Ä.Ckòä KHB 13.0002−EN .
0Fig. 0Tab. 0 2 l KHB 13.0002−EN 4.
Contents 1 2 3 4 5 i About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.3 Notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
i 6 7 4 Contents 5.6 Emergency telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.6.1 Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.6.2 Description of the objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 44 46 5.7 Heartbeat telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.7.
Contents 8 9 i 7.6 Position controller (position control function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.6.2 Description of the objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 82 84 7.7 Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.7.
i 10 11 6 Contents 9.5 Synchronous position selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.5.2 Description of the objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.5.3 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 113 114 115 9.
About this documentation 1 1 About this documentation Contents This documentation only contains descriptions for the CAN bus system and CANopen−specific functions for servo inverters of the 931 series. ) Note! This documentation completes the mounting instructions coming with the 931 servo inverter and the corresponding hardware manual.
1 About this documentation Document history 1.1 Document history Material number Version Description – 1.0 LKA First edition – 1.1 13190599 2.0 11/2006 TD34 LKA Revision Complete revision 13344512 3.0 04/2010 TD34 Extended by the 931K servo inverter, chapter "Node guarding telegram" has been added, general revision 13347463 4.0 08/2010 TD09 Complete revision .Ckò 4.
About this documentation 1 Notes used 1.3 Notes used The following pictographs and signal words are used in this documentation to indicate dangers and important information: Safety instructions Structure of safety instructions: } Danger! (characterises the type and severity of danger) Note (describes the danger and gives information about how to prevent dangerous situations) Pictograph and signal word Meaning { Danger! Danger of personal injury through dangerous electrical voltage.
2 Product description Product features 2 Product description 2.1 Product features CAN bus features: 10 ƒ Full compatibility according to CANopen DS301, V4.02. ƒ Support of NMT slave "Heartbeat" function (DS301 V4.02). ƒ Number of parameterisable server SDO channels: – max. 2 channels with 1 ... 8 bytes ƒ Number of parameterisable PDO channels: – max. 2 transmit PDOs (TPDOs) with 1 ... 8 bytes (can be set) – max. 2 receive PDOs (RPDOs) with 1 ...
Technical data 3 Communication data 3 Technical data 3.1 Communication data Communication KHB 13.0002−EN Field Values Communication profile DS 301, DSP 402 Communication medium RS232 Network topology Without repeater: line / with repeaters: line or tree CAN node Slave Baud rate (in kbps) 125, 250, 500 Max. cable length per bus segment 1000 m (depending on baud rate and cable type) Bus connection RJ45 (931E), M12 (931K) 4.
4 Electrical installation Wiring according to EMC 4 Electrical installation 4.1 Wiring according to EMC General notes l Assembly l Shielding l l l Earthing l 12 The electromagnetic compatibility of the drive depends on the type of installation and the care taken. Especially observe: – Assembly – Shielding – Earthing l In the case of differing installations, the evaluation of the conformity to the EMC Directive requires the system to be checked for compliance with the EMC limit values.
Electrical installation 4 Electrical connections of CANopen 4.2 Electrical connections of CANopen A1 An A2 X4.1 X4.2 X4.1 X4.2 CG HI LO LO HI CG CG HI LO LO HI CG 120 W 120 6 7 8 9 1 2 3 4 5 120 W PES PES PES PES CAN-GND CAN-HIGH CAN-LOW 931e_420 Fig. 1 Basic wiring of CANopen with Sub−D connector to the master A1 Node 1 − master (e.g. PLC) A2 Node 2 − slave (e.g. drive controller 931E) An Node n − slave, n = max.
4 Electrical installation Connection of CAN bus slave 4.3 Connection of CAN bus slave Features ƒ Parameter selection ƒ Data exchange between drive controllers ƒ Connection of operator and input devices ƒ Connection of higher−level controls ƒ Baud rates of 125, 250, 500 kBaud ( Stop! An external 120 W terminating resistor is required to terminate the bus system. Connection plan for RJ45 socket (931E) X4.1 / X4.2 931E−001.iso Fig. 2 14 Connection of CAN bus (X4.1, X4.2) Pin no.
Electrical installation 4 Connection of CAN bus master Connection plan for M12 socket (931K) X4.1 / X4.2 Input contact pattern 4.4 Output contact Pin pattern Signal Explanation 1 CAN_SHLD CAN_Shield 2 Reserved 3 CAN_GND CAN_Ground 4 CAN_H CAN_HIGH (high is dominant) 5 CAN_L CAN_LOW (low is dominant) Connection of CAN bus master The below table shows the assignment of a 9−pin Sub−D socket such as provided by most CAN masters for the connection of field devices.
5 CANopen communication About CANopen Structure of the CAN data telegram 5 CANopen communication 5.1 About CANopen The CANopen protocol is a standardised layer 7 protocol for the CAN bus. This layer is based on the CAN application layer (CAL), which has been developed as a universal protocol. In practice, however, it became clear that applications with CAL were too complex for the user.
CANopen communication 5 About CANopen Identifier Direction Object From the drive To the drive Hex NMT 0 Sync 80 Emergency PDO1 (process data channel 1) PDO2 (process data channel 2) 5.1.
5 CANopen communication About CANopen User data 5.1.4 User data The master and the drive controller communicate with each other by exchanging data telegrams via the CAN bus. The user data range of the CAN telegram contains network management data, parameter data or process data: 18 ƒ Network management data (NMT data) Network service: E.g. all CAN nodes can be addressed at the same time. ƒ Process data (PDO, process data objects) – Process data is transferred via the process data channel.
CANopen communication 5 Parameter data transfer (SDO transfer) Telegram structure 5.2 Parameter data transfer (SDO transfer) 5.2.
5 CANopen communication Parameter data transfer (SDO transfer) Telegram structure Command code 11 bits 4 bits User data (up to 8 bytes) 1st byte Identifier Data length 2nd byte 3rd byte 4th byte Command Index Index Subindex code low byte high byte 5th byte 6th byte 7th byte 8th byte Data 1 Data 2 Data 3 Data 4 Error code The command code contains the services for writing and reading parameters and the information on the length of the user data.
CANopen communication 5 Parameter data transfer (SDO transfer) Telegram structure Index low byte / index high byte 11 bits 4 bits User data (up to 8 bytes) 1st byte Identifier Data length 2nd byte 3rd byte 4th byte Command Index Index Subindex code low byte high byte 5th byte 6th byte 7th byte 8th byte Data 1 Data 2 Data 3 Data 4 The object to be addressed is contained in bytes 2 and 3 of the telegram.
