Brushless DC drive Product manual - Bosch Rexroth

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BLP14ABrushless DC driveProduct manualV2.00, 08.2010

2 Brushless DC drive

Important information BLP14A

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Important information

This manual is part of the product.

Carefully read this manual and observe all instructions.

Keep this manual for future reference.

Hand this manual and all other pertinent product documentation over to all users of the product.

Carefully read and observe all safety instructions and the chapter "Be-fore you begin - safety information".

Some products are not available in all countries.For information on the availability of products, please consult the cata-log.

Subject to technical modifications without notice.

All details provided are technical data which do not constitute warranted qualities.

Most of the product designations are registered trademarks of their re-spective owners, even if this is not explicitly indicated.

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BLP14A Table of contents

Brushless DC drive 3

Table of contents

Important information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

About this manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Further reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.1 Device overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.2 Scope of supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.3 Components and interfaces . . . . . . . . . . . . . . . . . . . . . 13

1.4 Type code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.5 Declaration of conformity. . . . . . . . . . . . . . . . . . . . . . . . 15

1.6 TÜV certificate for functional safety. . . . . . . . . . . . . . . . 16

2 Before you begin - safety information. . . . . . . . . . . . . . . . . . . 17

2.1 Qualification of personnel . . . . . . . . . . . . . . . . . . . . . . . 17

2.2 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.3 Hazard categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.4 Basic information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.5 Functional safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

2.6 Standards and terminology . . . . . . . . . . . . . . . . . . . . . . 20

3 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3.1 Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3.2 Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3.3 Mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233.3.1 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23


Table of contents BLP14A

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3.4 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243.4.1 Connection overview . . . . . . . . . . . . . . . . . . . . . . . . 243.4.2 Power stage supply VDC at CN1 . . . . . . . . . . . . . . . 243.4.3 Commissioning interface at CN2 . . . . . . . . . . . . . . . 253.4.4 I/O signal interfaces at CN3 and CN4 (optional) . . . 263.4.5 STO safety function at CN3 . . . . . . . . . . . . . . . . . . . 273.4.6 Fieldbus interface at CN5. . . . . . . . . . . . . . . . . . . . . 283.4.7 Motor connection at CN6 . . . . . . . . . . . . . . . . . . . . . 283.4.8 Interface for Hall effect sensor at CN7 . . . . . . . . . . . 293.4.9 Motor encoder at CN8 . . . . . . . . . . . . . . . . . . . . . . . 303.4.10 Technical data accessories . . . . . . . . . . . . . . . . . . . 313.4.11 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313.4.12 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313.4.13 Other accessories . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.5 Conditions for UL 508C . . . . . . . . . . . . . . . . . . . . . . . . 31

4 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

4.1 Functional safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

4.2 Fieldbus CANopen basics . . . . . . . . . . . . . . . . . . . . . . 354.2.1 CAN bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354.2.2 CANopen technology . . . . . . . . . . . . . . . . . . . . . . . . 364.2.3 Communication profile . . . . . . . . . . . . . . . . . . . . . . . 394.2.4 Service data communication . . . . . . . . . . . . . . . . . . 454.2.5 Process data communication. . . . . . . . . . . . . . . . . . 504.2.6 Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574.2.7 Emergency service . . . . . . . . . . . . . . . . . . . . . . . . . 594.2.8 Network management services . . . . . . . . . . . . . . . . 61

4.3 Fieldbus CANopen object dictionary . . . . . . . . . . . . . . 674.3.1 Overview of object group 1000h . . . . . . . . . . . . . . . 674.3.2 Details of object group 1000h . . . . . . . . . . . . . . . . . 71

5 Engineering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

5.1 Specification of the control mode . . . . . . . . . . . . . . . . 107

5.2 Configurable inputs and outputs . . . . . . . . . . . . . . . . . 107

5.3 External power supply units . . . . . . . . . . . . . . . . . . . . 1085.3.1 Power stage supply . . . . . . . . . . . . . . . . . . . . . . . . 1085.3.2 Signal power supply. . . . . . . . . . . . . . . . . . . . . . . . 109

5.4 Safety function STO ("Safe Torque Off"). . . . . . . . . . . 1105.4.1 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1105.4.2 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1105.4.3 Requirements for using the safety function . . . . . . 1105.4.4 Application examples STO. . . . . . . . . . . . . . . . . . . 1125.4.5 Error handling E1300 (STO) . . . . . . . . . . . . . . . . . 114

5.5 Monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . 115

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6 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

6.1 Electromagnetic compatibility, EMC . . . . . . . . . . . . . . 118

6.2 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . 120

6.3 Mounting the device . . . . . . . . . . . . . . . . . . . . . . . . . . 122

6.4 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . 1246.4.1 Overview of procedure . . . . . . . . . . . . . . . . . . . . . . 1256.4.2 Connection overview . . . . . . . . . . . . . . . . . . . . . . . 1266.4.3 Power stage supply connection (CN1) . . . . . . . . . . 1276.4.4 Commissioning interface connection (CN2) . . . . . . 1296.4.5 I/O signal interface connection (CN3). . . . . . . . . . . 1316.4.6 I/O expansion signal interface connection

(CN4 optional). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1336.4.7 Fieldbus connection (CN5) . . . . . . . . . . . . . . . . . . . 1356.4.8 Motor connection (CN6) . . . . . . . . . . . . . . . . . . . . . 1386.4.9 Hall effect sensor connection (CN7) . . . . . . . . . . . . 1406.4.10 Motor encoder connection (CN8) . . . . . . . . . . . . . . 141

6.5 Checking installation . . . . . . . . . . . . . . . . . . . . . . . . . . 143

7 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

7.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

7.2 Commissioning tools . . . . . . . . . . . . . . . . . . . . . . . . . . 1497.2.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1497.2.2 Lexium CT commissioning software . . . . . . . . . . . . 1507.2.3 HMI: Human-Machine Interface . . . . . . . . . . . . . . . 151

7.3 Commissioning procedure. . . . . . . . . . . . . . . . . . . . . . 1567.3.1 Setting the device address and baud rate . . . . . . . 1567.3.2 "First Setup" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1577.3.3 Setting basic parameters and limit values . . . . . . . 1647.3.4 Setting, scaling and checking analog signals . . . . . 1667.3.5 Testing the signals of the limit switches . . . . . . . . . 1697.3.6 Testing the safety function STO . . . . . . . . . . . . . . . 1707.3.7 Checking the direction of movement. . . . . . . . . . . . 1717.3.8 Controller optimization with step response. . . . . . . 172

8 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

8.1 Overview of operating modes . . . . . . . . . . . . . . . . . . . 182

8.2 Access channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1838.2.1 Via fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1838.2.2 Via commissioning software . . . . . . . . . . . . . . . . . . 1838.2.3 Via signal inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

8.3 Operating states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1848.3.1 State diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1848.3.2 Indicating the operating states . . . . . . . . . . . . . . . . 1888.3.3 Changing operating states . . . . . . . . . . . . . . . . . . . 191

8.4 Displaying, starting and changing operating modes . . 1938.4.1 Starting the operating mode . . . . . . . . . . . . . . . . . . 1948.4.2 Changing the operating mode . . . . . . . . . . . . . . . . 195



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8.5 Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1968.5.1 Operating mode Jog . . . . . . . . . . . . . . . . . . . . . . . 1968.5.2 Operating mode Current Control . . . . . . . . . . . . . . 1998.5.3 Operating mode Speed Control . . . . . . . . . . . . . . . 2018.5.4 Operating mode Profile Position . . . . . . . . . . . . . . 2038.5.5 Operating mode Profile Velocity. . . . . . . . . . . . . . . 2068.5.6 Operating mode Motion Sequence . . . . . . . . . . . . 2088.5.7 Operating mode Homing . . . . . . . . . . . . . . . . . . . . 224

8.6 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2378.6.1 Monitoring functions. . . . . . . . . . . . . . . . . . . . . . . . 2378.6.2 Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2468.6.3 Motion profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2498.6.4 Quick Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2528.6.5 Halt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2538.6.6 Standstill window . . . . . . . . . . . . . . . . . . . . . . . . . . 2548.6.7 Setting the digital signal inputs and signal outputs 2568.6.8 Reversal of direction . . . . . . . . . . . . . . . . . . . . . . . 2698.6.9 Checksum read value . . . . . . . . . . . . . . . . . . . . . . 2718.6.10 Delay time for "Target Reached" and

"Homing Attained" . . . . . . . . . . . . . . . . . . . . . . . . . 2728.6.11 Storing user-specific values . . . . . . . . . . . . . . . . . . 2748.6.12 Restoring default values. . . . . . . . . . . . . . . . . . . . . 275

9 Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

9.1 Wiring examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

9.2 Wiring STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280

9.3 Sample settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2809.3.1 Standardized operating modes . . . . . . . . . . . . . . . 2809.3.2 Vendor-specific operating modes. . . . . . . . . . . . . . 284

10 Diagnostics and troubleshooting . . . . . . . . . . . . . . . . . . . . . . 289

10.1 Error indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28910.1.1 State diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29010.1.2 Error indication with LEDs . . . . . . . . . . . . . . . . . . . 29410.1.3 Error indication using the commissioning software 29610.1.4 Error indication via the fieldbus . . . . . . . . . . . . . . . 297

10.2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30210.2.1 Fieldbus communication . . . . . . . . . . . . . . . . . . . . 30210.2.2 Troubleshooting of errors sorted by error bit . . . . . 303

10.3 Table of error numbers . . . . . . . . . . . . . . . . . . . . . . . . 305

11 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

11.1 Representation of the parameters . . . . . . . . . . . . . . . 31511.1.1 Explanation of the parameter representation. . . . . 316

11.2 List of parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . 318

11.3 Objects for PDO mapping. . . . . . . . . . . . . . . . . . . . . . 355

11.4 Assignment object group 6000h . . . . . . . . . . . . . . . . . 356

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12 Accessories and spare parts . . . . . . . . . . . . . . . . . . . . . . . . . 357

12.1 Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

12.2 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

13 Service, maintenance and disposal . . . . . . . . . . . . . . . . . . . 359

13.1 Service address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

13.2 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36013.2.1 Lifetime STO safety function. . . . . . . . . . . . . . . . . . 360

13.3 Replacing devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361

13.4 Changing the motor. . . . . . . . . . . . . . . . . . . . . . . . . . . 362

13.5 Shipping, storage, disposal . . . . . . . . . . . . . . . . . . . . . 362

14 Extract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363

14.1 Extract for installation . . . . . . . . . . . . . . . . . . . . . . . . . 36314.1.1 Connection overview . . . . . . . . . . . . . . . . . . . . . . . 36414.1.2 Wiring example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367

14.2 Extract for commissioning . . . . . . . . . . . . . . . . . . . . . . 36814.2.1 Setting the device address and baud rate . . . . . . . 36814.2.2 "First Setup" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36914.2.3 Duplicating existing device settings . . . . . . . . . . . . 373

15 Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

15.1 Units and conversion tables . . . . . . . . . . . . . . . . . . . . 37515.1.1 Length. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37515.1.2 Mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37515.1.3 Force. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37515.1.4 Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37515.1.5 Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37615.1.6 Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37615.1.7 Moment of inertia . . . . . . . . . . . . . . . . . . . . . . . . . . 37615.1.8 Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37615.1.9 Conductor cross section . . . . . . . . . . . . . . . . . . . . . 376

15.2 Terms and Abbreviations. . . . . . . . . . . . . . . . . . . . . . . 377

16 Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381



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BLP14A About this manual


About this manual

This manual is valid for BLP14A standard products. Chapter 1 "Introduc-tion" lists the type code for this product. The type code allows you to identify whether your product is a standard product or a customized ver-sion.

The following manuals belong to this product:

• Product manual, describes the technical data, installation, com-missioning and the operating modes and functions.

Source manuals The latest versions of the manuals can be downloaded from the Internet at:

http://www.schneider-electric.com

Source EPLAN Macros For easier engineering, macro files and product master data are availa-ble for download from the Internet at:


Corrections and suggestions We always try to further optimize our manuals. We welcome your sug-gestions and corrections.

Please get in touch with us by e-mail:[email protected].

Work steps If work steps must be performed consecutively, this sequence of steps is represented as follows:

� Special prerequisites for the following work steps

� Step 1

� Specific response to this work step

� Step 2

If a response to a work step is indicated, this allows you to verify that the work step has been performed correctly.

Unless otherwise stated, the individual steps must be performed in the specified sequence.

