supply for Output circuit. Possible to share with power supply for input circuit and in this case, please add capacity of power supply for output into capacity of power supply for input. Supply voltage and capacity of power for control output connection as below. MOVENSYS Inc.
  • Page 24 2.4.6 Motor Connection Connector Function A Phase Output B Phase Output /A Phase Output /B Phase Output Table 2.5: Motor Connection Connector of BHY-Step EtherCAT 2.4.7 Power Connection Connector Function 24VDC Input Input Table 2.7: Power Connection Connector of BHY-Step EtherCAT MOVENSYS Inc.

  • Page 25: Usb Connector

    For more information on the PC program, please refer to the program manual. 2.5 Appendix 2.5.1 Extension Cable for Motor For cable extension between Motor and Drive. Connector of Drive Connector of Motor Wiring Pin layout Pin number Pin number Pin layout Table 2.10: Wiring Diagram of BHY-Step EtherCAT MOVENSYS Inc.

  • Page 26: Extension Cable For Encoder

    2. Installation 2.5.2 Extension Cable for Encoder For cable extension between Encoder and Drive. Connector of Drive Connector of Motor Wiring Pin layout Pin number Pin number Pin layout Connect to Shield Table 2.12: Wiring Diagram MOVENSYS Inc.

  • Page 27: Connector Specifications

    Table 2.13: Connector specification of BHY-Step EtherCAT • These connectors are serviced together with BHY-Step EtherCAT except when purchasing option cables. • Above connector is the most suitable product for BHY-Step EtherCAT. Another equivalent con- nector can be used. MOVENSYS Inc.

  • Page 28: Ethercat Communication

    Chapter 3 EtherCAT Communication MOVENSYS Inc.

  • Page 29: Can Application Protocol Over Ethercat

    Communication). This communication method is the way of message transfer and master delivers com- mand and slave responses. SDO Communication used for setting or confirmation of objects at Object Dictionary. This communication can be used under Pre-Operational, Safe-Operational, Operational status of controller. MOVENSYS Inc.

  • Page 30: Process Data Communication

    Object ID value, Low level Index value, length of data (bit unit) of data that will be delivered and received are recorded at Mapping Table. Figure 3.3: PDO Mapping 3.2.2 PDO Assign PDO Assign is to set PDO Mapping Object will be assigned at SyncManager. MOVENSYS Inc.

  • Page 31: Ethercat State Machine

    Available Available Available All of communication is avail- able. Bootstrap Available Non Available Non Available Only mailbox communication is available. Possible to renew F/W of product with using FoE Protocol at this stage. Table 3.1: EtherCAT Operational State MOVENSYS Inc.

  • Page 32: Synchronization

    DC is synchronized time shared between Master and Slave. With synchronized clock, interrupt is gen- erated under accurate synchronization and controller executes commands under accurate timing. In this case, each one of controller has few us range of jitter. MOVENSYS Inc.

  • Page 33: Ethercat Slave Information

    XML format based on EtherCAT specifications. With recording of XML file into EtherCAT Master Equipment through EtherCAT setting equipment, easily implement PDO and SDO setting of Slave device. Information XML file can be downloaded from product website of archives. MOVENSYS Inc.

  • Page 34: Cia402 Drive Profile

    Chapter 4 CiA402 Drive Profile MOVENSYS Inc.

  • Page 35: Drive Status Control

    Status of product moves as follows. Status movement is executed by status of controller and Control word (6040h) and current status can be checked by Status word (6041h). Figure 4.1: Drive State Machine Status movement and meaning of each status is as follows. MOVENSYS Inc.
  • Page 36 Each status of functions supported by controller as follows. Status Brake Function Motor Power Control Command Not ready to switch on Switch on disabled Ready to switch on Switched on Operation enabled Quick stop active Fault reaction active Fault Table 4.2: Function per Status MOVENSYS Inc.