5 CANopen communication Parameter data transfer (SDO transfer) Telegram structure Error code (F0 ... F3) 11 bits 4 bits User data (up to 8 bytes) 1st byte Identifier Data length 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte F0 F1 F2 F3 Command Index Index Subindex code low byte high byte Error code ƒ Byte 1: Code 80h in the command code byte indicates that an error has occurred.
CANopen communication 5 Parameter data transfer (SDO transfer) Reading parameters (example) 5.2.2 Reading parameters (example) Problem The numerator setting (object 6093_01) of the drive controller with node address 1 is to be read via the parameter channel.
5 CANopen communication Parameter data transfer (SDO transfer) Writing parameters (example) 5.2.3 Writing parameters (example) Problem The numerator (object 6093_01) of the drive controller with node address 1 is to be set to 216000 via the SDO (parameter data channel).
CANopen communication 5 Process data transfer (PDO transfer) Telegram structure 5.3 Process data transfer (PDO transfer) Process data objects (PDOs) can be used, for instance, for the fast event−controlled transfer of data. The PDO transfers one or several parameters specified in advance. Unlike with an SDO, the transfer of a PDO is not acknowledged. After the PDO activation, all receivers must therefore always be able to process any arriving PDOs.
5 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 5.3.3 Objects for PDO parameterisation Two transmit PDOs (TPDO) and two receive PDOs (RPDO) are available in the drive controller. The different objects of the PDOs are identical. 1.
CANopen communication 5 Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name 1A00h Transmit PDO1 Mapping Parameter Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} REC UINT32 RW Maximum number of supported subindexes 01h 1 first_mapped_ object 04h 1 subindex is supported 60410010h {1h} UINT32 RW Entry of the COB ID of the first mapped object 2 second_mapped_ object UINT32 RW Entry
5 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 2. Transmit PDO Index 1801h Name Possible settings Characteristics Lenze Description Selection Transmit PDO2 Communication Parameter 0 number_of_entries 00h {1h} 04h REC UINT8 RO Maximum number of supported subindexes 03h 1 COB−ID_used_by_ PDO 00000281h {1h} 000002FFh UINT32 RW Identifier of transmit PDO2, (280h + node address).
CANopen communication 5 Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name 1A01h Transmit PDO2 Mapping Parameter Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h REC 02h 60410010h 2 second_mapped_ object 60610008h 2 subindexes are supported. {1h} UINT32 RW Entry of the COB ID of the first mapped object. {1h} UINT32 RW Entry of the COB ID of the second mapped object.
5 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 1. Receive PDO Index 1400h Name Possible settings Characteristics Lenze Description Selection Receive PDO1 Communication Parameter 0 number_of_entries 00h {1h} 04h REC UINT8 RO Maximum number of supported subindexes 02h 1 COB−ID_used_by_ PDO 00000201h 2 subindexes are supported.
CANopen communication 5 Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name 1600h Receive PDO1 Mapping Parameter Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} REC UINT32 RW Maximum number of supported subindexes. 01h 1 first_mapped_ object 04h 1 subindex is supported. 60400010h {1h} UINT32 RW Entry of the COB ID of the first mapped object.
5 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 2. Receive PDO Index 1401h Name Possible settings Characteristics Lenze Description Selection Receive PDO2 Communication Parameter 0 number_of_entries 00h {1h} 04h REC UINT8 RO Maximum number of supported subindexes 02h 1 COB−ID_used_by_ PDO 00000301h 2 subindexes are supported.
CANopen communication 5 Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name 1601h Receive PDO2 Mapping Parameter Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h REC 02h 60400010h 2 second_mapped_ object 60600008h 2 subindexes are supported. {1h} UINT32 RW Entry of the COB ID of the first mapped object. {1h} UINT32 RW Entry of the COB ID of the second mapped object.
5 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 1. Transmit masking Index 2014h Name Possible settings Characteristics Lenze Description Selection Transmit PDO1 Mask ARR 0 number_of_entries UINT8 RO Maximum number of supported subindexes 1 tpdo1_transmit_ mask_low FFFFFFFFh 2 tpdo1_transmit_ mask_high FFFFFFFFh 00000000h {1h} FFFFFFFFh UINT32 RW Mask for masking out individual bits of the PDOs.
CANopen communication 5 Process data transfer (PDO transfer) Description of the objects 5.3.4 Description of the objects Identifier of the PDO (COB_ID_used_by_PDO) The identifier on which the respective PDO is to be sent or received must be entered in the COB_ID−used_by_PDO object. If bit 31 is set, the respective PDO is deactivated. This is the default setting for all PDOs. In addition, bit 30 (no RTR allowed) must be set for every access. The COB ID can only be changed if the PDO is deactivated, i.e.
5 CANopen communication Process data transfer (PDO transfer) Description of the objects Objects to be transferred (first_mapped_object ... fourth_mapped_object) For every object to be contained in the PDO, the drive controller must know the corresponding index, subindex and length. The specified length must be identical to the length specified in the object dictionary. It is not possible to map parts of an object.
CANopen communication 5 Process data transfer (PDO transfer) Example of a process data telegram 5.3.
5 CANopen communication Process data transfer (PDO transfer) Activation of the PDOs 5.3.6 Activation of the PDOs The following criteria must be met to enable the drive controller to send or receive PDOs: ƒ The number_of_mapped_objects object must be non−zero. ƒ Bit 31 of the cob_id_used_for_pdos object must be deleted. ƒ The communication state of the controller must be operational (see chapter 5.5, network management).
CANopen communication 5 Sync telegram Telegram structure 5.4 Sync telegram The sync telegram is an additional and special telegram which enables the drive controller to cyclically read / accept process data. 5.4.1 Telegram structure 11 bits 4 bits Identifier Data length The identifier on which the drive controller receives the sync telegram is permanently set to 080h. The data length is 0. 5.4.
5 CANopen communication Sync telegram Description of the objects 5.4.3 Index 1005h Description of the objects Name 0 COB−ID_sync_ message Lenze Selection 00000080h 00000080h Description {1h} 00000080h VAR UINT32 RW Synchronisation object identifier 80h. Bit no. Value 0 − 10 x 11−bit identifier. 11 − 28 0 29 0 The extended identifier (bit 29) is not supported. Each bit of this range must be "0". 30 0 Device does not generate sync telegrams. 1 Device generates sync telegrams.
CANopen communication 5 Network management (NMT) Communication phases of the CAN network (NMT) 5.5 Network management (NMT) Via the network management, the master can carry out state changes for the entire CAN network. For this purpose, the identifier with the highest priority (000h) is reserved. 5.5.1 Communication phases of the CAN network (NMT) With regard to communication the controller knows the following states: KHB 13.