Making work easier Information on making work easier is highlighted by this symbol:

Sections highlighted this way provide supplementary information on making work easier.

Parameters In text sections, parameters are shown with the parameter name, for ex-ample _IO_act. The way parameters are represented in tables is ex-plained in the chapter Parameters. The parameter list is sorted alphabetically by parameter name.

SI units SI units are the original values. Converted units are shown in brackets behind the original value; they may be rounded.


About this manual BLP14A

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Example:Minimum conductor cross section: 1.5 mm2 (AWG 14)

Inverted signals Inverted signals are represented by an overline, for example STO_A or STO_B.

Glossary Explanations of special technical terms and abbreviations.

Index List of keywords with references to the corresponding page numbers.

Further reading

CAN users and manufacturersorganization

CiA - CAN in AutomationAm Weichselgarten 26D-91058 Erlangenhttp://www.can-cia.org/

CANopen standards • CiA Standard 301 (DS301)CANopen application layer and communication profile

• CiA Standard 402 (DSP402)Device profile for drives and motion control

• ISO 11898: Controller Area Network (CAN) for high speed commu-nication

• EN 50325-4: Industrial communications subsystem based on ISO 11898 for controller device interfaces (CANopen)

Recommended literature for further reading

• Ellis, George: Control System Design Guide. Academic Press

• Kuo, Benjamin; Golnaraghi, Farid: Automatic Control Systems. John Wiley & Sons

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BLP14A 1 Introduction


11 Introduction

1.1 Device overview

Figure 1.1 Device overview

Drive system This drive is used to control a 3-phase brushless DC motor.

Reference values are normally supplied by a master PLC or a motion controller, for example LMC.

The standard brushless DC motors are equipped with Hall effect sen-sors. Due to their design, they can only be operated with sufficient con-stant velocity characteristics down to a certain minimum speed of rotation limit.

Positioning tasks usually require more precise position capture. The mo-tors are also available with a motor encoder for such applications.

Safety function The integrated safety function STO (IEC 61800-5-2) allows for a cate-gory 0 stop as per IEC 60204-1 without external power contactors. It is not necessary to interrupt the supply voltage for a category 0 stop. This reduces the system costs and the response times.


1 Introduction BLP14A

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1.2 Scope of supply

Figure 1.2 Scope of supply and accessories

(1) BLP14A (2) DIN rail adapter with mounting screws (accessories)(3) EMC kit with mounting screws (accessories)

2

3

1

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1.3 Components and interfaces

Figure 1.3 Components and interfaces

(1) Connection CN1 power stage supply(2) Connection CN2 commissioning interface(3) LEDs for status indication(4) Switches for settings(5) Connection CN4 I/O expansion signal interface (optional)(6) Connection CN3 I/O signal interface(7) Connection CN5 fieldbus interface(8) EMC plate (accessory EMC kit)(9) DIN rail adapter (accessories)(10) Nameplate(11) Connection CN6 motor(12) Connection CN7 Hall effect sensors(13) Connection CN8 motor encoder

11 12

10

13

2 3 4 51

9

8

6 7



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1.4 Type code

If you have questions concerning the type code, contact your Schneider Electric sales office. Contact your machine vendor if you have questions concerning customized versions.

Customized version: Position 10 of the type code is an "S". Example: BLP14AD16S100

The device designation is shown on the nameplate.

BLP1 • • D16 B4 ••

Product designationBLP1 = Drive for brushless DC motors (Brushless Positioning)

Product design4 = Closed

InterfaceA = CANopen / analog

Peak currentD16 = 16 Arms

Power stage supplyB4 = 24 ... 48 Vdc

Further options00 = Standard10 = I/O expansionxx = Customized version

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1.5 Declaration of conformity

The following declaration of conformity is applicable if the product is used under the specified conditions and with the cables listed in the Ac-cessories chapter.

SCHNEIDER ELECTRIC MOTION DEUTSCHLAND GmbH & Co. KG

Breslauer Str. 7 D-77933 Lahr

BLP14

EC DECLARATION OF CONFORMITY

YEAR 2009

according to EC Directive on Machinery 2006/42/EC according to EC Directive EMC 2004/108/EC according to EC Directive Low Voltage 2006/95/EC

We hereby declare that the products listed below meet the requirements of the EC Directives indicated with respect to design, construction and version distributed by us. This declaration becomes invalid in the case of any modification to the products not authorized by us. Designation: Brushless DC Drive

Type:

Product number: 006205000400x

Applied harmonized standards, especially:

EN ISO 13849-1:2006, Performance Level "d" (category 3) EN 61800-3:2004, second environment EN 62061:2005, SILcl 2

Applied national standards and technical specifications, especially:

IEC 61508:2000, SIL 2 UL 508C Product documentation

Company stamp: Date/Signature: 20 March 2009 Name/Department: Wolfgang Brandstätter/Development



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1.6 TÜV certificate for functional safety

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BLP14A 2 Before you begin - safety information


22 Before you begin - safety information

2.1 Qualification of personnel

Only appropriately trained persons who are familiar with and understand the contents of this manual and all other pertinent product documenta-tion are authorized to work on and with this product. In addition, these persons must have received safety training to recognize and avoid haz-ards involved. These persons must have sufficient technical training, knowledge and experience and be able to foresee and detect potential hazards that may be caused by using the product, by changing the set-tings and by the mechanical, electrical and electronic equipment of the entire system in which the product is used.

All persons working on and with the product must be fully familiar with all applicable standards, directives, and accident prevention regulations when performing such work.

2.2 Intended use

This product is a drive for 3-phase brushless DC motors and intended for industrial use according to this manual.

The product may only be used in compliance with all applicable safety regulations and directives, the specified requirements and the technical data.

Prior to using the product, you must perform a risk assessment in view of the planned application. Based on the results, the appropriate safety measures must be implemented.

Since the product is used as a component in an entire system, you must ensure the safety of persons by means of the design of this entire sys-tem (for example, machine design).

Operate the product only with the specified cables and accessories. Use only genuine accessories and spare parts.

The product must NEVER be operated in explosive atmospheres (haz-ardous locations, Ex areas).

Any use other than the use explicitly permitted is prohibited and can re-sult in hazards.

Electrical equipment should be installed, operated, serviced, and main-tained only by qualified personnel.


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2.3 Hazard categories

Safety instructions to the user are highlighted by safety alert symbols in the manual. In addition, labels with symbols and/or instructions are at-tached to the product that alert you to potential hazards.

Depending on the seriousness of the hazard, the safety instructions are divided into 4 hazard categories.

@ DANGER

DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury.

@ WARNING

WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or equipment damage.

@ CAUTION

CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment damage.

CAUTION

CAUTION used without the safety alert symbol, is used to address practices not related to personal injury (e.g. can result in equipment damage).

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BLP14A 2 Before you begin - safety information


2.4 Basic information

@ WARNINGUNEXPECTED MOVEMENT

Drives may perform unexpected movements because of incorrect wir-ing, incorrect settings, incorrect data or other errors.

Interference (EMC) may cause unpredictable responses in the sys-tem.

• Carefully install the wiring in accordance with the EMC require-ments.

• Switch off the voltage at the inputs STO_A (PWRR_A) and STO_B (PWRR_B) to avoid an unexpected start of the motor before switching on and configuring the product.

• Do not operate the product with unknown settings or data.

• Perform a comprehensive commissioning test.

Failure to follow these instructions can result in death or serious injury.

@ WARNINGLOSS OF CONTROL

• The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop, overtravel stop, power outage and restart.

• Separate or redundant control paths must be provided for critical functions.

• System control paths may include communication links. Consid-eration must be given to the implication of unanticipated transmis-sion delays or failures of the link.

• Observe all accident prevention regulations and local safety guidelines. 1)

• Each implementation of the product must be individually and thor-oughly tested for proper operation before being placed into serv-ice.


1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application, Installation, and Maintenance of Solid State Con-trol” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Sys-tems”.


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2.5 Functional safety

Using the safety functions integrated in this product requires careful planning. See chapter 5.4 "Safety function STO ("Safe Torque Off")", page 110 for additional information.

2.6 Standards and terminology

Technical terms, terminology and the corresponding descriptions in this manual are intended to use the terms or definitions of the pertinent standards.

In the area of drive systems, this includes, but is not limited to, terms such as "safety function", "safe state", "fault", "fault reset", "failure", "er-ror", "error message", "warning", "warning message", etc.

Among others, these standards include:

• IEC 61800 series: "Adjustable speed electrical power drive sys-tems"

• IEC 61158 series: "Industrial communication networks - Fieldbus specifications"

• IEC 61784 series: "Industrial communication networks - Profiles"

• IEC 61508 series: "Functional safety of electrical/electronic/pro-grammable electronic safety-related systems"

Also see the glossary at the end of this manual.

@ WARNINGUNEXPECTED BEHAVIOR AND DESTRUCTION OF SYSTEM COMPO-NENTS

When you work on the wiring and when you unplug or plug in connec-tors, this may cause unexpected behavior and destruction of system components.

• Switch the power supply off before working on the wiring.

Failure to follow these instructions can result in death, serious injury or equipment damage.

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BLP14A 3 Technical Data


33 Technical Data

This chapter contains information on the ambient conditions and on the mechanical and electrical properties of the product family and the ac-cessories.

3.1 Certifications

Product certifications:

Certified safety function This product has the following certified safety function:

• Safety function STO "Safe Torque Off" (IEC 61800-5-2)

3.2 Ambient conditions

Ambient conditions transportationand storage

The environment during transport and storage must be dry and free from dust. The maximum vibration and shock load must be within the speci-fied limits.

Ambient conditions for operation The maximum permissible ambient temperature during operation de-pends on the mounting distances between the devices and on the re-quired power. Observe the pertinent instructions in the chapter 6 "Installation".

The following relative humidity is permissible during operation:

The installation altitude is defined as altitude above mean sea level.

Certification Assigned number

UL File E 153659

Temperature [°C] -25 ... +70

Operating temperature 1)

1) No icing

[°C] 0 ... +50

Relative humidity As per IEC60721-3-3, class 3K3,5 ... 85%, no condensation allowed

Installation altitude above mean sea level without derating

[m] <1000

Installation altitude above mean sea level at an ambient tempera-ture of 40°C with a free space at the sides >50 mm for convection

[m] <2000


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Installation site and connection For operation, the device must be mounted in a closed control cabinet. The device may only be operated with a permanently installed connec-tion.

Pollution degree and degree ofprotection

Degree of protection when thesafety function is used

You must ensure that conductive substances cannot get into the product (pollution degree 2). Conductive substances may cause the safety func-tion to become inoperative.

Vibration and shock

EMC

@ WARNINGLOSS OF SAFETY FUNCTION CAUSED BY FOREIGN OBJECTS

Conductive foreign objects, dust or liquids may cause safety functions to become inoperative.

• Do not use the a safety function unless you have protected the system against contamination by conductive substances.


Pollution degree 2

Degree of protection IP 20

Vibration, sinusoidal As per IEC 60068-2-61.5 mm (from 3 Hz ... 13 Hz)10 m/s2 (from 13 Hz ... 150 Hz)

Shock, semi-sinusoidal As per IEC 60068-2-27150 m/s2 (for 11 ms)

Emission with shielded cables IEC 61800-3: Category C2EN 61000-6-4EN 55022: Class A

Emission with unshielded cables IEC 61800-3: Category C3EN 61000-6-4EN 55022: Class A

Immunity IEC 61800-3: second environment

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3.3 Mechanical data

3.3.1 Dimensions

Figure 3.1 Dimensions

H

bTa c

ed d

j

g

f

B

H [mm] 141.5

B [mm] 36

T [mm] 86

a [mm] 43

b [mm] 28

c [mm] 14

d [mm] 4.5

e [mm] 4

f [mm] 133.5

g [mm] 3

j [mm] 4

Type of cooling Free convection

Mass [kg] 0.38



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3.4 Electrical Data

3.4.1 Connection overview

The illustration below shows an overview of the connections.

Figure 3.2 Overview of signal connections

3.4.2 Power stage supply VDC at CN1

The power stage supply VDC is also the controller supply voltage.

14

32

CN3

CN7

CN8

CN6

CN2

CN1

S1

CN4

CN5

S2

S3

LEDOK

LEDBUS_RUN

LEDERR

LEDBUS_ERR

Connection Assignment

CN1 Power stage supply

CN2 Commissioning interface

CN3 I/O signal interface

CN4 I/O expansion signal interface (optional)

CN5 Fieldbus interface

CN6 Motor connection

CN7 Hall effect sensor interface

CN8 Motor encoder

Nominal voltage VDC [Vdc] 24 ... 48 1)

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Fuses The input current may increase greatly for a short periods in the case of dynamic processes such as fast acceleration or brief load torque peaks.