  • Page 37: Control Word

    : it’s an abbreviation for Operation mode specific. Functions vary depending on the Operation Mode. Please refer to the Control word description for each Operation Mode. Safety Activated is a function on BHY-Step EtherCAT that is not specified in CiA402 Drive Profile. MOVENSYS Inc.
  • Page 38 Other bits are as follows. Value Description Control word processed normally. Software Limit was detected. The Safety function was activated and stopped. Please refer to 4.9 Safety Function for Safety function. Table 4.7: Bit description of Status word MOVENSYS Inc.

  • Page 39: Error Code

    Voltage limit of Back-EMF depends on motor model. Please refer to 4.9 Voltage Limit of Back-EMF. The ’Abnormal Safety Input State’ alarm can be clear by recycling the power of the controller. It can not clear by ’Fault Reset’ command of Control word. MOVENSYS Inc.
  • Page 40 The voltage limit of Back-EMF according to the motor model of the product are as follows. Motor Model Voltage Limit Motor Model Voltage Limit Motor Model Voltage Limit BHY-SD-60S BHY-SD-42S BHY-SD-20M BHY-SD-60M BHY-SD-42M BHY-SD-20L BHY-SD-60L BHY-SD-28S BHY-SD-42L BHY-SD-28M BHY-SD-42XL BHY-SD-28L BHY-SD-56S BHY-SD-35M BHY-SD-56M BHY-SD-35L BHY-SD-56L Table 4.9: Voltage Limit of Back-EMF MOVENSYS Inc.

  • Page 41: Mode Of Operation

    Able to set selected operation mode by Mode of operation (6060h). Currently activated operation mode can be checked by Mode of operation display (6061h). Operation modes supported by current controller are as follows. Mode of operation Description Abbreviation Profile Position Mode Homing Mode Cyclic Synchronous Position Mode Table 4.10: Supported Operation Modes MOVENSYS Inc.

  • Page 42: Cyclic Synchronous Position Mode

    Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Switch Quick stop Voltage en- Fault Operation Switched on Ready disabled abled enabled switch on Table 4.12: Status word under CSP Mode MOVENSYS Inc.
  • Page 43 Please refer to drive status control for the rest of bits. Value Description Target position value ignored. Target position value executed. Following Error has occurred. Table 4.13: Bit description of Status word under CSP Mode For other bits, please refer to 4.5 Status word. MOVENSYS Inc.

  • Page 44: Profile Position Mode

    Relative Change Set Enable Quick Stop Enable Volt- Switch On Immedi- Set- Point Operation ately Table 4.14: Control word under Profile Position Mode Please refer to 4.4 Set Control word for status movement for the rest of bits. MOVENSYS Inc.

  • Page 45: Position Movement Method

    Status word (Bit 12) is going to be SET and position movement command executed. Target position refers to Target position (607Ah) and Position value can be absolute coordinates or relative coordinates by Control word of Relative (Bit 6). MOVENSYS Inc.
  • Page 46 Target position override In case of using Control word of Change Set Immediately (Bit 5) under SET status during position move- ment command, able to cancel currently operating position movement command and immediately move to new target position. MOVENSYS Inc.
  • Page 47 If there is no previous position movement command or already completed, command under Change Set Immediately (Bit 5) under SET status is same as general position movement command. MOVENSYS Inc.

  • Page 48: Homing Mode

    Bit 3 Bit 2 Bit 1 Bit 0 Fault Reset Homing Enable Quick Stop Enable Volt- Switch On Operation Operation Start Table 4.18: Control word under Homing Mode The functions of bits added in Homing Mode are as follows. MOVENSYS Inc.