5 CANopen communication Network management (NMT) Telegram structure 5.5.2 Telegram structure 11 bits Identifier 4 bits Data length User data (2 bytes) 1st byte 2nd byte CS NI 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Via the NMT, commands can be sent to one or all drive controllers. Each command consists of two bytes. The first byte contains the command code (command specifier, CS) and the second byte contains the node address (node ID, NI) of the addressed drive controller.
CANopen communication 5 Network management (NMT) Telegram structure State transitions (1) Initialisation (2) (14) (11) Pre-Operational (7) (4) (13) (3) (12) (10) (5) Stopped (6) (9) (8) Operational E82ZAFU004 Fig. 5 Network management state transitions State transition Command (hex) Network state after change Effect on process and parameter data after state change At power−on the initialisation is started automatically.
5 CANopen communication Emergency telegram Telegram structure 5.6 Emergency telegram The drive controller monitors the functioning of its main components (including voltage supply, power stage, angle encoder evaluation, technology slots). In addition, the motor (temperature, angle encoder) and the limit switches are checked continuously. Incorrect parameter settings can also cause error messages (division by zero, etc.).
CANopen communication 5 Emergency telegram Telegram structure The following error codes may appear: Error cause KHB 13.0002−EN Display 2nd byte 1st byte 3rd byte 4th ... 8th byte E1 E0 Motor overtemperature 03 43 10 00 ... 00 Insufficient temperature/overtemperature of power electronics 04 42 10 00 ... 00 SINCOS supply error 05 73 92 00 ... 00 SINCOS−RS485 communication error 06 73 91 00 ... 00 SINCOS track signal error 07 73 90 00 ...
5 CANopen communication Emergency telegram Description of the objects 5.6.2 Description of the objects Index Name Lenze 1001h Characteristics Possible settings Selection Description VAR 0 error_register UINT8 RO MAP Reading−out of the error register. 1003h 0 pre_defined_error_ 0 field Bit no.
CANopen communication 5 Heartbeat telegram Telegram structure 5.7 Heartbeat telegram The heartbeat telegram in implemented to monitor the communication between the drive controller and the master. For this purpose, the controller cyclically sends messages to the master. The master can check the cyclic transmission of these messages and initiate corresponding measures if they are missing. The heartbeat telegram is sent with the identifier 700h (1792d) + node address.
5 CANopen communication Heartbeat telegram Telegram structure COB-ID = 1792 + Node-ID Heartbeat Producer 0 request 1 s r 6…0 7 Heartbeat Producer Time Heartbeat Consumer indication indication indication 0 request indication 1 s r 6…0 7 indication indication indication Heartbeat Consumer Time indication Heartbeat Consumer Time Heartbeat Event epm−t134 Fig.
CANopen communication 5 Heartbeat telegram Description of the objects 5.7.2 Description of the objects Index 1017h Name 0 producer_ heartbeat_time Characteristics Possible settings Lenze Selection 0 0 Description {1 ms} 4.1 VAR UINT16 RW Time interval between two heartbeat telegrams. If the drive controller starts with a non−zero time value, the boot−up telegram is considered to be the first heartbeat. 0 KHB 13.
5 CANopen communication Heartbeat telegram Boot−up telegram 5.8 Boot−up telegram After the supply voltage has been switched on or after a reset, the drive controller sends the boot−up telegram indicating that the initialisation phase is completed. The controller then is in the NMT state pre−operational. 5.8.
CANopen communication 5 Node guarding telegram Overview 5.9 Node guarding telegram 5.9.1 Overview The node guarding telegram is used to monitor the communication between salve (drive) and master. In contrast to the heartbeat telegram, here, master and slave mutually monitor each other. The master cyclically polls the NMT status of the slave. In every controller response, a certain bit will be inverted (toggled). If no response is received, the master will react accordingly.
5 CANopen communication Node guarding telegram Overview NMT-Master NMT-Slave RTR Indication Request 8 Confirm t .... 1 s Response Node Guard Time Node Life Time RTR Indication Request 8 Confirm Node Guarding Event t .... 1 s Response RTR EMERGENCY Life Guarding Event E82ZAFU010 52 l KHB 13.0002−EN 4.
CANopen communication 5 Node guarding telegram Telegram structure 5.9.2 Telegram structure Remote Transmit Request (RTR) NMT-Master NMT-Slave RTR Indication Request 8 t Confirm .... 1 s Response 9400CAN020 The NMT master cyclically sends a data telegram to the NMT slave which is referred to as remote frame (Remote Transmit Request/RTR). ƒ For this purpose, the RTR bit in the arbitration field of the RTR is set to the valency LOW (dominant level). ƒ The RTR does not contain user data.
5 CANopen communication Node guarding telegram Telegram structure Bit (s) Status of NMT slave Stopped Value s 04h 6 5 4 3 2 1 0 0 0 0 0 1 0 0 Operational 05h 0 0 0 0 1 0 1 Pre−operational 7Fh 1 1 1 1 1 1 1 Guard time The time interval with which the NMT master sends the RTR telegram is the "Guard time", object 100C. For each NMT slave, an individual time interval can be set. The RTR prompts the NMT slave to send its current data.
CANopen communication 5 Node guarding telegram Description of the objects 5.9.3 Description of the objects Index Name Lenze 100Ch 0 guard_time Characteristics Possible settings 0 Selection Description 0 VAR {1 ms} 65535 UINT16 RW For activating the node guarding monitoring function, the maximum time between two remote requests from the master is parameterised. The controller calculates this time from the product of guard_time and life_time_factor.
6 Commissioning Activation of CANopen 6 Commissioning 6.1 Activation of CANopen The CAN interface is activated once with the CANopen protocol via the serial interface of the drive controller. The CAN protocol is activated via the CANopen window of the small drive control (SDC).
Commissioning 6 Speed control Parameterising of a process data object (TPDO and RPDO) 6.2 Speed control The purpose of this example is to show how a speed control can be commissioned via the CAN bus. 1. Use/activation of the transmit PDO1 (transmission of actual speed and status word) and of the receive PDO1 (setpoint speed) 2. Control of the network management 3. Parameterisation of the motor, current and speed controller 4. Definition of the operating mode (speed control) 5.
6 Commissioning Speed control Parameterising of a process data object (TPDO and RPDO) No. Description Identi Control Comma fier field nd code Data length Index Low byte High byte Subin Data 1 Data 2 Data 3 Data 4 dex 1 Network management (NMT) For the parameterisation of the PDO, the network management is set to the ’pre−operational’ mode (80h). 00 2 80 00 00 00 00 00 00 00 2 Deactivation of the TPDO The PDO is deactivated by setting bit 31.