Circuit breakers with thermal tripping are recommended. For example, type multi9 C60N, Merlin Gerin(www.schneider-electric.com) Cat.No.60110; rated current 10A, trip characteristic C.

Alternatively, circuit breakers with electronic tripping can be used.For example, type ESS20 from E-T-A (www.e-t-a.com).

Select the nominal current of the circuit breaker depending on the wiring and the input current.

Inrush current Charging current for capacitor C=1100 µF

3.4.3 Commissioning interface at CN2

The commissioning interface uses the Modbus protocol with RS485 sig-nal level.

RS485 signals The signals comply with the RS485 standard and are not galvanically isolated.

Limit values VDC [Vdc] 19.2 ... 60

Residual ripple [%] <5

Input current [A] ≤7

Input current short-term 2) [A] ≤14

Input power at 24Vdc [W] ≤150

Input power at 48Vdc [W] ≤300

Input power at 24Vdc short-term 2) [W] ≤300

Input power at 48Vdc short-term 2) [W] ≤600

Power dissipation [W] ≤7

Internal capacitors [μF] 1100

Fuse to be connected upstream 3) [A] ≤10

1) Note the special requirements in terms of the power supply units. See 5.3 "Exter-nal power supply units"(regeneration condition).

2) For a maximum of 3 seconds.3) Note section "Fuses" in this chapter.

Transmission rate [kBaud]

9.6 / 19.2 / 38.4

Transmission protocol Modbus RTU



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3.4.4 I/O signal interfaces at CN3 and CN4 (optional)

Signal inputs The signal inputs are internally connected to 0VDC.

Analog inputs The analog inputs are galvanically connected to 0VDC.

Signal outputs The signal outputs are internally connected to 0VDC and short-circuit protected.

NOTE: An external power supply unit must be connected to CN3 for the signal outputs at CN3 and CN4 to be able to be used.

Logic 0 (Ulow) [V] -3 ... +5

Logic 1 (Uhigh) [V] +15 ... +30

Input current (typical at 24V) [mA] 3.5

Debounce time [ms] 1.25 ... 1.5

Voltage range of differential input circuit

[Vdc] -10 ... +10

Zero voltage window [mV] 50

Maximum input voltage [Vdc] ± 30

Input resistance [kΩ] ≥10

Resolution [Bit] 14

Sampling period [ms] 0.25

Voltage range [V] 10 ... 30 1)

1) The value corresponds to the supplied 24V signal supply

Maximum switching current of out-put L01_OUT 2)

2) The output can be parameterized to control a holding brake. There is no voltage reduction.

[A] 1.5

Maximum switching current of the outputs L02_OUT, XLO1_OUT, XLO2_OUT

[mA] 200

Suitable for inductive loads [mH] 1000

Voltage drop at 50 mA load [V] ≤1

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3.4.5 STO safety function at CN3

The signal inputs are internally connected to 0VDC.

Data for maintenance plan andsafety calculations

Use the following data of the STO safety function for your maintenance plan and the safety calculations:

Logic 0 (Ulow) [V] -3 ... +5

Logic 1 (Uhigh) [V] +15 ... +30

Input current STO_A(typical at 24V)

[mA] ≤10

Input current STO_B(typical at 24V)

[mA] ≤3

Debounce time [ms] 1 ... 5

Detection of signal difference between STO_A and STO_B 1)

1) Switching of both inputs must be simultaneous (offset <1s)

[s] <1

Response time of safety function STO (until disabling of power stage)

[ms] <50

Permitted test pulse width of upstream devices

[ms] <1

Lifetime (IEC 61508) 20 years

Safe Failure FractionSFF (IEC 61508) [%] 49

Hardware Fault ToleranceType A subsystemHFT (IEC 61508) 1

Safety integrity levelIEC 61508IEC 62061

SIL2SILCL2

Probability of Dangerous Hard-ware Failure per HourPFH (IEC 61508) [1/h] 4.299*10-9

Performance LevelPL (ISO 13849-1) d (category 3)

Mean Time to Dangerous FailureMTTFd (ISO 13849-1) 1995 years

Diagnostic CoverageDC (ISO 13849-1) [%] 90



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3.4.6 Fieldbus interface at CN5

CAN bus signals The CAN bus signals comply with the ISO 11898 standard and are gal-vanically isolated. Connection CN5.3 (SHLD) is connected to the hous-ing.

3.4.7 Motor connection at CN6

Approved motors You can use the motors from the RECM motor series with 24/48V.

It is also possible to connect third-party motors. The third-party motors must comply with the technical data described here.

Transmission rate [kBaud]

50 / 125 / 250 / 500 / 1000

Transmission protocol CANopen as per CiA301

Device profile CANopen as per CiA402

Maximum motor phase current [Arms] 16

Continuous output current [Arms] 8

Number of phases 3

Electrical motor time constant [ms] >0.8

Switching frequency of power stage

[kHz] 16

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3.4.8 Interface for Hall effect sensor at CN7

Figure 3.3 Switching behavior of the Hall effect sensors

Hall effect sensors The rotor position is detected by 3 Hall effect sensor integrated in the motor. They are offset by 60° or 120° and deliver six different switching combinations per electrical revolution. Current is supplied to the 3 wind-ings according to these signals.

� Check the function as described in 7.3.7 "Checking the direction of movement".

The assignment of the Hall effect sensors as shown in Figure 3.3 is a prerequisite for proper operation. If third-party motors are used, there may be different assignments. The assignment can be adapted via the following parameters:

The parameter M_hallshift is used to specify a shift between the switching combinations of the Hall effect sensors and the current pattern for the motor phases.

The parameter M_hallpos is used to set the position of the Hall effect sensors.

Supply voltage [Vdc] 5 ±5%

Maximum current [mA] 200

Short-circuit protected

Internalpull-up resistance

[kΩ] 1

Maximum commutation frequency [Hz] 3000

Maximum cable length [m] 15

0° 420°360°300°240°180°120°60°

HALL_U

HALL_V

HALL_W

I_U

I_W

I_V



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3.4.9 Motor encoder at CN8

Motor encoder with A/B/I signals

If this encoder is connected, a sinusoidal current pattern is used.

Output: ENC+5V_OUT

Supply voltage [V] 5 ±5%

Maximum output current [mA] 100

Short-circuit protected

Inputs: ENC_A, ENC_B, ENC_I

Signal voltage As per RS422

Frequency [kHz] ≤400

[inc/s] ≤1600000

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3.4.10 Technical data accessories

3.4.11 Cables

Overview of required cables Note the following dimensions when assembling cables.

3.4.12 Connector

Overview of required connectors The connectors are available as a connector kit. See chapter 12 "Acces-sories and spare parts".

3.4.13 Other accessories

DIN rail adapter The 35 mm DIN rail adapter is for a standard TH35 rail as per EN 60715. 2 fastening screws are included with this accessory.

EMC kit The EMC kit facilitates EMC-compliant grounding of the cable shields. The scope of supply includes the EMC plate, 2 fastening screws and 2 shield clamps.

3.5 Conditions for UL 508C

If the product is used to comply with UL 508C, the following conditions must also be met:

Ambient temperature duringoperation

Pollution degree

PELV power supply Use only power supply units that are approved for overvoltage category III.

Wiring Use at least 60/75 °C copper conductors.

Maximum length [m] (shielded)

Maximum length [m] (unshielded)

Stripping length [mm]

Cross section rigid or flexible [mm2] (AWG)

Supply cable 30 30 10 0.5 ... 2.5(AWG 20 ... AWG 14)

Modbus 10 2 - 0.14 ... 1.5(AWG 26 ... AWG 16)

Signal interface 30 30 7 0.2 ... 1.0(AWG 24 ... AWG 18)

CAN cable See table "Max-imum bus length CAN", page 137

See table "Max-imum bus length CAN", page 137

7 0.5 ... 2.5(AWG 20 ... AWG 14)

Motor cable 15 3 10 0.5 ... 2.5(AWG 20 ... AWG 14)

Hall effect sensor cable 15 3 7 0.2 ... 1.0(AWG 24 ... AWG 18)

Encoder cables 15 3 7 0.2 ... 1.0(AWG 24 ... AWG 18)

Surrounding air temperature [°C] 0 ... +50

Pollution degree 2



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BLP14A 4 Basics


44 Basics

4.1 Functional safety

Automation and safety engineering are two areas that were completely separated in the past but recently have become more and more inte-grated. Engineering and installation of complex automation solutions are greatly simplified by integrated safety functions.

Usually, the safety engineering requirements depend on the application. The level of the requirements results from the risk and the hazard po-tential arising from the specific application.

IEC 61508 standard The standard IEC 61508 "Functional safety of electrical/electronic/pro-grammable electronic safety-related systems" covers the safety-related function. Instead of a single component, an entire function chain (for ex-ample, from a sensor through the logical processing units to the actua-tor) is considered as a unit. This function chain must meet the requirements of the specific safety integrity level as a whole. Systems and components that can be used in various applications for safety tasks with comparable risk levels can be developed on this basis.

SIL, Safety Integrity Level The standard IEC 61508 defines 4 safety integrity levels (SIL) for safety functions. SIL1 is the lowest level and SIL4 is the highest level. A hazard and risk analysis serves as a basis for determining the required safety integrity level. This is used to decide whether the relevant function chain is to be considered as a safety function and which hazard potential it must cover.

PFH, Probability of a dangeroushardware failure per hour

To maintain the safety function, the IEC 61508 standard requires vari-ous levels of measures for avoiding and controlling faults, depending on the required SIL. All components of a safety function must be subjected to a probability assessment to evaluate the effectiveness of the meas-ures implemented for controlling faults. This assessment determines the PFH (probability of a dangerous failure per hour) for a safety system. This is the probability per hour that a safety system fails in a hazardous manner and the safety function cannot be correctly executed. Depend-ing on the SIL, the PFH must not exceed certain values for the entire safety system. The individual PFH values of a function chain are added. The result must not exceed the maximum value specified in the stand-ard.

SIL PFH at high demand or continuous demand

4 ≥10-9 ... <10-8

3 ≥10-8 ... <10-7

2 ≥10-7 ... <10-6

1 ≥10-6 ... <10-5


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HFT and SFF Depending on the SIL for the safety system, the IEC 61508 standard re-quires a specific hardware fault tolerance HFT in connection with a spe-cific proportion of safe failures SFF (safe failure fraction). The hardware fault tolerance is the ability of a system to execute the required safety function in spite of the presence of one or more hardware faults. The SFF of a system is defined as the ratio of the rate of safe failures to the total failure rate of the system. According to IEC 61508, the maximum achievable SIL of a system is partly determined by the hardware fault tol-erance HFT and the safe failure fraction SFF of the system.

IEC 61508 distinguishes two types of subsystems (type A subsystem, type B subsystem). These types are specified on the basis of criteria which the standard defines for the safety-relevant components.

Fault avoidance measures Systematic errors in the specifications, in the hardware and the soft-ware, usage faults and maintenance faults of the safety system must be avoided to the maximum degree possible. To meet these requirements, IEC 61508 specifies a number of measures for fault avoidance that must be implemented depending on the required SIL. These measures for fault avoidance must cover the entire life cycle of the safety system, i.e. from design to decommissioning of the system.

SFF HFT type A subsystem HFT type B subsystem

0 1 2 0 1 2

< 60% SIL1 SIL2 SIL3 --- SIL1 SIL2

60% ... <90% SIL2 SIL3 SIL4 SIL1 SIL2 SIL3

90% ... < 99% SIL3 SIL4 SIL4 SIL2 SIL3 SIL4

≥99% SIL3 SIL4 SIL4 SIL3 SIL4 SIL4

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BLP14A 4 Basics


4.2 Fieldbus CANopen basics

4.2.1 CAN bus

The CAN bus (Controller Area Network) was originally developed for fast, economical data transmission in the automotive industry. Today, the CAN bus is also used in industrial automation technology and has been further developed for communication at fieldbus level.

Features of the CAN bus The CAN bus is a standardized, open bus enabling communication be-tween devices, sensors and actuators from different manufacturers. The features of the CAN bus comprise

• Multimaster capability

Each device in the fieldbus can transmit and receive data independ-ently without depending on an "ordering" master functionality.