  • Page 49: Origin Search Method

    Set the current position origin and reset current position Table 4.22: Homing Method List Supported origin searching method lists can be also checked from Supported homing methods (60E3h). In the description below, ‘Index pulse’ refers to the Z-Phase singal of the encoder. MOVENSYS Inc.
  • Page 50 (6099h, index 02h) in the negative direction and moves in the opposite direction to detect the Limit Switch again. Then, it moves in the negative direction until Index Pulse is detected, and sets that position as sensor origin position. MOVENSYS Inc.
  • Page 51 When a Origin Switch is detected, it moves out of the Origin Switch at the speed of Speed during search for zero (6099h, index 02h) in the positive direction and moves in the opposite direction to detect the Origin Switch again, and sets that position as sensor origin position. MOVENSYS Inc.
  • Page 52 Method 37: Set the current position origin and reset current position This origin search method is to set current position as sensor origin position. If set value of Home offset (607Ch) is not 0, initialize current position as Home offset value. MOVENSYS Inc.

  • Page 53: Touch Probe

    Able to check whether input signal acknowledged through Touch probe status of bit number 1 ~ 2, 9 ~ 10 (Detected). Acknowledged position value, please check Touch probe 1 positive value, Touch probe 2 positive value, Touch probe 1 negative value, Touch probe 2 negative value. MOVENSYS Inc.
  • Page 54 (Range of this value is 0 ~ 3.) For the frequency of input signal acknowledgement, please check Touch probe 1 positive edge counter, Touch probe 2 positive edge counter, Touch probe 1 negative edge counter, Touch probe 2 negative edge counter. MOVENSYS Inc.

  • Page 55: Digital Input And Output

    Active Level of ORIGIN and LIMIT input signal can be changed through Sensors logics (2001h) of Bit 0, 1. Please refer to Sensors logics. LIMIT+ and LIMIT- input signals can be exchanged through Reverse limit direction (2002h). Interrelation between Reverse limit direction (2002h) and LIMIT+, LIMIT- is as follows. MOVENSYS Inc.

  • Page 56: Brake Output

    Digital Inputs and Digital Output can be used as Safety Function. The setting and monitoring status of Safety Function are available by using Object 2040h: Safety Mode. For the detail, please refer to 6.6.20 Object 2040h: Safety Mode. Information Safety Function feature is supported on devices with Software version (100Ah) 02.02.31 or higher. MOVENSYS Inc.

  • Page 57: Operation Of Safety Function

    Safety Activated (Bit 15 of Status word) indicates the activation status of the Safety Function. Figure 4.17: TQOFF Input (Normal Operation) If the Safety Function is activated while the motor is moving, the power of motor is cut off and stopped by inertia. MOVENSYS Inc.
  • Page 58 When the Safety Function is deactivated, bit 15 of Status word - Safety Activated is turned off and the motor can be powered on again. Refer to 4.1 Drive Status Control for information how to power on or what Drive State Machine is. Please refer to 4.2 Error Code for alarm occurrence and confirmation. MOVENSYS Inc.

  • Page 59: Operation

    Chapter 5 Operation MOVENSYS Inc.

  • Page 60: Operation Sequence

    Set Module and PDO Mapping by setting function of Master. Information Trial operation explains operation by Profile Position Mode. Select the Module: ‘Axis (Normal) : dynamic select operation mode’. Name of Module can be differentiated by each Master. MOVENSYS Inc.

  • Page 61: Set Communication Status

    • Check noise or abnormal vibration from motor during operation. • After completion of motor operation, check Status word whether ‘Target Reached’ shown as 1. • Check Status word whether ‘Fault’ shown as 1. If so, check Error code and execute appropriate action. MOVENSYS Inc.

  • Page 62: Drive Setting Adjustment

    Able to set Active Level of Origin signal by Sensors logics. User I/O Active Level of User I/O, User Input 1 ~ 7 and User Output 1 ~ 6 can be changing by Digital input levels (2011h) and Digital output levels (2012h). MOVENSYS Inc.

  • Page 63: Ethercat Object Dictionary

    Chapter 6 EtherCAT Object Dictionary MOVENSYS Inc.