Commissioning 6 Speed control Parameterising of a process data object (TPDO and RPDO) No. Description Identi Control Comma fier field nd code Data length Index Low byte High byte Subin Data 1 Data 2 Data 3 Data 4 dex 1 Network management (NMT) For the parameterisation of the PDO, the network management is set to the ’pre−operational’ mode (80h). 00 2 80 00 00 00 00 00 00 00 2 Deactivation of the RPDO The RPDO is deactivated by setting bit 31.
6 Commissioning Speed control Parameterising of the motor and the current controller 6.2.2 Parameterising of the motor and the current controller In addition to the motor parameters (rated current, number of pole pairs), the safety−relevant parameters (max. current, i2t tripping criterion) also have to be specified in advance. The current controller parameters can be adapted as well. No.
Commissioning 6 Speed control Parameterising of the speed control 6.2.3 Parameterising of the speed control Before a control can be put into operation, it is often necessary to adapt the controller parameters in order to ensure a dynamic and sufficiently damped operational performance. The dimensioning of the controller parameters depends on the existing system / the respective process and must be executed in advance.
6 Commissioning Speed control Running through the state machine 6.2.4 Running through the state machine After all parameters required for the cascade control (current and speed control) have been defined, the drive can be commissioned via the state machine. First a speed setpoint is defined and sent once via an SDO access and once via the RPDO. Then the run through the state machine follows. No.
Commissioning 6 Speed control Running through the state machine Switched on disabled State Ready to switch on Switched on Operation Enable d ex x an ier ind inde tif ngth mm n i n b a e o e u L C Id S M Controlword Shut down 601h 6 2Bh 40h 60h 00h 06h 00h 00h 00h Controlword Switch on 601h 6 07h 40h 60h 00h 07h 00h 00h 00h Controlword Enable Operation 601h 6 0Fh 40h 60h 00h 0Fh 00h 00h 00h Speed control during operation (change of speed setpoint is possible) Switched on disabled Contro
6 Commissioning Position control Parameterising of the homing run 6.3 Position control The aim of this example is to show the principle of parameterising and executing homing runs. A drive controller with the node address 1 is assumed to be the communicating node. In addition, the commissioning of a position control is explained. The lower−level current and speed control must be set according to chapters 6.2.2 and 6.2.3. The following description assumes these drive controllers being set accordingly. 6.
Commissioning 6 Position control Parameterising of the homing run No. Description Identi Control Comma fier field nd code Data length Index Low byte High byte Subin Data 1 Data 2 Data 3 Data 4 dex 1 State query (read) Each change of the state must be executed depending on the initial state. After a state change you have to wait for the state change being indicated in the status word.
6 Commissioning Position control Running through the state machine 6.3.2 Running through the state machine When the homing run has been performed, the position control can be executed. This requires that the target position is defined. In addition the position controller, the required control accuracy, and the ramps and the speed for the profile generator must be parameterised. No.
Commissioning 6 Position control Running through the state machine A change in the position is performed – as for all other operating modes as well – via a change of the state machine. This is described below: No. Description Identi Control Comma fier field nd code Data length Index Low byte High byte Subin Data 1 Data 2 Data 3 Data 4 dex 1 Selection of the position setpoint via SDO access The position setpoint (target_position) is set to 1000 rev (1 rev = 4096 increments).
6 Commissioning Position control Running through the state machine In Fig. 8, the state changes and the corresponding states are represented graphically. The process of running through the state machine is independent of the selected operating mode (torque, speed or position control).
Parameter setting 7 Loading and saving of parameter sets Overview 7 Parameter setting Before the drive controller can perform the required task (torque or speed control or positioning), several controller parameters have to be adapted to the motor used and to the specific application. For this purpose you should keep to the sequence given in the following chapters. These chapters first explain the parameterisation and then the device control and the use of the different operating modes. 7.
7 Parameter setting Loading and saving of parameter sets Overview There are two possible variants for the parameter set management: 1. The parameter set is created with the Small Drive Control (SDC) parameterisation program and transferred to the different drive controllers. When this method is used, only the objects which can solely be accessed via CANopen have to be set via the CAN bus.
Parameter setting 7 Loading and saving of parameter sets Description of the objects 7.1.2 Description of the objects Index 1010h Name Possible settings Characteristics Lenze Description Selection 0 store_parameters ARR UINT8 RO RW Not used. 1 save_all_ parameters 00000001h 00000000h {1h} 65766173h UINT32 Acceptance of default parameter set in application parameter set. 00000000h 65766173h 1011h Default parameter set is not accepted. Save Default parameter set is accepted.
7 Parameter setting Conversion factors (factor group) Overview 7.2 Conversion factors (factor group) 7.2.1 Overview Drive controllers are used in numerous applications, for instance as direct drives, with downstream gearboxes, for linear drives, etc. To enable simple parameterisation for all these different applications, the drive controller can, by means of the factory group, be parameterised in such a way that the user can enter or read out all quantities (e.g.
Parameter setting 7 Conversion factors (factor group) Overview In the controller, all parameters are stored in the form of internal units. When they are written or read out, they are converted by means of the factor group. ) Note! The factor group should be set prior to the first parameterisation and should not be changed during a parameterisation process.
7 Parameter setting Conversion factors (factor group) Description of the objects 7.2.2 Description of the objects Object 6093h: position_factor The position_factor object serves to convert all length units of the application from position_units to the internal unit of increments (65535 increments correspond to 1 revolution). The numerator and the denominator have to be written separately into the drive controller.
Parameter setting 7 Conversion factors (factor group) Description of the objects Object 6094h: velocity_encoder_factor The velocity_encoder_factor object serves to convert all speed values of the application from speed_units to the internal unit of revolutions per minute. The object consists of two parts: A factor for conversion of internal length units to position_units and a factor for conversion of internal time units to user−defined time units.
7 Parameter setting Power stage parameters Overview 7.3 Power stage parameters 7.3.1 Overview The power stage of the drive controller comprises several safety functions, some of which can be parameterised: 7.3.
Parameter setting 7 Power stage parameters Description of the objects Index 6510h Name 10 enable_logic Possible settings Characteristics Lenze Selection 2 0 Description {1} 2 UINT16 RW MAP Setting of the power stage enable. KHB 13.0002−EN 4.
7 Parameter setting Current controller and motor adaptation Overview 7.4 Current controller and motor adaptation ( Stop! Motor and drive controller overload The current controller parameters and the current limitation can be set incorrectly and cause overloading of the motor and the drive controller. Possible consequences: ƒ The motor and the drive controller can be damaged within a very short period of time.