• Message-oriented communication

Devices can be integrated into a running network without reconfigu-ration of the entire system. The address of a new device does not need to be specified on the network.

• Prioritization of messages

Messages with higher priority are sent first for time-critical applica-tions.

• Residual error probability

Various security features in the network reduce the probability of undetected incorrect data transmission to less than 10-11.

Transmission technology In the CAN bus, multiple devices are connected via a bus cable. Each network device can transmit and receive messages. Data between net-work devices are transmitted serially.

Network devices Examples of CAN bus devices are

• Automation devices, for example, PLCs

• PCs

• Input/output modules

• Drives

• Analysis devices

• Sensors and actuators


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4.2.2 CANopen technology

4.2.2.1 CANopen description language

CANopen is a device- and manufacturer-independent description lan-guage for communication via the CAN bus. CANopen provides a com-mon basis for interchanging commands and data between CAN bus devices.

4.2.2.2 Communication layers

CANopen uses the CAN bus technology for data communication.

CANopen is based on the basic network services for data communica-tion as per the ISO-OSI model model. 3 layers enable data communica-tion via the CAN bus.

• Physical Layer

• Data Link Layer

• Application Layer

Figure 4.1 CANopen layer model

Physical Layer The physical layer defines the electrical properties of the CAN bus such as connectors, cable length and cable properties as well as bit coding and bit timing.

Data Link Layer The data link layer connects the network devices. It assigns priorities to individual data packets and monitors and corrects errors.

Application Layer The application layer uses communication objects (COB) to exchange data between the various devices. Communication objects are elemen-tary components for creating a CANopen application.

Application Layer

Data Link Layer

Physical Layer

Device communication

Fieldbus communication

CAN bus

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4.2.2.3 Objects

Processes under CANopen are executed via objects. Objects carry out different tasks; they act as communication objects for data transport to the fieldbus, control the process of establishing a connection or monitor the network devices. If objects are directly linked to the device (device-specific objects), the device functions can be used and changed via these objects.

The product provides corresponding parameters for CANopen object groups 3000h and 6000h. The names of the parameters and the data type of the parameters may be different from the DS402 definition for object group 6000h. In this case, enter the data type according to the DS 402.

Object dictionary The object dictionary of each network device allows for communication between the devices. Other devices find the objects with which they can communicate in this dictionary.

Figure 4.2 Device model with object dictionary

The object dictionary contains objects for describing the data types and executing the communication tasks and device functions under CAN-open.

Object index Each object is addressed by means of a 16 bit index, which is repre-sented as a four-digit hexadecimal number. The objects are arranged in groups in the object dictionary. The following table shows an overview of the object dictionary as per the CANopen specifications.

See chapter 11 "Parameters" for a list of the CANopen objects.

CA

N b

us

CANopen

1000h

3000h

6000h

FFFFh

Motor

Process data objects (PDO)

SYNC, EMCY

Powerstage

Communication

Application

Object dictionary

Device profile

Device functions

Specific functions

Service data objects (SDO)

Network management (NMT)

Index range (hex) Object groups

1000h-2FFFh Communication profile

3000h-5FFFh Vendor-specific objects

6000h-9FFFh Standardized device profiles

A000h-FFFFh Reserved


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4.2.2.4 CANopen profiles

Standardized profiles Standardized profiles describe objects that are used with different de-vices without additional configuration. The users and manufacturers or-ganization CAN in Automation has standardized various profiles. These include:

• DS301 communication profile

• DSP402 device profile

Figure 4.3 CANopen reference model

DS301 communication profile The DS301 communication profile is the interface between device pro-files and CAN bus. It was specified in 1995 under the name DS301 and defines uniform standards for common data exchange between different device types under CANopen.

The objects of the communication profile in the device carry out the tasks of data exchange and parameter exchange with other network de-vices and initialize, control and monitor the device in the network.

DSP402 device profile The DSP402 device profile describes standardized objects for position-ing, monitoring and settings of drives. The tasks of the objects include:

• Device monitoring and status monitoring (Device Control)

• Standardized parameterization

• Changing, monitoring and execution of operating modes

Vendor-specific profiles The basic functions of a device can be used with objects of standardized device profiles. Only vendor-specific device profiles offer the full range of functions. The objects with which the special functions of a device can be used under CANopen are defined in these vendor-specific device profiles.

CAN-Bus

Physical Layer

Data Link Layer

Application Layer

CANopen Communication Profile (CiA DS 301)

Device Profile for Drives and Motion Control (CiA DSP 402)

Application

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4.2.3 Communication profile

CANopen manages communication between the network devices with object dictionaries and objects. A network device can use process data objects (PDO) and service data objects (SDO) to request the object data from the object dictionary of another device and, if permissible, write back modified values.

The following can be done by accessing the objects of the network de-vices

• Exchange parameter values

• Start motion functions of individual CAN bus devices

• Request status information

4.2.3.1 Object dictionary

Each CANopen device manages an object dictionary which contains the objects for communication.

Index, subindex The objects are addressed in the object dictionary via a 16 bit index. One or more 8 bit subindex entries for each object specify individual data fields in the object. Index and subindex are shown in hexadecimal nota-tion with a subscript "h".

Example The following table shows index and subindex entries using the example of the object software position limit (607Dh) for specifying the positions of software limit switches.

Table 4.1 Example of index and subindex entries

Object descriptions in the manual For CAN programming of a device, the objects of the following object groups are described in detail:

• 1xxxh objects: Communication objects in this chapter

• 6xxxh objects: Standardized objects of the device profile in chapter 8 "Operation"

Standardized objects Standardized objects allow you to use the same application program for different network devices of the same device type. This requires these objects to be contained in the object dictionary of the network devices. Standardized objects are defined in the DS301 communication profile and the DSP402 device profile.

Index Subindex Name Meaning

607Dh 00h - Number of data fields

607Dh 01h minimum position limit

Lower limit switch

607Dh 02h maximum position limit

Upper limit switch


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4.2.3.2 Communication objects

Overview The communication objects are standardized with the DS301 CANopen communication profile. The objects can be classified into 4 groups ac-cording to their tasks.

Figure 4.4 Communication objects; the following applies to the perspectiveof the network device: T_..: "Transmit", R_..: "Receive"

• PDOs (process data objects) for real-time transmission of process data

• SDOs (service data object) for read and write access to the object dictionary

• Objects for controlling CAN messages:

– SYNC object (synchronization object) for synchronization of net-work devices

– EMCY object (emergency object), for signaling errors of a device or its peripherals.

• Network management services:

– NMT services for initialization and network control (NMT: net-work management)

– NMT Node Guarding for monitoring the network devices

– NMT Heartbeat for monitoring the network devices

Communication objects

PDO

SYNCEMCY

NMT ServicesNMT Node guarding

T_PDO1 R_PDO1T_PDO2 R_PDO2T_PDO3 R_PDO3T_PDO4 R_PDO4

SDO

Special objects

Networkmanagement

T_SDO R_SDO

NMT Heartbeat

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CAN message Data is exchanged via the CAN bus in the form of CAN messages. A CAN message transmits the communication object as well as numerous administration and control data.

Figure 4.5 CAN message and simplified representation of CANopen mes-sage

CANopen message For work with CANopen objects and for data exchange, the CAN mes-sage can be represented in simplified form because most of the bits are used for error correction. These bits are automatically removed from the receive message by the data link layer of the OSI model, and added to a message before it is transmitted.

The two bit fields "Identifier" and "Data" form the simplified CANopen message. The "Identifier" corresponds to the "COB ID" and the "Data" field to the data frame (maximum length 8 bytes) of a CANopen mes-sage.

COB ID The COB ID (Communication OBject Identifier) has 2 tasks as far as controlling communication objects is concerned:

• Bus arbitration: Specification of transmission priorities

• Identification of communication objects

An 11 bit COB identifier as per the CAN 3.0A specification is defined for CAN communication; it comprises 2 parts

• Function code, 4 bits

• Node address (node ID), 7 bits.

Figure 4.6 COB ID with function code and node address

1 11 1 1 1 1 7

End bitsAcknowledge

CRCData

ControlRTR bit

IdentifierStart bit

>=36 160...8 Byte

COB ID

11 Bit

7 Bit4 Bit

0...8 Byte

1 3 4 5 6 70 2

Data frame

CANopen message (simplified)

CAN message

1COB ID 2 3 4 1 2 3 4 5 6 7

Bit:10 0

Function code0...15

Node ID0...127


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COB IDs of the communicationobjects

The following table shows the COB IDs of the communication objects with the factory settings. The column "Index of object parameters" shows the index of special objects with which the settings of the com-munication objects can be read or modified via an SDO.

Table 4.2 COB IDs of the communication objects

COB IDs of PDOs can be changed if required. The assignment pattern for COB IDs only specifies a basic setting.

Function code The function code classifies the communication objects. Since the bits of the function code in the COB ID are more significant, the function code also controls the transmission priorities: Objects with a lower func-tion code are transmitted with higher priority. For example, an object with function code "1" is transmitted prior to an object with function code "3" in the case of simultaneous bus access.

Node address Each network device is configured before it can be operated on the net-work. The device is assigned a unique 7 bit node address (node ID) be-tween 1 (01h) and 127 (7Fh). The device address "0" is reserved for "broadcast transmissions" which are used to send messages to all reachable devices simultaneously.

Example Selection of a COB ID

For a device with the node address 5, the COB ID of the communication object T_PDO1 is:

384+node ID = 384 (180h) + 5 = 389 (185h).

Communication object Function code

Node address node ID [1 ... 127]

COB ID decimal (hexadecimal) Index of object parameters

NMT Start/Stop Service 0 0 0 0 0 0 0 0 0 0 0 0 (0h) -

SYNC object 0 0 0 1 0 0 0 0 0 0 0 128 (80h) 1005h ... 1007h

EMCY object 0 0 0 1 x x x x x x x 128 (80h) + node ID 1014h, 1015h

T_PDO1 0 0 1 1 x x x x x x x 384 (180h) + node ID 1800h

R_PDO1 0 1 0 0 x x x x x x x 512 (200h) + node ID 1400h







T_SDO 1 0 1 1 x x x x x x x 1408 (580h) + node ID -

R_SDO 1 1 0 0 x x x x x x x 1536 (600h) + node ID -

NMT error control 1 1 1 0 x x x x x x x 1792 (700h) + node ID

LMT Services 1) 1 1 1 1 1 1 0 0 1 0 x 2020 (7E4h), 2021 (7E5h)

NMT Identify Service 1) 1 1 1 1 1 1 0 0 1 1 0 2022 (7E6h)

DBT Services 1) 1 1 1 1 1 1 0 0 x x x 2023 (7E7h), 2024 (7F8h)

NMT Services 1) 1 1 1 1 1 1 0 1 0 0 x 2025 (7E9h), 2026 (7EAh)

1) Not supported by the device

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Data frame The data frame of the CANopen message can hold up to 8 bytes of data. In addition to the data frame for SDOs and PDOs, special frame types are specified in the CANopen profile:

• Error data frame

• Remote data frame for requesting a message

The data frames contain the respective communication objects.

4.2.3.3 Communication relationships

CANopen uses 3 relationships for communication between network de-vices:

• Master-slave relationship

• Client-server relationship

• Producer-consumer relationship

Master-slave relationship A network master controls the message traffic. A slave only responds when it is addressed by the master.

The master-slave relationship is used with network management ob-jects for a controlled network start and to monitor the connection of de-vices.

Figure 4.7 Master - slave relationships

Messages can be interchanged with and without confirmation. If the master sends an unconfirmed CAN message, it can be received by a single slave or by all reachable slaves or by no slave.

To confirm the message, the master requests a message from a specific slave, which then responds with the desired data.

Data

Slave

Slave

Slave

Data

Slave

Request

Master

Master


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Client-server relationship A client-server relationship is established between 2 devices. The "server" is the device whose object dictionary is used during data ex-change. The "client" addresses and starts the exchange of messages and waits for a confirmation from the server.

A client-server relationship with SDOs is used to send configuration data and long messages.

Figure 4.8 Client-server relationship

The client addresses and sends a CAN message to a server. The server evaluates the message and sends the response data as an acknowl-edgement.

Producer-consumer relationship The producer-consumer relationship is used for exchanging messages with process data, because this relationship enables fast data exchange without administration data.

A "Producer" sends data, a "Consumer" receives data.

