MOVENSYS Dunamis Manuals

Manuals and User Guides for MOVENSYS Dunamis. We have 1 MOVENSYS Dunamis manual available for free PDF download: User Manual

MOVENSYS Dunamis User Manual (98 pages)

Open Loop Stepping System EtherCAT Network

Brand: MOVENSYS | Category: Network Hardware | Size: 2 MB

Table of Contents
2
Introduction
6
Before Operation
6
Safety Precautions
7
Product Specification
10
Model Naming
11
Product Dimension
12
Ethercat Specifications
13
Drive Specification
14
Installation
15
Precautions of Installation
16
System Configuration
17
External Wiring Diagram
18
Appearance and Part Name
19
Ethercat ID
20
Ethercat Communication Connection
20
Ethercat Status LED
21
Encoder Connection Connector
22
Motor Connection Connector
22
Power Connection Connector
22
I/O Connector
23
Extension Cable for Motor
23
USB Connector
25
Appendix
25
Extension Cable for Encoder
26
Connector Specifications
27
Ethercat Communication
28
CAN Application Protocol over Ethercat
29
Object Dictionary
29
Mailbox Communication
29
Process Data Communication
30
PDO Mapping
30
PDO Assign
30
Ethercat State Machine
31
Synchronization
32
Free Run
32
SM Event
32
DC Sync Event
32
Ethercat Slave Information
33
Cia402 Drive Profile
34
Drive Status Control
35
Control Word
37
Status Word
37
Error Code
39
Mode of Operation
41
Cyclic Synchronous Position Mode
42
Definition
42
Related Objects
42
Control Word and Status Word
42
Profile Position Mode
44
Definition
44
Related Objects
44
Control Word and Status Word
44
Position Movement Method
45
Homing Mode
48
Definition
48
Relative Objects
48
Control Word and Status Word
48
Origin Search Method
49
Touch Probe
53
Definition
53
Related Objects
53
Touch Probe Status and Control
53
Digital Input and Output
55
Definition
55
Related Objects
55
User I/O
55
ORIGIN and LIMIT Input
55
BRAKE Output
56
Safety Function
56
Operation of Safety Function
57
Operation
59
Operation Sequence
60
Setting
60
Installation
60
Wiring
60
Input Power
60
PDO Mapping
60
Set Communication Status
61
Operation
61
Drive Status Control
61
Set Mode
61
Set Operation
61
Movement Command
61
Check Statues
61
Drive Setting Adjustment
62
Change Rotation Direction
62
Change I/O Signal Level
62
Ethercat Object Dictionary
63
Indication Type of Objects
64
Index and Sub-Index
64
Name
64
Data Type
64
Access
65
Save
65
PDO Mapping
65
Constant Value
65
Value Range
65
Default Value
65
Communication Object
66
Object 1000H: Device Type
66
Object 1001H: Error Register
66
Object 1008H: Device Name
66
Object 1009H: Hardware Version
66
Object 100Ah: Software Version
66
Object 1010H: Store Parameters
67
Object 1011H: Restore Default Parameters
67
Object 1018H: Identity
68
Object 10F1H: Error Settings
68
Object 10F3H: Diagnosis History
69
PDO Mapping Object
71
Object 1600H: Rxpdo-Map 0
71
Object 1601H: Rxpdo-Map 1
71
Object 1A00H: Txpdo-Map 0
71
Object 1A01H: Txpdo-Map 1
72
Object 1C12H: Rxpdo Assign
72
Object 1C13H: Txpdo Assign
72
Sync Manager Object
73
Object 1C00H: Sync Manager Type
73
Object 1C32H: SM Output Parameter
73
Object 1C33H: SM Input Parameter
73
Drive Profile Object
74
Object 603Fh: Error Code
74
Object 6040H: Control Word
74
Object 6041H: Status Word
74
Object 605Ah: Quick Stop Option Code
74
Object 605Bh: Shutdown Option Code
75
Object 605Ch: Disable Operation Option Code
75
Object 605Dh: Halt Option Code
75
Object 605Eh: Fault Reaction Option Code
76
Object 6060H: Mode of Operation
76
Object 6061H: Mode of Operation Display
76
Object 6062H: Position Demand Value
76
Object 6064H: Position Actual Value
76
Object 606Bh: Velocity Demand Value
77
Object 606Ch: Velocity Actual Value
77
Object 607Ah: Target Position
77
Object 607Ch: Home Offset
77
Object 607Dh: Software Position Limit
77
Object 607Eh: Polarity
78
Object 607Fh: Max Profile Velocity
78
Object 6081H: Profile Velocity
78
Object 6083H: Profile Acceleration
79
Object 6084H: Profile Deceleration
79
Object 6098H: Homing Method
79
Object 6099H: Homing Speeds
79
Object 609Ah: Homing Acceleration
80
Object 60B8H: Touch Probe Function
80
Object 60B9H: Touch Probe Status
80
Object 60Bah: Touch Probe 1 Positive Value
81
Object 60Bbh: Touch Probe 1 Negative Value
81
Object 60Bch: Touch Probe 2 Positive Value
81
Object 60Bdh: Touch Probe 2 Negative Value
81
Object 60C2H: Interpolation Time Period
82
Object 60D0H: Touch Probe Source
82
Object 60D5H: Touch Probe 1 Positive Edge Counter
82
Object 60D6H: Touch Probe 1 Negative Edge Counter
82
Object 60D7H: Touch Probe 2 Positive Edge Counter
82
Object 60D8H: Touch Probe 2 Negative Edge Counter
83
Object 60E3H: Supported Homing Methods
83
Object 60F4H: Following Error Actual Value
83
Object 60Fdh: Digital Inputs
83
Object 60Feh: Digital Outputs
84
Object 6502H: Supported Drive Modes
85
Manufacture Specific Object
86
Object 2001H: Sensors Logics
86
Object 2002H: Reverse Limit Direction
86
Object 2003H: Limit Stop Method
87
Object 2004H: External Encoder
87
Object 2006H: Start Speed
88
Object 2007H: Run Current
88
Object 2008H: Boost Current
89
Object 2009H: Stop Current
89
Object 200Ah: Motor Number
89
Object 200Ch: Reference Resolution
90
Object 200Fh: Encoder Filter Time
90
Object 2010H: Brake Delay
90
Object 2011H: Digital Input Levels
91
Object 2012H: Digital Output Levels
91
Object 201Bh: Limit Deceleration
91
Object 2020H: Error Code History Setting
91
Object 2021H: Error Code History
92
Object 2025H: Lifetime Record
93
Object 2030H: Advanced Settings
94
Object 2040H: Safety Mode
95

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MOVENSYS Dunamis User Manual (98 pages)

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