Parameter setting 7 Current controller and motor adaptation Description of the objects 7.4.2 Description of the objects Index 6075h 6073h Name Possible settings Characteristics Lenze Selection Description 0 motor_rated_ current 500 0 0 max_current 2023 {1 mA} VAR UINT32 RW MAP Input value for Ir (specified on the motor nameplate). The value must be smaller than the rated controller current. If this index is changed, the index 6073h max_current also must be parameterised again.
7 Parameter setting Current controller and motor adaptation Description of the objects Index Name Possible settings Lenze 2415h Characteristics Selection Description 0 current_limitation REC INT8 RO Limitation von Imax (independently of the operating mode). Torque−limited speed operation is possible. 1 limit_current_ input_channel 2 limit_current 00h 00h {1h} 04h INT8 RW Setpoint source for the limiting torque.
Parameter setting 7 Speed controller Overview 7.5 Speed controller 7.5.1 Overview The parameter set of the drive controller has to be adapted to the application. Especially the gain strongly depends on masses which may be coupled to the motor. At the commissioning of the system, the data has to be optimised by means of the Small Drive Control program. ( Stop! Uncontrolled vibrations Incorrect settings of the speed controller parameters can cause heavy vibrations.
7 Parameter setting Position controller (position control function) Overview 7.6 Position controller (position control function) 7.6.1 Overview This chapter describes all parameters required for the position controller. The position setpoint (position_demand_value) from the trajectory generator is applied to the input of the position controller. In addition, the position controller is fed with the actual position (position_actual_value) from the angle encoder (resolver, incremental encoder, etc.).
Parameter setting 7 Position controller (position control function) Overview Fig. 13 shows the definition of the window function for the "following error" message. The range between xi−x0 and xi+x0 is defined symmetrically around the set position (position_demand_value) xi. The positions xt2 and xt3 are, for instance, located outside this window (following_error_window).
7 Parameter setting Position controller (position control function) Description of the objects Fig. 15 shows the definition of the window function for the "position reached" message. The positioning range between xi−x0 and xi+x0 is defined symmetrically around the target position (target_position) xi. The positions xt0 and xt1 are, for instance, located within this position window (position_window). When the drive enters this window, a timer is started in the controller.
Parameter setting 7 Position controller (position control function) Description of the objects Index 60FBh 6062h 6063h 6064h Name Possible settings Characteristics Lenze Description Selection 0 position_control_ parameter_set REC 52 4 position_control_ v_max 500 5 position_error_ tolerance_window 13 0 {1} 64 × 256 UINT16 RW Setting of the position controller gain. From the SDC program: Kp = 0.2 Setting here: 0.
7 Parameter setting Position controller (position control function) Description of the objects Index 6065h 6066h 60FAh Name Possible settings Characteristics Lenze Selection 0 following_error_ window 9102 00000000h 0 following_error_ time_out 100 Description {1 inc} 7FFFFFFF VAR UINT32 RW MAP Symmetrical range around the position setpoint. If the actual position value is outside the range, a following error occurs and bit 13 of the status word is set.
Parameter setting 7 Analog inputs Overview 7.7 Analog inputs 7.7.1 Overview The drive controller is provided with two analog inputs, which can be used, for instance, to define setpoints. These analog inputs can only be parameterised via the Small Drive Control program. 7.8 Digital inputs and outputs 7.8.1 Overview All digital inputs of the drive controller can be read via the CAN bus and the two digital outputs can be set as desired. 7.8.
7 Parameter setting Limit switches Overview 7.9 Limit switches 7.9.1 Overview Limit switches can be used to define the home position of the drive controller. More detailed information on the possible homing methods can be found in the chapter ’Homing operation mode’. 7.9.2 Index 6510h Description of the objects Name 11 limit_switch_ polarity Possible settings Characteristics Lenze Selection 1 0 Description {1} 1 RW MAP NC contact 1 88 INT16 Setting of the limit switch polarity.
Parameter setting 7 Device information Description of the objects 7.10 Device information 7.10.1 Description of the objects Index 1000h Name Possible settings Characteristics Lenze Description Selection 0 device_type VAR UINT32 RO Device identification in a multi−axis system. 00020192h 931E servo inverter 00001121h 931KxK42 servo inverter 931KxN42 servo inverter 1018h 0 identity_object REC UINT8 RO RO Not used.
8 Device control State diagram Overview 8 Device control 8.1 State diagram 8.1.1 Overview The following chapter describes how the drive controller is controlled under CANopen, i.e. how, for instance, the power stage is switched on or how an error is acknowledged. ( Stop! Uncontrolled rotation of the motor An incorrectly parameterised drive controller can cause uncontrolled rotation of the motor. Possible consequences: ƒ This may result in property damage.
Device control 8 State diagram State diagram of the drive controller 8.1.2 State diagram of the drive controller 0 13 1 Start Fault_Reaction_Active 0 14 Not_Ready_To_Switch_On Fault 1 15 Switch_On_Disabled 2 7 Ready_To_Switch_On 3 9 12 10 2 6 Switched_On 8 4 5 Operation_Enable 11 Quick_Stop_Active 931e_421 Fig.
8 Device control State diagram State diagram of the drive controller If an error occurs, finally the fault state will be reached (no matter from which state you have started). Depending on the severity of the error, certain actions (e.g. an emergency braking) can be executed before the fault state is reached (Fault_Reaction_Active). To execute the state transitions mentioned above, certain bit combinations must be set in the control word. The bits 0 ...
Device control 8 State diagram States of the drive controller 8.1.3 States of the drive controller State Meaning Not_Ready_To_Switch_On The drive controller executes a self−test. The CAN communication is not yet working. Switch_On_Disabled The drive controller has completed the self−test. CAN communication is working. Ready_To_Switch_On The drive controller waits until the digital input DIN9 "controller enable" is at 24 V. (Controller enable logic "digital input and CAN").
8 Device control State diagram State transitions of the drive controller 8.1.4 State transitions of the drive controller Transition Command Control word (bits) 7 2 1 0 0 Switched on or reset executed Internal transition 1 Self−test successful Internal transition 2 Shut down and controller enable x x 1 1 0 None 3 Switch on x x 1 1 1 None 4 Enable operation x 1 1 1 1 On transition to the Operation_Enable state, the power stage is switched on.
Device control 8 State diagram Control word 8.1.5 Control word The control word can be used to change the current state of the drive controller or to initiate a certain action directly (e.g. start of the homing run). The function of bits 4, 5, 6 and 8 depends on the current operating mode (modes_of_operation) of the drive controller.