Figure 4.9 Producer-consumer relationships

The producer sends a message that can be received by one or more network devices. The producer does not receive an acknowledgement to the effect that the message was received. The message transmission can be triggered by

• An internal event, for example, "target position reached"

• The synchronization object SYNC

• A request of a consumer

See chapter 4.2.5 "Process data communication" for details on the func-tion of the producer-consumer relationship and on requesting mes-sages.

Client

Server

Data

Data

Request

Data

DataConsumer

Consumer

Consumer

Consumer

Consumer

Producer

Producer

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4.2.4 Service data communication

4.2.4.1 Overview

Service Data Objects (SDO: Service Data Object) can be used to ac-cess the entries of an object dictionary via index and subindex. The val-ues of the objects can be read and, if permissible, also be changed.

Every network device has at least one server SDO to be able to respond to read and write requests from a different device. A client SDO is only required to request SDO messages from the object dictionary of a dif-ferent device or to change them in the dictionary.

The T_SDO of an SDO client is used to send the request for data ex-change; the R_SDO is used to receive. The data frame of an SDO con-sist of 8 bytes.

SDOs have a higher COB ID than PDOs; therefore, they are transmitted over the CAN bus at a lower priority.

4.2.4.2 SDO data exchange

A service data object (SDO) transmits parameter data between 2 de-vices. The data exchange conforms to the client-server relationship. The server is the device to whose object dictionary an SDO message refers.

Figure 4.10 SDO message exchange with request and response

Message types Client-server communication is triggered by the client to send parameter values to the server or to get them from the server. In both cases, the cli-ent starts the communication with a request and receives a response from the server.

Client

COB ID Data

COB ID Data

Server

R_SDO

Request

Response

CAN

T_SDO

R_SDO T_SDO


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4.2.4.3 SDO message

Put simply, an SDO message consists of the COB ID and the SDO data frame, in which up to 4 bytes of data can be sent. Longer data se-quences are distributed over multiple SDO messages with a special pro-tocol.

The device transmits SDOs with a data length of up to 4 bytes. Greater amounts of data such as 8 byte values of the data type "Visible String 8" can be distributed over multiple SDOs and are transmitted successively in blocks of 7 bytes.

Example The following illustration shows an example of an SDO message.

Figure 4.11 SDO message, example

COB ID and data frame R_SDO and T_SDO have different COB IDs.The data frame of an SDO messages consists of:

• Command code (ccd) which contains the SDO message type and the data length of the transmitted value

• Index and subindex which point to the object whose data is trans-ported with the SDO message

• Data of up to 4 bytes

Evaluation of numeric values Index and data are transmitted left-aligned in Intel format. If the SDO contains numerical values of more than 1 byte in length, the data must be rearranged byte-by-byte before and after a transmission.

Figure 4.12 Rearranging numeric values greater than 1 byte

SubindexIndex

Command Code

COB ID(581h)

1 2 3 4 5 6 700

043 10 00 01 0292 00

581

Data

SDO

00 02 01 92h10 00h

Index: Data:

Hex:

1 2 3 4 5 6 700

043 10 00 01 0292 00

581

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4.2.4.4 Reading and writing data

Writing data The client starts a write request by sending index, subindex, data length and value.

The server sends a confirmation indicating whether the data was cor-rectly processed. The confirmation contains the same index and subindex, but no data.

Figure 4.13 Writing parameter values

Unused bytes in the data field are shown with a slash in the graphic. The content of these data fields is not defined.

ccd coding The table below shows the command code for writing parameter values. It depends on the message type and the transmitted data length.

Table 4.3 Command code for writing parameter values

Client Server

1 2 3 4 5 6 70

COB ID ccd IdxLSB Sidx Data

1 2 3 4 5 6 70

COB ID ccd Sidx Data

Write request

Write response

23h

27h

2Bh

2Fh

60h

ccd=

ccd=

ccd=

ccd=

ccd=

Data

Data

Data

Data

IdxMSB

IdxLSB

IdxMSB

Message type Data length used

4 byte 3 byte 2 byte 1 byte

Write request 23h 27h 2Bh 2Fh Transmitting param-eters

Write response 60h 60h 60h 60h Confirmation

Error response 80h 80h 80h 80h Error


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Reading data The client starts a read request by transmitting the index and subindex that point to the object or part of the object whose value it wants to read.

The server confirms the request by sending the desired data. The SDO response contains the same index and subindex. The length of the re-sponse data is specified in the command code "ccd".

Figure 4.14 Reading a parameter value

Unused bytes in the data field are shown with a slash in the graphic. The content of these data fields is not defined.

ccd coding The table below shows the command code for transmitting a read value. It depends on the message type and the transmitted data length.

Table 4.4 Command code for transmitting a read value

Error response If a message could not be evaluated, the server sends an error mes-sage. See chapter 10.1.4.5 "SDO error message ABORT" for details on the evaluation of the error message.

Figure 4.15 Response with error message (error response)

Read request

Read response

Client Server

1 2 3 4 5 6 70

COB ID ccd IdxLSB Sidx Data

43h

47h

4Bh

4Fh

ccd=

ccd=

ccd=

ccd=

Data

Data

Data

Data

IdxMSB

1 2 3 4 5 6 70


40hccd=

IdxLSB

IdxMSB

Message type Data length used

4 byte 3 byte 2 byte 1 byte

read request 40h 40h 40h 40h Request read value

Read response 43h 47h 4Bh 4Fh Return read value

Error response 80h 80h 80h 80h Error

Client Server

1 2 3 4 5 6 70


Error response

80ccd: Byte 4...7Error code

IdxLSB

IdxMSB

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4.2.4.5 Reading data longer than 4 bytes

If values of more than 4 bytes are to be transmitted with an SDO mes-sage, the message must be divided into several frames. Each frame consists of 2 parts:

• Request by the SDO client,

• Confirmation by the SDO server.

The request by the SDO client contains the command code "ccd" with the toggle bit and a data segment. The confirmation frame also contains a toggle bit in the segment "ccd". In the first frame, the toggle bit has the value "0", in the subsequent frames, it toggles between 1 and 0.

Reading data The client starts a read request by transmitting the index and subindex that point to the object or the object value whose value it wants to read.

The server confirms the request by transmitting index, subindex, data length and the first 4 bytes of the requested data. The command code specifies that data of more than 4 bytes are transmitted. The command code of the read response from the server to the first message is 41h.

Figure 4.16 Transmitting the first message

In the next frames, the remaining data is requested and transmitted in packets of 7 bytes from the server. Refer to the DS301 of the CiA for ad-ditional information on this procedure.

Client Server

1 2 3 4 5 6 70

COB-Id ccd Idx2 Idx1 Sidx Data

1 2 3 4 5 6 70

COB-Id ccd Idx2 Idx1 Sidx Data

Length of data

read request

read response

41h

40hccd=

ccd=


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4.2.5 Process data communication

4.2.5.1 Overview

Process data objects (PDO: Process Data Object) are used for realtime data exchange of process data such as actual and reference values or the operating state of the device. Transmission is very fast because the data is sent without additional administration data and data transmission acknowledgement from the recipient is not required.

The flexible data length of a PDO message also increases the data throughput. A PDO message can transmit up to 8 bytes of data. If only 2 bytes are assigned, only 2 data bytes are sent.

The length of a PDO message and the assignment of the data fields are specified by PDO mapping. See chapter 4.2.5.4 "PDO mapping" for ad-ditional information.

PDO messages can be exchanged between devices that generate or process process data.

4.2.5.2 PDO data exchange

Figure 4.17 PDO data exchange

Data exchange with PDOs follows to the producer-consumer relation-ship and can be triggered in 3 ways

• Synchronized

• Event-driven, asynchronous

• On request of a consumer, asynchronous

The SYNC object controls synchronized data processing. Synchronous PDO messages are transmitted immediately like the standard PDO messages, but are only evaluated on the next SYNC. For example, sev-eral drives can be started simultaneously via synchronized data ex-change.

The device immediately evaluates PDO messages that are called on re-quest or in an event-driven way.

The transmission type can be specified separately for each PDO with subindex 02h (transmission type) of the PDO communication parameter. The objects are listed in Table 4.5.

PDO ConsumerR_PDO

PDO ConsumerR_PDO

R_PDOPDO Consumer

T_PDOPDO Producer

COB-ID Data

CAN

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4.2.5.3 PDO message

T_PDO, R_PDO One PDO each is available for sending and receiving a PDO message:

• T_PDO to transmit the PDO message (T: Transmit),

• R_PDO to receive PDO messages (R: Receive).

The following settings for PDOs correspond to the defaults for the device, unless otherwise specified. They can be read and set via objects of the communication profile.

The device uses 8 PDOs, 4 receive PDOs and 4 transmit PDOs. By de-fault, the PDOs are evaluated or transmitted in an event-driven way.

PDO settings The PDO settings can be read and changed with 8 communication ob-jects:

Table 4.5 Communication objects for PDO

Activating PDOs With the default PDO settings, R_PDO1 and T_PDO1 are activated. The other PDOs must be activated first.

A PDO is activated with bit 31 (valid bit) in subindex 01h of the respective communication object:

Figure 4.18 Activating PDOs via subindex 01h, bit 31

Example Setting for R_PDO3 in object 1402h

• Subindex 01h = 8000 04xxh: R_PDO3 not activated

• Subindex 01h = 0000 04xxh: R_PDO3 activated.

Values for "x" in the example depend on the COB ID setting.

Object Meaning

1st receive PDO parameter (1400h) Settings for R_PDO1

2nd receive PDO parameter (1401h) Settings for R_PDO2

3rd receive PDO parameter (1402h) Settings for R_PDO3

4th receive PDO parameter (1403h) Settings for R_PDO4

1st transmit PDO parameter (1800h) Settings for T_PDO1

2nd transmit PDO parameter (1801h) Settings for T_PDO2

3rd transmit PDO parameter (1802h) Settings for T_PDO3

4th transmit PDO parameter (1803h) Settings for T_PDO4

COB-ID0: PDO activated1: PDO not activated

010152331(MSB) . . .

valid-Bit

Subindex 01h Objects 140xh, 180xh (x: 0, 1, 2, 3)


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PDO time intervals The time intervals "inhibit time" and "event timer" can be set for each transmit PDO.

• The time interval "inhibit time" can be used to reduce the CAN bus load, which can be the result of continuous transmission of T_PDOs. If an inhibit time not equal to zero is entered, a transmitted PDO will only be re-transmitted after the inhibit time has elapsed. The time is set with subindex 03h.

• The time interval "event timer" cyclically triggers an event message. After the time intervals has elapsed, the device transmits the event-controlled T_PDO. The time is set with subindex 05h.

Receive PDOs The objects for R_PDO1, R_PDO2 and R_PDO3 are permanently set. The object that is mapped to PDO R_PDO4 can be modified by PDO mapping.

Figure 4.19 Receive PDOs

R_PDO1 In the R_PDO1, the control word, object controlword (6040h), of the state machine is mapped which can be used to set the operating state of the device.

R_PDO1 is evaluated asynchronously, i.e. it is event-driven. R_PDO1 is permanently set.

R_PDO2 With R_PDO2, the control word and the target position of a motion com-mand, object target position (607Ah), are received for a move-ment in the operating mode Profile Position.


For details on the SYNC object see chapter 4.2.6 "Synchronization".

R_PDO3 R_PDO3 contains the control word and the target velocity, object Target velocity (60FFh), for the operating mode "Profile Velocity".


1 X

0X

COB-ID200h+Node-ID

Controlword (6040h)

Controlword (6040h)

1 2 3 4 5X

0X X X X X

COB-ID300h+Node-ID

Target position (607Ah)

R_PDO1

R_PDO2

1 X

0X

COB-ID400h+Node-ID

Controlword (6040h)

1 2 3 4 5X

0X X X X X

COB-ID500h+Node-ID

6 7X X

2 3 4 5X X X X

Target velocity (60FFh)

R_PDO3

R_PDO4

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R_PDO4 R_PDO4 is used to transmit vendor-specific object values. By default, R_PDO4 is empty.

R_PDO4 is evaluated asynchronously, i.e. it is event-driven. R_PDO4 can be used to map various vendor-specific objects by means of PDO mapping.

Chapter 11.4 "Assignment object group 6000h" contains a list of vendor-specific objects that are available for PDO mapping.

Transmit PDOs The objects for T_PDO1, T_PDO2 and T_PDO3 are permanently set. The object that is mapped to PDO T_PDO4 can be modified by PDO mapping.

Figure 4.20 Transmit PDOs

T_PDO1 In T_PDO1, the status word, object statusword (6041h), of the state machine is mapped.