  • Page 64: Indication Type Of Objects

    0 ~ 65535 4 byte 0 ~ 4294967295 -128 ~ 127 1 byte 2 byte -32768 ~ 32767 -2147483648 ~ 2147483647 4 byte 0 ~ 1 BOOL 1 bit Character string which length is n STR(n) Table 6.2: Data Type MOVENSYS Inc.

  • Page 65: Access

    Value Range indicates input range of correspondent object. correspondent range can be indicated as any range or range of data type can be indicated. 6.1.9 Default Value Indicates basic value of correspondent object. Can be initialized as a correspondent value when returns back to initial value through Restore default parameters (1011h). MOVENSYS Inc.

  • Page 66: Communication Object

    This object indicates version of product hardware. Indicated value can be different by version of product. 6.2.5 Object 100Ah: Software version Index index Name Type Access Constant Value 100Ah Software version STR(8) 01.00.00 This object indicates version of software. Indicated value can be different by version of product. MOVENSYS Inc.

  • Page 67: Object 1010H: Store Parameters

    ‘Abort SDO Transfer (abort code: 0800002xh)’. Information the objects’ value will be set to default after power cycle. In case of reading Sub-Index 01h, following values will be returned. MOVENSYS Inc.

  • Page 68: Object 1018H: Identity

    Sync Error Counter Limit is 12: SM Event occur Counter (changes) 0 (-1) 3 (+3) 2 (-1) 5 (+3) 4 (-1) 3 (-1) 6 (+3) 9 (+3) 12 (+3) / Communication error Table 6.11: Example of the Internal SM Event Missed Counter MOVENSYS Inc.

  • Page 69: Object 10F3H: Diagnosis History

    Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Overwrite / Operation Disable Disable Disable Info Discard Mode Warning Message Error Message Message Table 6.12: Definition of Flags MOVENSYS Inc.
  • Page 70 INT16, 4: INT32, 5: UINT8, 6: UINT16, 7: UINT32) n bytes Parameter 1 1st argument. 18 + n 2 bytes Flags 2 Type and size of Parameter 2. 20 + n n bytes Parameter 2 2nd argument. Table 6.13: The structure of Diagnosis Message MOVENSYS Inc.

  • Page 71: Pdo Mapping Object

    0000 0000h 10th PDO object 0000 0000h This object points TxPDO 0 information among TxPDO setting. Following objects are already mapping: Status word (6041h), Position actual value (6064h) TxPDO-Map 0 is configurable. Please refer to 3.2 PDO Mapping. MOVENSYS Inc.

  • Page 72: Object 1A01H: Txpdo-Map 1

    Name Type Access SAVE index Mapping Range Value 1C12h Number of entries RxPDO assign 1600h 6.3.6 Object 1C13h: TxPDO assign Value Default Index Name Type Access SAVE index Mapping Range Value 1C13h Number of entries TxPDO assign 1A00h MOVENSYS Inc.

  • Page 73: Sync Manager Object

    0780h supported Minimum cycle time 0000 0000h Calc and copy time 0000 0000h Get cycle time 0000h Delay time 0000 0000h Sync0 cycle time 0000 0000h SM-Event missed 0000h Cycle time too small 0000h Sync error BOOL 0000h MOVENSYS Inc.

  • Page 74: Drive Profile Object

    6.5.4 Object 605Ah: Quick stop option code Value Default Index index Name Type Access SAVE Mapping Range Value 605Ah Quick stop option code 0 ~ 2, 5, 6 This object sets motion of immediate stop once controller status is Quick Stop. MOVENSYS Inc.

  • Page 75: Object 605Bh: Shutdown Option Code

    1 ~ 2 This object, Control word - bit 8: Set motion through Halt once stops command. Value Description After decelerated stops, maintains Operation Enabled status. After quick stops, maintain Operation Enabled status. Table 6.20: Halt Option Code MOVENSYS Inc.