8 Device control State diagram Control word The bits 0 ... 3 can be used to execute state transitions. The commands required for this purpose are listed in the below overview. The fault reset command is generated by a LOW/HIGH edge of bit 7. Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shut down x x 1 1 0 Switch on x x 1 1 1 Disable voltage x x x 0 x Quick stop x x 0 1 x Disable operation x 0 1 1 1 Enable operation x 1 1 1 1 Fault reset 0−>1 x x x x Tab.
Device control 8 State diagram Control word Below the remaining bits of the control word are explained. Some bits have different meanings dependent on the operating mode (modes_of_operation): Operation mode Bit 4 Bit 5 Bit 6 Bit 8 Profile position mode l new_set_point A rising edge indicates to the drive controller that a new travel task will be transferred. l change_set_immediately If this bit is not set, a new travel task will not be processed before an already running task has been completed.
8 Device control State diagram Controller state 8.1.6 Controller state Similar to the combination of several control word bits initiating different state changes, the combination of different status word bits can be used to read out the current state of the drive controller. The below table lists the possible states of the state diagram and the corresponding bit combinations indicating these states in the status word.
Device control 8 State diagram Status word 8.1.7 Status word Index Name Lenze 6041h 0 statusword Characteristics Possible settings Selection Description 0000h VAR {1h} FFFFh UINT16 RO MAP Display of the controller state and of various events. KHB 13.0002−EN 4.1 Bit no. Value 0 0001h 1 0002h 2 0004h 3 0008h 4 0010h l voltage_disable This bit is set when the power stage transistors are switched on. Caution! In the event of a defect, the motor can still be energised.
8 Device control State diagram Status word ) Note! The bits of the status word are not buffered. They indicate the current controller state. In addition to the controller state, the status word indicates various events, i.e. each bit is assigned with a certain event (e.g. following error).
Operating modes 9 Setting of the operating mode Overview 9 Operating modes 9.1 Setting of the operating mode 9.1.1 Overview Below the operating modes specified in detail under CANopen are listed: 9.1.
9 Operating modes Setting of the operating mode Description of the objects Index Name Lenze 6061h 102 Characteristics Possible settings Selection Description VAR 0 modes_of_ operation_display INT8 RO MAP Display of the operating mode. If operation via CANopen is not possible, an internal operating mode is displayed.
Operating modes 9 Speed control Overview 9.2 Speed control 9.2.
9 Operating modes Speed control Overview Limit Function target velocity (60FFh) [speed units] Multiplier Profile Velocity* velocity_encoder_factor (6094h) profile_acceleration (6083h) acceleration units profile_deceleration (6084h) acceleration units quick_stop_ deceleration (6085h) Profile Acceleration* Multiplier [inc] velocity_demand_value (606Bh) Profile Deceleration* Quick Stop Deceleration* acceleration units acceleration_factor (6097h) position_actual_value (6063h) Differentiation d/
Operating modes 9 Speed control Description of the objects 9.2.2 Description of the objects Index Name Lenze 6069h 606Bh 606Ch 6080h Characteristics Possible settings Selection Description 0 velocity_sensor_ actual_value {1 inc/s} 0 velocity_demand_ value {1 rpm} 0 velocity_actual_ value {1 rpm} 0 max_motor_speed VAR INT32 RO MAP Reading−out of the speed value directly on the encoder system. However, for determining the actual speed the object 606Ch should be used.
9 Operating modes Homing Overview 9.3 Homing 9.3.1 Overview This chapter describes how the drive controller finds the start position (also called reference position, home position or zero position). There are different methods to determine this position. Sometimes the limit switches at the end of the positioning range are used. In order to increase the reproducibility as much as possible, some methods also integrate the zero pulse of the angle encoder used (resolver, incremental encoder etc.).
Operating modes 9 Homing Description of the objects 9.3.2 Description of the objects Index 607Ch Name 0 home_offset Characteristics Possible settings Lenze Selection 0 −231 Description 231−1 {1 inc} VAR INT32 RW MAP Shift of zero position with respect to home position.
9 Operating modes Homing Control of the homing run 9.3.3 Control of the homing run The homing run is controlled by the control word and monitored by the status word. Homing is started by setting bit 4 in the control word. The successful completion is indicated by bit 12 being set in the status word object. Bit 13 being set in the status word object indicates that an error has occurred during the homing run. The error cause can be determined via the error_register and pre_defined error_field objects.
Operating modes 9 Positioning Overview 9.4 Positioning 9.4.1 Overview The target position (target_position) is transferred to the trajectory generator which then generates a position setpoint (position_demand_value) for the position controller. These two function blocks can be set independently of each other.
9 Operating modes Positioning Description of the objects 9.4.2 Index 607Ah Description of the objects Name 0 target_position Characteristics Possible settings Lenze Selection 0 −231 Description {1 inc} 231−1 VAR INT32 RW MAP Entry of the target position (absolute or relative entry, see bit 6 of the control word). The current settings for speed, acceleration, braking deceleration and type of the travel profile must always be taken into account. The unit can be set via the factor group.
Operating modes 9 Positioning Functional description 9.4.3 Functional description There are two ways to transfer a target position to the drive controller: ƒ Simple travel task When the drive controller has reached a target position, it signals this to the master with the target_reached bit (bit 10 in the status word object). In this operating mode, the drive controller stops when it has reached the target.
9 Operating modes Positioning Functional description word object. v v2 v1 t0 t1 t2 t3 t 931e_407 Fig. 22 Simple travel task If the new_set_point bit as well as the change_set_immediately bit of the control word are set to "1", the master instructs the drive controller to start the new travel task immediately. A travel task already being processed in interrupted in this case as shown in Fig. 23.
Operating modes 9 Synchronous position selection Overview 9.5 Synchronous position selection 9.5.1 Overview The interpolated position mode (IP) enables the selection of position setpoints for multi−axis drive controller applications. For this purpose, a master provides synchronisation telegrams (sync) and position setpoints on a fixed time base (synchronisation interval).
9 Operating modes Synchronous position selection Description of the objects 9.5.2 Index Description of the objects Name Lenze 60C0h 0 interpolated_ submode_select Characteristics Possible settings −2 Selection Description −2 VAR {} −2 MAP Linear interpolation without buffer REC 0 interpolated_data_ record 1 ip_data_position RW Selection of the interpolation type. −2 60C1h INT16 UINT8 RO Reading−out of the data record.
Operating modes 9 Synchronous position selection Functional description Index Name Lenze 60C4h Characteristics Possible settings Selection Description 0 interpolated_data_ configuration REC 1 max_buffer_size UINT8 RO Reading−out of the buffer. UINT32 RO MAP Reading−out of the size of the position buffer for interpolated position mode. 2 actual_buffer_size 0 0 {1} 232−1 UINT32 RW MAP Size of the actual position buffer for interpolated position mode.