T_PDO1 is transmitted asynchronously and in an event-driven way whenever the status information changes. No other objects can be mapped with T_PDO1.

T_PDO2 T_PDO2 contains the status word and the current position of the motor, object Position actual value (6064h), to monitor movements in the operating mode Profile Position.

T_PDO2 is transmitted after receipt of a SYNC object and in an event-driven way. No other objects can be mapped with T_PDO2.

T_PDO3 T_PDO3 contains the status word and the actual velocity, object Velocity actual value (606Ch), for monitoring the velocity pro-file in the operating mode "Profile Velocity".

T_PDO3 is transmitted asynchronously and in an event-driven way whenever the status information changes. No other objects can be mapped with T_PDO3.

1 X

0X

COB-ID180h+Node-ID

Statusword (6041h)

1 2 3 4 5X

0X X X X X

COB-ID280h+Node-ID

Position actual value (6064h)

Statusword (6041h)

T_PDO1

T_PDO2

1 X

0X

COB-ID380h+Node-ID

1 2 3 4 5X

0X X X X X

COB-ID480h+Node-ID

Statusword (6041h)

T_PDO3

T_PDO4

3 4 5X X X X

Velocity actual value (606Ch)

2

6 7X X


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T_PDO4 Vendor-specific object values (for monitoring) are transmitted with T_PDO4. By default, T_PDO4 is empty.

T_PDO4 is transmitted asynchronously and in an event-driven way whenever the data changes. The parameter CANpdo4Event is used to specify the objects which are to trigger an event. With the default setting of the parameter, the mapped objects trigger an event.

T_PDO4 can be used to map various vendor-specific objects via PDO mapping.

Chapter 11.3 "Objects for PDO mapping" contains a list of vendor-spe-cific objects that are available for PDO mapping.

Parameter nameHMI menu

Description UnitMinimum valueFactory settingMaximum value

Data typeR/WPersistentExpert

Parameter address via fieldbus

CANpdo4Event

-

-

PDO4 event mask

Changes of values in the object trigger an event:Bit 0 = 1: first PDO4 objectBit 1 = 1: second PDO4 objectBit 2 = 1: third PDO4 objectBit 3 = 1: fourth PDO4 objectBit 4..15 : reserved

-01515

UINT16UINT16R/W--

CANopen 3017:5hModbus 5898

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4.2.5.4 PDO mapping

Up to 8 bytes of data from different areas of the object dictionary can be transmitted with a PDO message. Mapping of data to a PDO message is referred to as PDO mapping.

Chapter 11.3 "Objects for PDO mapping" contains a list of vendor-spe-cific objects that are available for PDO mapping.

The picture below shows the data exchange between PDOs and object dictionary on the basis of two examples of objects in T_PDO4 and R_PDO4 of the PDOs.

Figure 4.21 PDO mapping, in this case for a device with node address 1

Static PDO mapping The device uses static and dynamic PDO mapping. Static PDO mapping means that the objects are mapped in accordance with a fixed setting in the corresponding PDO.

The settings for PDO mapping are defined in an assigned communica-tion object for each PDO.

... ... ... ...6040h 00h Control word 00 1F6041h 00h Status word 0A 10 ... ... ... ...6064h 00h Position actual value 00 0E 11 03 ... ... ... ...607Ah 00h Target position 00 00 0A 00 ... ... ... ...

Control word (6040h)

1 2 3 4 500

01F 00 0A 00 00

COB ID501h

Target position (607Ah)Control word (6040h)

R_PDO4

Status word (6041h)

1 2 3 4 50A

010 03 11 0E 00

COB ID481h

Position actual value(6064h)

Status word (6041h)

T_PDO4

R_PDOs

T_PDOs1

0A0

10COB ID

481h

T_PDO4

1 00

01F

COB ID501h

R_PDO4

Object PDO mapping for Type

1st receive PDO mapping (1600h) R_PDO1 Static

2nd receive PDO mapping (1601h) R_PDO2 Static

3rd receive PDO mapping (1602h) R_PDO3 Static

4th receive PDO mapping (1603h) R_PDO4 Dynamic

1st transmit PDO mapping (1A00h) T_PDO1 Static

2nd transmit PDO mapping (1A01h) T_PDO2 Static

3rd transmit PDO mapping (1A02h) T_PDO3 Static

4th transmit PDO mapping (1A03h) T_PDO4 Dynamic


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Structure of entries Up to 8 bytes of 8 different objects can be mapped in a PDO. Each com-munication object for setting the PDO mapping provides 4 subindex en-tries. A subindex entry contains 3 pieces of information on the object: the index, the subindex and the number of bits that the object uses in the PDO.

Figure 4.22 Structure of entries for PDO mapping

Subindex 00h of the communication object contains the number of valid subindex entries.

00h01h02h

. . .. . . . . . . . .

26041h606Ch

10h00h00h 20h

Index

Bit

xx xxh xxh xxh

31 15 7LSB

Subindex

0

Object length

PDO mapping object

Object length Bit value

10h 16 bits

20h 32 bits

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4.2.6 Synchronization

The synchronization object SYNC controls the synchronous exchange of messages between network devices for purposes such as the simul-taneous start of multiple drives.

The data exchange conforms to the producer-consumer relationship. The SYNC object is transmitted to all reachable devices by a network device and can be evaluated by the devices that support synchronous PDOs.

Figure 4.23 SYNC message

Time values for synchronization Two time values define the behavior of synchronous data transmission:

• The cycle time specifies the time intervals between 2 SYNC mes-sages. It is set with the object Communication cycle period(1006h).

• The synchronous time window specifies the time span during which the synchronous PDO messages must be received and transmitted. The time window is defined with the object Synchronous window length (1007h).

Figure 4.24 Synchronization times

Synchronous data transmission From the perspective of a SYNC recipient, in one time window the status data is transmitted first in a T_PDO, then new control data is received via an R_PDO. However, the control data is only processed when the next SYNC message is received. The SYNC object itself does not transmit data.

SYNC Consumer SYNC Consumer

SYNC Producer

COB ID

CAN

SYNC Consumer

SYNC

SYNC

CAN bus

Cycle time

Synchronoustime window

T_PDO (status)

R_PDO (controller)

ProcessR_PDO data


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Cyclic ad acyclic data transmission Synchronous exchange of messages can be cyclic or acyclic.

Figure 4.25 Cyclic and acyclic transmission

In the case of cyclic transmission, PDO messages are exchanged con-tinuously in a specified cycle, for example with each SYNC message.

If a synchronous PDO message is transmitted acyclically, it can be transmitted or received at any time; however, it will not be valid until the next SYNC message.

Cyclic or acyclic behavior of a PDO is specified in the subindex transmission type (02h) of the corresponding PDO parameter, for example, in the object 1st receive PDO parameter (1400h:02h) for R_PDO1.

COB ID, SYNC object For fast transmission, the SYNC object is transmitted unconfirmed and with high priority.

The COB ID of the SYNC object is set to the value 128 (80h) by default. The value can be changed after initialization of the network with the ob-ject COB-ID SYNC Message (1005h) .

"Start" PDO With the default settings of the PDOs, R_PDO2/T_PDO2 and R_PDO3/T_PDO3 are received and transmitted synchronously. Both PDOs are used for starting and monitoring operating modes. The synchronization allows an operating mode to be started simultaneously on multiple de-vices so that, for example, the feed of a portal drive with several motors can be synchronized.

T_PDO2: cyclical

T_PDO1: acyclical

SYNC

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4.2.7 Emergency service

The Emergency Service signals internal device errors via the CAN bus. The error message is transmitted to the network devices with an EMCY object according to the Consumer-Producer relationship.

Figure 4.26 Error message via EMCY objects

Boot-up message The communication profile DS301, version 3.0, defines an additional task for the EMCY object: sending a boot-up message. A boot-up mes-sage informs the network devices that the device that transmitted the message is ready for operation in the CAN network.

The boot-up message is transmitted with the COB ID 700h + node ID and one data byte (00h).

4.2.7.1 Error evaluation and handling

EMCY message If an internal device error occurs, the device switches to the operating state 9 Fault as per the CANopen state machine. At the same time, it transmits an EMCY message with error register and error code.

Figure 4.27 EMCY message

Bytes 0, 1 - Error code, value is also saved in the object Error code (603Fh)

Byte 2 - Error register, value is also saved in the object Error regis-ter (1001h), see 10.1.4.3 "Error register".

Bytes 3, 4 - Vendor-specific error code of the mapped object

Bytes 5, 6 - Index of the mapped object

Byte 7 - Subindex of the mapped object

EMCY-Consumer EMCY-Consumer

EMCY-Producer

COB-ID

CAN

EMCY-Consumer

data

Manufacturer specific error field

Error register

Error code Error code

COB-ID (80h+ Node-ID)

1 2 3 4 5 6 722

012 00 00 00 0000 00

81

0 112 22

22 12h


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COB ID The COB ID for each device on the network supporting an EMCY object is determined on the basis of the node address:

COB ID = Function code EMCY object (80h) + node ID

The function code of the COB ID can be changed with the object COB-ID emergency(1014h).

Error register and error code The error register contains bit-coded information on the error. Bit 0 re-mains set as long as an error is active. The remaining bits identify the er-ror type. The exact cause of error can be determined on the basis of the error code. The error code is transmitted in Intel format as a 2 byte value; the bytes must be reversed for evaluation.

See chapter 10 "Diagnostics and troubleshooting" for a list of the error messages and error responses by the device as well as remedies.

Error memory The device saves the error register in the object Error register (1001h) and the last error that occurred in the object ErrorError code (603Fh) . The last 20 error messages are stored in the object FLT_err_num (303C:1h) in the order in which the errors occurred. FLT_MemReset (303B:5h) resets the read pointer of the error mem-ory to the oldest error.

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4.2.8 Network management services

Network management (NMT) is part of the CANopen communication profile; it is used to initialize the network and the network devices and to start, stop and monitor the network devices during operation on the net-work.

NMT services are executed in a master-slave relationship. The NMT master addresses individual NMT slaves via their node address. A mes-sage with node address "0" is broadcast to all reachable NMT slaves si-multaneously.

Figure 4.28 NMT services via the master-slave relationship

The device can only take on the function of an NMT slave.

NMT services NMT services can be divided into 2 groups:

• Services for device control, to initialize devices for CANopen com-munication and to control the behavior of devices during operation on the network

• Services:for connection monitoring

NMTslave

NMTslave

NMTslave

NMTslave

NMTslave

NMTmaster

CAN

COB ID Data


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4.2.8.1 NMT services for device control

NMT state machine The NMT state machine describes the initialization and states of an NMT slave during operation on the network.

Figure 4.29 NMT state machine and available communication objects

To the right, the graphic shows the communication objects that can be used in the specific network state.

Initialization An NMT slave automatically runs through an initialization phase after the supply voltage is switched on (power on) to prepare it for CAN bus operation. On completion of the initialization, the slave switches to the operating state "Pre Operational" and sends a boot-up message. From now on, an NMT master can control the operational behavior of an NMT slave on the network via 5 NMT services, represented in the above illus-tration by the letters A to E.

Operational

Pre-Operational

Stopped

ResetApplication

ResetCommunication

Initialization

Power on

CA

DE

BNMT

SDO, EMCY NMT

PDO, SDO, SYNCEMCY, NMT

NMT service Transition Meaning

Start remote node(Start network node)

A Transition to operating state "Operational"Start normal operation on the network

Stop remote node(Stop network node)

B Transition to operating state "Stopped"Stops communication of the network device on the network. If connection monitoring is active, it remains on. If the power stage is enabled (operating state "Operation Enabled" or "Quick Stop"), an error of error class 2 is trig-gered. The motor is stopped and the power stage disabled.

Enter Pre-Operational(Transition to "Pre-Opera-tional")

C Transition to operating state "Pre-Operational"The communication objects except for PDOs can be used.

The operating state "Pre-Operational" can be used for configuration via SDOs:- PDO mapping- Start of synchronization- Start of connection monitoring

Reset node(Reset node)

D Transition to operating state "Reset application"Load stored data of the device profiles and automatically switch via operating state "Reset communication" to "Pre-Operational".

Reset communication(Reset communication data)

E Transition to operating state "Reset communication"Load stored data of the communication profile and automatically transition to operating state "Pre-Operational". If the power stage is enabled (operating state "Operation Enabled" or "Quick Stop"), an error of error class 2 is trig-gered. The motor is stopped and the power stage disabled.

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Persistent data memory When the supply voltage is switched on (power on), the device loads the saved object data from the non-volatile EEPROM for persistent data to the RAM.