  • Page 76: Object 605Eh: Fault Reaction Option Code

    This object indicates current position. This position value indicates the value of Position demand value, not the Encoder value. It can be set to display the position of the external encoder using Object 2004h: External Encoder. Please refer to the corresponiding object. MOVENSYS Inc.

  • Page 77: Object 606Bh: Velocity Demand Value

    If set value is over 0, move toward +direction and less than 0, move toward -direction. 6.5.17 Object 607Dh: Software position limit Value Default Index Name Type Access SAVE index Mapping Range Value 607Dh Number of entries -2147483648 Min position range limit -2147483648 ~ 2147483647 -2147483648 Max position range limit 2147483647 ~ 2147483647 MOVENSYS Inc.

  • Page 78: Object 607Eh: Polarity

    Whatever it receives value of velocity, controller does not move faster than Max Profile Velocity. 6.5.20 Object 6081h: Profile velocity Value Default Index index Name Type Access SAVE Mapping Range Value 6081h Profile velocity RxPDO 1 ~ 2500000 10000 This object sets movement velocity under Profile Position Mode. MOVENSYS Inc.

  • Page 79: Object 6083H: Profile Acceleration

    Speed during search for switch (index 01h) is the velocity is used for correspondent Switch. Please set appropriate velocity to sense correspondent Switch. Speed during search for zero (index 02h) is the velocity is used for searching sensor origin after searching correspondent Switch. MOVENSYS Inc.

  • Page 80: Object 609Ah: Homing Acceleration

    Sense falling edge of 1 signal. 14 ~ 15 6.5.27 Object 60B9h: Touch probe status Value Default Index Name Type Access SAVE index Mapping Range Value 60B9h Touch probe status TxPDO 0000h This object indicates status of Touch Probe 1/2. MOVENSYS Inc.

  • Page 81: Object 60Bah: Touch Probe 1 Positive Value

    6.5.31 Object 60BDh: Touch probe 2 negative value Value Default Index index Name Type Access SAVE Mapping Range Value 60BDh Touch probe 2 negative value TxPDO This object indicates encoder position value sensed by Touch Probe 2 at falling edge. MOVENSYS Inc.

  • Page 82: Object 60C2H: Interpolation Time Period

    6.5.36 Object 60D7h: Touch probe 2 positive edge counter Value Default Index Name Type Access SAVE index Mapping Range Value Touch probe 2 positive edge 60D7h TxPDO counter This object displays the number of times the rising edge of Touch Probe 2 is detected. MOVENSYS Inc.

  • Page 83: Object 60D8H: Touch Probe 2 Negative Edge Counter

    If the value of position deviation goes far from Following error window (6065h) during certain timing, Following Error will be generated. 6.5.40 Object 60FDh: Digital inputs Value Default Index index Name Type Access SAVE Mapping Range Value 60FDh Digital inputs TxPDO 0000 0000h MOVENSYS Inc.

  • Page 84: Object 60Feh: Digital Outputs

    Bit 0: Set Brake controls Brake output signal. Able to manually control Brake as set the value of Bit mask as 1. Value Bit mask Physical outputs Brake Release (ON) Brake Manual Control Brake Engage (OFF) Table 6.31: Set Brake MOVENSYS Inc.

  • Page 85: Object 6502H: Supported Drive Modes

    Cyclic Syn- Interpolated Homing Torque Profile Velocity Profile chronous Position Mode Profile Velocity Mode Position Position Mode Mode Mode Mode Mode Table 6.33: Supported Drive Modes Drive supports Profile Position Mode, Homing Mode and Cyclic Synchronous Position Mode. MOVENSYS Inc.

  • Page 86: Manufacture Specific Object

    It sets 1, IN/OUT connection of LIMIT+ and LIMIT- inputs will be exchanged. Information Please use for exchanging of LIMIT+ and LIMIT- input from IN/OUT connection when it is unable to change current wiring due to incorrect wiring of LIMIT+ and LIMIT- input signal, MOVENSYS Inc.