9 Operating modes Synchronous position selection Functional description Example: Settings Value CAN object (COB) index Entry Interpolation type −2 60C0h, interpolation_submode_select −2 Time unit 0.
Operating modes 9 Synchronous position selection Functional description The below graphs show the assignments and the sequence in detail: SYNC t modes_of_ operation = 7 t modes_of_ operation_ display = 7 t controlword Bit 4: enable_ ip_mode t controlword Bit 12: ip_ mode_active t position 0 0 0 1 2 3 4 t position t 931e_410 Fig. 25 KHB 13.0002−EN 4.
9 Operating modes Synchronous position selection Functional description No.
Operating modes 9 Torque control Overview 9.6 Torque control 9.6.1 Overview This chapter describes the torque−controlled operation. In this operating mode, an external target−torque setpoint can be specified for the drive controller. Thus, it is possible to use the drive controller also for those path controls shifting the position controller as well as the speed controller to an external computer.
9 Operating modes Torque control Description of the objects 9.6.2 Index Description of the objects Name Lenze 6071h 0 target_torque Characteristics Possible settings 0 Selection Description −32768 VAR {motor_rated_torque/1000} 32768 INT16 RW MAP Input value for the torque controller (torque control operating mode). 6072h 0 max_torque 2023 1000 {motor_rated_torque/1000} 65535 VAR UINT16 RW MAP Input value for Mmax.
Appendix 10 Index table 10 Appendix 10.1 Index table ƒ The indexes are numerically sorted in ascending order to form a "reference book".
10 Appendix Index table Index Name Lenze 1000h Characteristics Possible settings Selection Description VAR 0 device_type UINT32 RO Device identification in a multi−axis system. 00020192h 931E servo inverter 00001121h 931KxK42 servo inverter 931KxN42 servo inverter 1001h VAR 0 error_register UINT8 RO MAP Reading−out of the error register. 1003h 0 pre_defined_error_ 0 field Bit no.
Appendix 10 Index table Index 100Ch Name 0 guard_time Characteristics Possible settings Lenze Selection 0 0 Description {1 ms} 65535 VAR UINT16 RW For activating the node guarding monitoring function, the maximum time between two remote requests from the master is parameterised. The controller calculates this time from the product of guard_time and life_time_factor.
10 Appendix Index table Index Name Lenze 1014h 1017h 0 COB−ID_emergency 00000081h _message 0 producer_ heartbeat_time Characteristics Possible settings 0 Selection Description 00000000h {1h} VAR UINT32 RW Emergency object identifier, 080h + node address Bit no. Value 0 − 10 x 11−bit identifier 11 − 28 0 29 0 The extended identifier (bit 29) is not supported. Each bit of this range must be "0".
Appendix 10 Index table Index Name 1400h Receive PDO1 Communication Parameter Possible settings Characteristics Lenze Description 0 number_of_entries Selection 00h {1h} 04h REC UINT8 RO Maximum number of supported subindexes 02h 1 COB−ID_used_by_ PDO 00000201h 2 subindexes are supported. 00000201h {1h} 000002FFh UINT32 RW Identifier of receive PDO1 (200h + node address) For processing, bits 30 and 31 must be set (parameterisation of mapping). Bit no.
10 Appendix Index table Index Name 1401h Receive PDO2 Communication Parameter Possible settings Characteristics Lenze Description 0 number_of_entries Selection 00h {1h} 04h REC UINT8 RO Maximum number of supported subindexes 02h 1 COB−ID_used_by_ PDO 00000301h 2 subindexes are supported. 00000301h {1h} 000003FFh UINT32 RW Identifier of receive PDO2 (300h + node address) For processing, bits 30 and 31 must be set (parameterisation of mapping). Bit no.
Appendix 10 Index table Index Name 1601h Receive PDO2 Mapping Parameter Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h REC 02h 1 first_mapped_ object 60400010h 2 second_mapped_ object 60600008h UINT32 RW Entry of the COB ID of the first mapped object. {1h} UINT32 RW Entry of the COB ID of the second mapped object. 4 fourth_mapped_ object 4.1 RW 2 subindexes are supported.
10 Appendix Index table Index Name 1800h Transmit PDO1 Communication Parameter Possible settings Characteristics Lenze Description 0 number_of_entries Selection 00h {1h} 04h REC UINT8 RO Maximum number of supported subindexes. 03h 1 COB−ID_used_by_ PDO 00000181h 3 subindexes are supported. 00000181h {1h} 000001FFh UINT32 RW Identifier of transmit PDO1, (180h + node address). For processing, bits 30 and 31 must be set (parameterisation of mapping). Bit no.
Appendix 10 Index table Index Name 1801h Transmit PDO2 Communication Parameter Possible settings Characteristics Lenze Description 0 number_of_entries Selection 00h {1h} 04h REC UINT8 RO Maximum number of supported subindexes 03h 1 COB−ID_used_by_ PDO 00000281h 3 subindexes are supported. 00000281h {1h} 000002FFh UINT32 RW Identifier of transmit PDO2, (280h + node address). For processing, bits 30 and 31 must be set (parameterisation of mapping). Bit no.
10 Appendix Index table Index Name 1A00h Transmit PDO1 Mapping Parameter Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h UINT32 RW Maximum number of supported subindexes. 01h 1 first_mapped_ object REC 1 subindex is supported. 60410010h {1h} UINT32 RW Entry of the COB ID of the first mapped object. 2 second_mapped_ object UINT32 RW RW RW Not supported. ...
Appendix 10 Index table Index Name 2015h Transmit PDO2 Mask Possible settings Characteristics Lenze Description Selection ARR 0 number_of_entries UINT8 RO Maximum number of supported subindexes 2090h 1 tpdo2_transmit_ mask_low FFFFFFFFh 2 tpdo2_transmit_ mask_high FFFFFFFFh 00000000h {1h} FFFFFFFFh UINT32 RW Mask for masking out individual bits of the PDOs. 00000000h {1h} FFFFFFFFh UINT32 RW Mask for masking out individual bits of the PDOs.
10 Appendix Index table Index 6040h Name 0 controlword Characteristics Possible settings Lenze Selection 0000h 0000h Description {1h} FFFFh VAR UINT16 RW MAP Change of the drive controller state. An action is initiated (e.g. homing run). 132 Bit no. Value 0 0001h 1 0002h 2 0004h 3 0008h 4 0010h 5 0020h 6 0040h 7 0080h l reset_fault At the transition from zero to one, the drive controller tries to acknowledge the pending errors.