NMT message The NMT services for device control are transmitted as unconfirmed messages with the COB ID = 0 . By default, they have the highest priority on the CAN bus.

The data frame of the NMT device service consists of 2 bytes.

Figure 4.30 NMT message

The first byte, the "Command specifier", indicates the NMT service used.

The second byte addresses the recipient of an NMT message with a node address between 1 and 127 (7Fh). A message with node address "0" is broadcast to all reachable NMT slaves.

4.2.8.2 NMT services for connection monitoring

Connection monitoring monitors the communication status of network devices.

3 NMT services for connection monitoring are available:

• "Node guarding" for monitoring the connection of an NMT slave

• "Life guarding" for monitoring the connection of an NMT master

• "Heartbeat" for unconfirmed connection messages from network devices.

NMTSlave

NMTSlave

NMTSlave

NMTMaster 00010

Command specifierCOB ID

Node ID

Byte 0 1

Command Specifier NMT service Transition

1 (01h) Start remote node A

2 (02h) Stop remote node B

128 (80h) Enter Pre-Operational C

129 (81h) Reset node D

130 (82h) Reset communication E


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Node guarding / Life guarding

COB ID The communication object NMT error control (700h+Node-ID) is used for connection monitoring. The COB ID for each NMT slave is de-termined on the basis of the node address:

COB ID = function code NMTerror control (700h) + Node-ID.

Structure of the NMT message After a request from the NMT master, the NMT slave responds with one data byte.

Acknowledgement of the NMT slave

Bits 0 to 6 identify the NMT state of the slave:

• 4 (04h): "Stopped"

• 5 (05h): "Operational"

• 127 (7Fh): "Pre-Operational"

After each "guard time" interval, bit 7 switches toggles between "0" and "1", so the NMT master can detect and ignore a second response within the "guard time" interval. The first request when connection monitoring is started begins with bit 7 = 0.

Connection monitoring must not be active during the initialization phase of a device. The status of bit 7 is reset as soon as the device runs though the NMT state "Reset communication".

Connection monitoring remains active in the NMT state "Stopped".

Configuration Node Guarding/Life Guarding is configured via:

• Guard time (100Ch)

• Life time factor (100Dh)

• Error Behavior (1029h)

Slave05h

05h

COB ID704h

704h

704h

704h 85h

704h

704h 05h

Guardtime

Bit 7 6 ... 0

00 0 0 0 0 11

Bit 7 6 0

85h 0 0 0 0 01 11= =

Master

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Connection error The NMT master signals a connection error to the master program if:

• the slave does not respond within the "guard time" period

• the NMT state of the slave has changed without a request by the NMT master.

shows an error message after the end of the third cycle because of a missing response from an NMT slave.

"Node Guarding" and "Life Guarding" with time intervals

SlaveMasterGuardtime

Lifetime

Request

Response

Response

Request

Request

Noresponse

Message


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Heartbeat

The optional Heartbeat protocol replaces the node guarding/life guard-ing protocol. It is recommended for new device versions.

A heartbeat producer transmits a heartbeat message cyclically at the frequency defined in the object Producer heartbeat time (1017h). One or several consumers can receive this message. Producer heartbeat time (1016h) = 0 deactivates heartbeat monitoring.

The relationship between producer and consumer can be configured with objects. If a consumer does not receive a signal within the period of time set with Consumer heartbeat time (1016h), it generates an error message (heartbeat event). Consumer heartbeat time (1016h) = 0 deactivates monitoring by a consumer.

"Heartbeat" monitoring

Data byte for NMT state evaluation of the "Heartbeat" producer:

• 0 (00h): "Boot-Up"

• 4 (04h): "Stopped"

• 5 (05h): "Operational"

• 127 (7Fh): "Pre-Operational"

Time intervals The time intervals are set in increments of 1 ms steps; the values for the consumer must not be less than the values for the producer. Whenever the "Heartbeat" message is received, the time interval of the producer is restarted.

Start of monitoring "Heartbeat" monitoring starts as soon as the time interval of the pro-ducer is greater than zero. If "Heartbeat" monitoring is already active during the NMT state transition to "Pre-Operational", "Heartbeat" moni-toring starts with sending of the boot-up message. The boot-up mes-sage is a Heartbeat message with one data byte 00h.

Devices can monitor each other via "Heartbeat" messages. They as-sume the function of consumer and producer at the same time.

ConsumerProducer

COB ID704h

Node ID=04h

Heartbeatproducer

time Heartbeatconsumer

time

xxh

COB ID704h xxh

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4.3 Fieldbus CANopen object dictionary

4.3.1 Overview of object group 1000h

Index Subindex

Name Obj. code

Data type Access

Description Page

1000h Device type VAR Unsigned32 ro Device type and profile 72

1001h Error register VAR Unsigned8 ro Error register 72

1003h Predefined error field ARR rw Error history, memory for error messages 73

1003h 00h Number of errors VAR Unsigned8 rw Number of error entries 73

1003h 01h Error field VAR Unsigned32 ro Error number 73

1005h COB ID SYNC VAR Unsigned32 rw Identifier of the synchronization object 74

1008h Manufacturer device name

VAR Visible String8

ro User-defined device name 74

1009h Manufacturer hard-ware version

VAR Visible String8

ro Hardware version 75

100Ah Manufacturer soft-ware version

VAR Visible String8

ro Software version 75

100Ch Guard time VAR Unsigned16 rw Time span for Node Guarding [ms] 76

100Dh Life time factor VAR Unsigned8 rw Repeat factor for the Node Guarding protocol 76

1010h Save parameters ARR Unsigned32 rw Saves a parameter: 77

1010h 01h Save all parameters VAR Unsigned32 rw Saves the parameters 77

1010h 02h Saves communication parameters

VAR Unsigned32 rw Saves communication parameters 77

1010h 03h Save application parameters

VAR Unsigned32 rw Saves application parameters 77

1011h Restore defaults of parameters

ARR Unsigned32 rw Resets parameter values to the default set-tings

78

1011h 01h Restore default of all parameters

VAR Unsigned32 rw Resets the communication parameter values to the default settings

78

1011h 02h Restore default of application parame-ters

VAR Unsigned32 rw Resets the parameter values to the default set-tings

78

1011h 03h Restore default of communication parameters

VAR Unsigned32 rw Resets application parameter values to the default settings

78

1014h COB ID EMCY VAR Unsigned32 rw Unsigned32 79

1015h Inhibit time EMCY VAR Unsigned16 rw Unsigned16 80

1016h Consumer Heartbeat Time

ARR Unsigned32 rw Unsigned32 80

1016h 01h Consumer Heartbeat Time

VAR Unsigned32 rw Time interval and node ID of the "Heartbeat" recipient

80

1017h Producer Heartbeat Time

VAR Unsigned16 rw Time interval for producer "Heartbeat" 81

1018h Identity Object REC Identity ro Identification object: 82

1018h 01h Vendor ID VAR Unsigned32 ro Vendor ID 82

1018h 02h Product code VAR Unsigned32 ro Product code 82

1018h 03h Revision number VAR Unsigned32 ro Revision number 82

1018h 04h Serial number VAR Unsigned32 ro Serial number 82


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1020h Verify configuration ARR Unsigned32 rw Checks configuration data 83

1020h 01h Configuration date VAR Unsigned32 rw Date of configuration 83

1020h 02h Configuration time VAR Unsigned32 rw Time of configuration 83

1029h Number of elements ARR Unsigned8 ro Number of values for the object 83

1029h 01h Communication error ARR Unsigned8 rw Communication errors 83

1200h 1st server SDO parameter

REC SDO server param.

ro First server SDO, settings 85

1200h 01h COB ID client -> server

VAR Unsigned32 ro Identifier client -> server 85

1200h 02h COB ID server -> cli-ent

VAR Unsigned32 ro Identifier server -> client 85

1201h 2nd server SDO parameter

REC SDO server param.

rw Second server SDO, settings 86

1201h 01h COB ID client -> server

VAR Unsigned32 rw Identifier client -> server 86

1201h 02h COB ID server -> cli-ent

VAR Unsigned32 rw Identifier server -> client 86

1201h 03h Node ID SDO client VAR Unsigned32 rw Node ID SDO client 86

1400h 1st receive PDO parameter

REC PDO comm. param.

rw First receive PDO (R_PDO1), settings 87

1400h 01h COB ID R_PDO1 VAR Unsigned32 rw Identifier of the R_PDO1 87

1400h 02h Transmission type R_PDO1

VAR Unsigned8 rw Transmission type 87

1401h 2nd receive PDO parameter


rw Second receive PDO (R_PDO2), settings 89




1402h 3rd receive PDO parameter


rw Third receive PDO (R_PDO3), settings 90




1403h 4th receive PDO parameter


rw Fourth receive PDO (R_PDO4), settings 92




1600h 1st receive PDO map-ping

REC PDO map-ping

ro PDO mapping for R_PDO1, settings 93

1600h 01h 1st mapped object R_PDO1

VAR Unsigned32 ro First object for mapping in R_PDO1 93

1601h 2nd receive PDO mapping

REC PDO map-ping




1601h 02h 2nd mapped object R_PDO2

VAR Unsigned32 ro Second object for mapping in R_PDO2 94

Index Subindex

Name Obj. code

Data type Access

Description Page

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1602h 3rd receive PDO map-ping

REC PDO map-ping





VAR Unsigned32 ro Second object for mapping in R_PDO3 95

1603h 4th receive PDO map-ping

REC PDO map-ping

rw PDO mapping for R_PDO3, settings 96


VAR Unsigned32 rw First object for mapping in R_PDO4 96


VAR Unsigned32 rw Second object for mapping in R_PDO4 96

1603h 03h 3rd mapped object R_PDO4

VAR Unsigned32 rw Third object for mapping in R_PDO4 96

1800h 1st transmit PDO parameter


rw First transmit PDO (T_PDO1), settings 96

1800h 01h COB ID T_PDO1 VAR Unsigned32 rw Identifier of the T_PDO1 96

1800h 02h Transmission type T_PDO1


1800h 03h Inhibit time T_PDO1 VAR Unsigned16 rw Inhibit time for locking bus access (1=100µs) 96

1800h 04h Reserved T_PDO1 VAR Unsigned8 rw Priority for CAN bus arbitration ([0-7]). 96

1800h 05h Event timer T_PDO1 VAR Unsigned16 rw Time span for event triggering (1=1 ms) 96

1801h 2nd transmit PDO parameter


rw Second transmit PDO (T_PDO2), settings 98





1801h 04h Reserved T_PDO2 VAR Unsigned8 rw Reserved 98


1802h 3rd transmit PDO parameter


rw Third transmit PDO (T_PDO3), settings 100





1802h 04h Reserved T_PDO3 VAR Unsigned8 rw Reserved 100


1803h 4th transmit PDO parameter


rw Fourth transmit PDO (T_PDO4), settings 102





1803h 04h Reserved T_PDO4 VAR Unsigned8 ro Reserved 102


Index Subindex

Name Obj. code

Data type Access

Description Page


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1A00h 1st transmit PDO mapping

REC PDO map-ping

rw PDO mapping for T_PDO1, settings 103

1A00h 01h 1st mapped object T_PDO1

VAR Unsigned32 ro First object for the mapping in T_PDO1 103

1A01h 2nd transmit PDO mapping

REC PDO map-ping




1A01h 02h 2nd mapped object T_PDO2

VAR Unsigned32 ro Second object for the mapping in T_PDO2 104

1A02h 3rd transmit PDO mapping

REC PDO map-ping





VAR Unsigned32 ro Second object for the mapping in T_PDO3 105

1A03h 4th transmit PDO mapping

REC PDO map-ping



VAR Unsigned32 rw First object for the mapping in T_PDO4 106


VAR Unsigned32 rw Second object for the mapping in T_PDO4 106

1A03h 03h 3rd mapped object T_PDO4

VAR Unsigned32 rw Third object for the mapping in T_PDO4 106

1A03h 04h 4th mapped object T_PDO4

VAR Unsigned32 rw Fourth object for the mapping in T_PDO4 106

Index Subindex

Name Obj. code

Data type Access

Description Page

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4.3.2 Details of object group 1000h

Index The index specifies the position of the object in the object dictionary. The index value is specified as a hexadecimal value.

Object code The object code specifies the data structure of the object.

RO/RW Indicates read and/or write valuesRO: values can only be readRW: values can be read and written.