  • Page 87: Object 2003H: Limit Stop Method

    This object sets whether BHY-Step EtherCAT reads the position of the external encoder or not. Value Definition Description Ignore external encoder The value of Position actual value is the same as Position demand value. Use external encoder Position actual value displays the position of the external encoder. Table 6.37: Use Encoder MOVENSYS Inc.

  • Page 88: Object 2006H: Start Speed

    • Run current is set automatically as load. Therefore use only when torque value during running is insufficient. Information This object can NOT be set while it’s ’Operation Enabled’ state. Please set after ’Operation Disable’. Please refer to 4.1 Drive Status Control. MOVENSYS Inc.

  • Page 89: Object 2008H: Boost Current

    This object can NOT be set while it’s ‘Operation Enabled’ state. Please set after ‘Operation Disable’. Please refer to 4.1 Drive Status Control. 6.6.9 Object 200Ah: Motor number Value Default Index index Name Type Access SAVE Mapping Range Value 200Ah Motor number This Object indicates number of motor currently set. MOVENSYS Inc.

  • Page 90: Object 200Ch: Reference Resolution

    This object is supported on devices with Software version (100Ah) 02.02.23 or higher. 6.6.12 Object 2010h: Brake delay Value Default Index index Name Type Access SAVE Mapping Range Value 2010h Brake delay 0 ~ 1000 This Object sets timing up to Brake release after Enable commands. MOVENSYS Inc.

  • Page 91: Object 2011H: Digital Input Levels

    6.6.16 Object 2020h: Error code history setting Value Default Index Name Type Access SAVE index Mapping Range Value 2020h Number of entries Function Interval for same Error Code 0 ~ 3600000 Interval for last Error Code 0 ~ 3600000 MOVENSYS Inc.

  • Page 92: Object 2021H: Error Code History

    The list of Error code stored in Error code history will not be erased even if the controller is powered off. Please refer to the function of Error code history setting to initialize the list of Error code history. Information This object is supported on devices with Software version (100Ah) 02.02.23 or higher. MOVENSYS Inc.

  • Page 93: Object 2025H: Lifetime Record

    It displays the total time it has been powered on and the drive is the Operation enabled state for a lifetime (Since the product was shipped). The unit is [s]. Times below the decimal point are discarded when the controller is power off. MOVENSYS Inc.

  • Page 94: Object 2030H: Advanced Settings

    Config Internal Limit Active 0 ~ 1 Enable Packet Delay 0 ~ 1 Compensation Transit to Fault state when 0 ~ 1 Safety activated Information This object is supported on devices with Software version (100Ah) 02.02.30 or higher. MOVENSYS Inc.

  • Page 95: Object 2040H: Safety Mode

    Type Access SAVE index Mapping Range Value 2040h Number of entries Safety Status Control Safety Input 0 ~ 2 Control Safety Output 0 ~ 1 Safety IO Logics This object set the Safety Function and indicates the status. MOVENSYS Inc.
  • Page 96 TQOFF Input is OFF. Table 6.44: Control Safety Output When Digital Out1 was assigned to the Safety Function, the value of bit 16 of Object 60FEh: Digital outputs that controls the output of Digital Out1 is ignored. MOVENSYS Inc.
  • Page 97 1, if Safety Output is ON, the photocoupler of the assigned output as Safety Output is [OFF : Non-conduction]. Value Definition Output status Photocoupler status ON : Conduction Low active OFF : Non-conduction ON : Conduction High active OFF : Non-conduction Table 6.47: Safety Output Logic MOVENSYS Inc.
  • Page 98 • It is prohibited to copyright or replication of the part or whole of user manual without permission. • When user manual is needed due to damage or loss, please contact Head Quarter of MOVENSYS or our distributors. • The user manual can be changed without pre-notification in order to reflect improvement or change of the product specifications and for the improvement of user manual.

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