Appendix 10 Index table Index Name Lenze 6041h Characteristics Possible settings 0 statusword Selection Description 0000h {1h} FFFFh VAR UINT16 RO MAP Display of the controller state and of various events. 604Dh 0 pole_number 2 Bit no. Value 0 0001h 1 0002h 2 0004h 3 0008h 4 0010h l voltage_disable This bit is set when the power stage transistors are switched on. Caution! In the event of a defect, the motor can still be energised.
10 Appendix Index table Index Name Lenze 6060h 6061h 0 modes_of_ operation Characteristics Possible settings Selection Description 1 {1} 7 6063h 6064h 134 INT8 RW MAP Selection of the operating mode 1 Position control with positioning operation 3 Speed control with setpoint ramp 4 Torque control with setpoint ramp 6 Homing 7 Synchronous position selection VAR 0 modes_of_ operation_display INT8 RO MAP Display of the operating mode.
Appendix 10 Index table Index 6065h 6066h 6067h Name Characteristics Possible settings Lenze Selection 0 following_error_ window 9102 00000000h 0 following_error_ time_out 100 0 position_window 1820 Description {1 inc} 7FFFFFFF VAR UINT32 RW MAP Symmetrical range around the position setpoint. If the actual position value is outside the range, a following error occurs and bit 13 of the status word is set.
10 Appendix Index table Index 6071h Name 0 target_torque Characteristics Possible settings Lenze Selection 0 −32768 Description {motor_rated_torque/1000} 32768 VAR INT16 RW MAP Input value for the torque controller (torque control operating mode). 6072h 0 max_torque 2023 1000 {motor_rated_torque/1000} 65535 VAR UINT16 RW MAP Input value for Mmax. The value for index 6075h motor_rated_current must be entered before this value can be input.
Appendix 10 Index table Index Name 607Eh 0 polarity 6080h 0 max_motor_speed Characteristics Possible settings Lenze Selection 00h 00h 32768 Description {04h} Bit 6 40h Bit 7 80h 0 40h, 80h, C0h UINT8 RW MAP Setting of the signs of position and speed values. By changing the sign, the direction of rotation can be inverted. Often it makes sense to set both flags to the same value.
10 Appendix Index table Index Name Lenze 6093h Characteristics Possible settings Selection Description ARR 0 position_factor UINT32 RO Conversion of length units (positions_units) to the internal unit (inc). 1 numerator 1 0 {1} 232−1 UINT32 RW MAP Proportional to the gearbox ratio between input−end (revIN) and output−end (revOUT) speed. 2 divisor 1 0 {1} 232−1 UINT32 RW MAP Ratio between revolutions at the output (revOUT) and movement in position units (degree or mm).
Appendix 10 Index table Index 6098h Name 0 homing_method Lenze Selection 17 −18 Description {1} Target 34 Value Direction −18 Positive Limit stop Limit stop −17 Negativ Limit e stop Limit stop −2 Positive Limit stop Zero pulse −1 Negativ Limit e stop Zero pulse 1 Negativ Limit e switch Zero pulse 2 Positive Limit switch Zero pulse 17 Negativ Limit e switch Limit switch 18 Positive Limit switch Limit switch 33 Negativ Zero e pulse Zero pulse 34 Positive Zero pulse Ze
10 Appendix Index table Index Name Lenze 60C1h Characteristics Possible settings Selection Description REC 0 interpolated_data_ record 1 ip_data_position UINT8 RO Reading−out of the data record. The record consists of the position value (ip_data_position) and the optional control word (ip_data_controlword). 0 −231 {1 inc} 232−1 INT32 RW MAP Entry of the absolute position value.
Appendix 10 Index table Index Name Lenze 60F6h 60F9h 60FAh Characteristics Possible settings Selection Description REC 0 torque_control_ parameters RO Reading−out of PI−controlled current controller data. The gain and the time constant apply to both the field−generating and the torque−generating current controller. 1 torque_control_ gain 256 2 torque_control_ time 2000 0 {1} 32 × 256 UINT16 RW Setting of the proportional gain of the current controller.
10 Appendix Index table Index Name Lenze 60FBh 60FDh Characteristics Possible settings Selection Description REC 0 position_control_ parameter_set UINT8 RO Reading−out of the position controller data. The position controller operates with internal feedforwarding so that deviation control is minimised and the controller settling time is reduced.
Appendix 10 Index table Index 60FFh Name 0 target_velocity Characteristics Possible settings Lenze Selection 0 −231 Description {1 rpm} 231−1 VAR INT32 RW MAP Setting of the setpoint selected for the ramp generator. The unit can be set via the factor group. 6410h REC 0 motor_data UINT8 RO Reading−out of the motor data. 3 iit_time_motor 2000 0 {1 ms} 10000 UINT16 RW Setting of the time interval for which the motor can be fed with Imax (index 6073h).
10 Appendix Index table Index Name Lenze 6510h Characteristics Possible settings Selection Description REC 0 drive_data UINT8 RO RO MAP Not used. 1 serial_number UINT32 Reading−out of the serial number. 2 drive_code UINT32 RO MAP Reading−out of the identification.
Index 11 11 Index A Device status of the heartbeat producer, 48 Activation of CANopen, 56 Digital inputs, 87 Actual position value (position units), 84 Digital outputs, 87 Actual value, position in position_units (position_actual_value), 84 Drive controller enable logic, 76 Analog inputs, 87 E Angle encoder offset, 78 E82ZAFPC00x, Baud rate, 11 Approach new position, 111 Electrical connections, CANopen, 13 Electrical installation, 12 B EMC Boot−up telegram, 50 C − Assembly, 12 − Earthi
11 Index L Position setpoint (position units), 84 Limit switch, 88 Positioning, 109 Loading and saving of parameter sets, 69 − Handshake, 111 Power stage parameters, 76 M Process data objects, available, 25 Monitoring of communication, 50 Process data transfer (PDO transfer), 25 Motor adaptation, 78 Product description, 10 Motor data, 78 Product features, 10 Motor parameters, rated current, 78 PROFIBUS−DP function module, communication medium, 11 N Profile velocity mode, 103 Network mana
Index State machine , 91 Torque control, 119 States, CAN network, 41 Torque limitation, source, 78 Switch on disabled, 93 Trajectory generator, 109 Switched on, 93 Transmission cable, specification, 13 Sync telegram, 39 Transmission parameters for PDOs, 26 Synchronous position selection, 113 U T User data, 19 , 20 , 21 , 22 , 25 Target position window, 84 V Target torque, 119 11 Validity of the documentation, 7 Target window, Position window, 84 Target window time, 84 W Technical data,
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