PDO R_PDO: Mapping for R_PDO possibleT_PDO: Mapping for T_PDO possibleNo specification: PDO mapping not possible with the object

Min/max values Specifies the permissible range in which the object value is defined and valid.

Factory setting Factory settings when the product is shipped

Persistent "per." indicates whether the value of the parameter is persistent, i.e. whether it remains in the memory after the device is switched off .

Object code Meaning Coding

VAR A simple value, for example of the type Integer8, Unsigned32 or Visible String8.

7

ARR (ARRAY) A data field in which the entries have the same data type.

8

REC (RECORD) A data field that contains entries that are a combination of simple data types.

9

Data type Value range Data length CiA 301 coding

Boolean 0 = false, 1 = true 1 byte 0001

Integer8 -128 .. +127 1 byte 0002

Integer16 -32768 .. +32767 2 byte 0003

Integer32 -2147483648 .. 2147483647 4 byte 0004

Unsigned8 0 .. 255 1 byte 0005

Unsigned16 0 .. 65535 2 byte 0006

Unsigned32 0 .. 4294967295 4 byte 0007

Visible String8 ASCII characters 8 byte 0009

Visible String16 ASCII characters 16 byte 0010


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4.3.2.1 1000h Device type

The object specifies the device profile used as well as the device type.

Object description

Value description

Bit coding, subindex 00h

4.3.2.2 1001h Error register

The object indicates the operating state 9 Fault of the device. The de-tailed cause of error can be determined with the object predefined error field (1003h) and - for reasons of compatibility with devices with other fieldbus profiles - with the object error code (603Fh).

Errors are signaled by an EMCY message as soon as they occur.

Object description

Value description

Index 1000h

Object name Device type

Object code VAR

Data type Unsigned32

Subindex 00h, device type

Meaning Device type and profile

Access Read only

PDO mapping –

Value range –

Default value 0044 0192h

Can be saved –

Bit Access Value Meaning

31-24 ro 00h not used

15-0 ro 0192h Device profile DS-402 (192h)

Index 1001h

Object name Error register

Object code VAR

Data type Unsigned8

Subindex 00h, error register

Meaning Error register

Access Read only

PDO mapping –

Value range –

Default value –

Can be saved –

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4.3.2.3 1003h Predefined error field

The object contains the latest error messages that were shown as EMCY messages.

• The subindex 00h entry contains the number of saved error mes-sages.

• The current error message is stored at subindex 01h, older mes-sages are moved to higher subindex entries.

• Writing 0 to subindex 00h resets the error list.

Object description

Value description

Bit coding, subindex 00h..05h Bytes 0..15: Error code. Bytes 16 ... 31 additional error information, not assigned in the device.


0 ro – Error (generic error)

1 ro – Reserved

2 ro – Reserved

3 ro – Reserved

4 ro – Communication profile (communication error)

5 ro – Device profile (device profile error)

6 ro – Reserved

7 ro – Manufacturer-specific

Index 1003h

Object name Predefined error field

Object code ARRAY


Subindex 00h, number of errors

Meaning Number of error entries

Access Read-write

PDO mapping –

Value range 0 ... 1

Default value 1

Can be saved –

Subindex 01h, error field

Meaning Error number

Access Read only

PDO mapping –

Value range –

Default value 0

Can be saved –


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4.3.2.4 1005h COB ID SYNC message

The object specifies the COB ID of the SYNC object and determines whether a device sends or receives SYNC messages.

The device can only receive SYNC messages.

For synchronization, a device in the network must send SYNC objects.

The COB ID can be changed in the NMT state "Pre-Operational"

Object description

Value description


4.3.2.5 1008h Manufacturer device name

The object specifies the device name of the manufacturer.

Object description

Index 1005h

Object name COB ID SYNC

Object code VAR


Subindex 00h, COB ID SYNC

Meaning Identifier of the synchronization object

Access Read-write

PDO mapping –

Value range 0 ... 4294967295


Can be saved Yes


31 ro 0b 1: Device can receive SYNC messages (SYNC consumer)

30 ro 1b 1: Device can send SYNC messages (SYNC pro-ducer)

29 ro 0b 0: 11 bit identifier (CAN 3.0A) 1: 29 bit identifier (CAN 3.0B)

28-11 ro 0000h Only relevant if bit 29=1 is not used by the device.

10-7 rw 0001b Function code, bits 10 ... 7 of COB ID

6-0 ro 7Fh Node address, bit 6 ... 0 of COB ID

Index 1008h

Object name Manufacturer device name

Object code VAR

Data type Visible String8

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Value description

The following objects contain additional information on the device:- Objects 6404h, 6410h: Motor data

4.3.2.6 1009h Manufacturer hardware version

The object specifies the version of the device hardware.

Object description

Value description

4.3.2.7 100Ah Manufacturer software version

The object specifies the version of the device software.

Object description

Value description

Subindex 00h, manufacturer device name

Meaning User-defined device name

Access Read only

PDO mapping –

Value range –

Default value –

Can be saved –

Index 1009h

Object name Manufacturer hardware version

Object code VAR


Subindex 00h, manufacturer hardware version

Meaning Hardware version

Access Read only

PDO mapping –

Value range –

Default value –

Can be saved –

Index 100Ah

Object name Manufacturer software version

Object code VAR


Subindex 00h, manufacturer software version

Meaning Software version

Access Read only

PDO mapping –

Value range –

Default value –

Can be saved –


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4.3.2.8 100Ch Guard time

The object specifies the time span for connection monitoring (Node Guarding) of an NMT slave.

The time span for connection monitoring of an NMT master results from the time span "guard time" multiplied by the factor "life time", object Life time factor(100Dh) .

The time span can be changed in the NMT state "Pre-Operational".

Object description

Value description

4.3.2.9 100Dh Life time factor

The object specifies the factor that, together with the time span "guard time", results in the time interval for connection monitoring of an NMT master. Within this period, the NMT slave device expects a monitoring request via Node Guarding from the NMT master.

life time = guard time * life time factor

The value "0" deactivates monitoring of the NMT master.

If there is no connection monitoring through the NMT master during the time interval "life time", the device signals an error and switches to the operating state 9 Fault.

The time factor can be changed in the NMT state "Pre-Operational".

The time span "guard time" is set with the object Guard time (100Ch).

Object description

Index 100Ch

Object name Guard time

Object code VAR


Subindex 00h, guard time

Meaning Time span for Node Guarding [ms]

Access Read-write

PDO mapping –

Value range 0 ... 65535

Default value 0

Can be saved Yes

Index 100Dh

Object name Life time factor

Object code VAR

Data type Unsigned8

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Value description

4.3.2.10 1010h Save Parameters

The object is used to save parameters.

• Subindex 01h, parameters

• Subindex 02h, communication parameters

• Subindex 03h, application parameters

Object description

Value description

Subindex 00h, life time factor

Meaning Repeat factor for the Node Guarding protocol.

Access Read-write

PDO mapping –


Default value 0

Can be saved Yes

Index 1010h

Object name Save parameters

Object code ARRAY


Subindex 00h, number of elements

Meaning Number of values for the object

Access Read only

PDO mapping –

Value range –

Default value 3

Can be saved –

Subindex 01h, save all parameters

Meaning Saves the parameters

Access Read-write

PDO mapping –

Value range –

Default value 1

Can be saved –

Subindex 02h, save communication parameters

Meaning Saves communication parameters

Access Read-write

PDO mapping –

Value range –

Default value 1

Can be saved –


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4.3.2.11 1011h Restore default parameters

The object is used to restore the default parameters.

• Subindex 01h, parameters

• Subindex 02h, communication parameters

• Subindex 03h, application parameters

Object description

Value description

Subindex 03h, save application parameters

Meaning Saves application parameters

Access Read-write

PDO mapping –

Value range –

Default value 1

Can be saved –

Index 1011h

Object name Restore Default Parameters

Object code ARRAY




Access Read only

PDO mapping –

Value range –

Default value 3

Can be saved –

Subindex 01h, restore default of all parameters

Meaning Resets parameter values to the default setting

Access Read-write

PDO mapping –

Value range –

Default value 1

Can be saved –

Subindex 02h, restore default of communication parameters

Meaning Resets communication parameter values to default

Access Read-write

PDO mapping –

Value range –

Default value 1

Can be saved –

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4.3.2.12 1014h COB ID-Emergency message

The object specifies the COB ID of the emergency object "EMCY".

Object description

Value description


The COB ID can be changed in the NMT state "Pre-Operational"

Subindex 03h, restore default of application parameters

Meaning Resets application parameter values to default

Access Read-write

PDO mapping –

Value range –

Default value 1

Can be saved –

Index 1014h

Object name COB ID EMCY

Object code VAR


Subindex 00h, COB ID EMCY

Meaning Identifier of the emergency object

Access Read-write

PDO mapping –

Value range 0 ... 4294967295

Default value 4000 0080h + node ID

Can be saved Yes


31, 30

ro 0b Reserved



10-7 rw 0001b Function code, bits 10-7 of the COB ID

6-0 ro – Node address, bits 6-0, of the COB ID


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4.3.2.13 1015h Inhibit time emergency message

The object specifies the waiting time for the repeated transmission of EMCY messages as a multiple of 100µs.

Object description

Value description

4.3.2.14 1016h Consumer Heartbeat Time

The object contains the settings of the "Heartbeat Consumers" for NMT monitoring by mans of "Heartbeat" connection message.

Object description

Value description

Index 1015h

Object name Inhibit time EMCY

Object code VAR


Subindex 00h, inhibit time EMCY

Meaning Waiting time for repeated transmission of an EMCY

Access Read-write

PDO mapping –


Default value 0

Can be saved Yes

Index 1016h

Object name Consumer Heartbeat Time

Object code ARRAY




Access Read only

PDO mapping –

Value range –

Default value 3

Can be saved –

Subindex 01h, Consumer Heartbeat Time

Meaning Time interval and node ID of the "Heartbeat" recipient

Access Read-write

PDO mapping –

Value range 0 ... 4294967295

Default value 0

Can be saved Yes

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Bit coding subindex 01h ... 03h

The time interval is specified as a multiple of 1 ms and must be greater than the producer "Heartbeat" time, object Producer Heartbeat Time (1017h). If the time interval is zero, the device specified via the node ID is not monitored.

4.3.2.15 1017h Producer Heartbeat Time

The object contains the time interval of the "Heartbeat" producer for NMT monitoring by means of "Heartbeat" connection message as a multiple of 1 ms.

The producer "Heartbeat" time must be less than the time interval of the "Heartbeat" consumer, object Consumer Heartbeat Time (1016h). A time interval of zero deactivates monitoring.

Object description

Value description

Bit Meaning

31 ... 24 Reserved

23 ... 16 Node ID

15 ... 0 Time interval for "Heartbeat" message

Index 1017h

Object name Producer Heartbeat Time

Object code VAR


Subindex 00h, Producer Heartbeat Time

Meaning Time interval for producer "Heartbeat"

Access Read-write

PDO mapping –


Default value 0

Can be saved Yes


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4.3.2.16 1018h Identity Object

The object provides information on the product.

• Subindex 01h (vendor ID) contains the manufacturer ID

• Subindex 02h (product ID) contains the manufacturer-specific prod-uct code

• Subindex 03h (revision number) identifies special CANopen proper-ties for the device

• Subindex 04h (serial number) contains the serial number

Object description

Value description

Index 1018h

Object name Identity Object

Object code RECORD

Data type Identity



Access Read only

PDO mapping –

Value range –

Default value 4

Can be saved –

Subindex 01h, vendor ID

Meaning Vendor ID

Access Read only

PDO mapping –

Value range –

Default value 0000 00A4h

Can be saved –

Subindex 02h, product code

Meaning Product code

Access Read only

PDO mapping –

Value range –

Default value 9200

Can be saved –

Subindex 03h, revision number

Meaning Revision number

Access Read only

PDO mapping –

Value range –

Default value 1

Can be saved –

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4.3.2.17 1020h data on configuration

The object is used to verify the configuration.

• Subindex 01h, date of configuration

• Subindex 02h, time of configuration

Object description

Value description

Subindex 04h, serial number

Meaning Serial number

Access Read only

PDO mapping –

Value range –

Default value 0

Can be saved –

Index 1020h

Object name

Object code RECORD

Data type Identity

Subindex 00h, verify configuration

Meaning Checks configuration data

Access Read only

PDO mapping –

Value range –

Default value 2

Can be saved –

Subindex 01h, configuration date

Meaning Date of configuration

Access Read-write

PDO mapping –

Value range –

Default value

Can be saved Yes

Subindex 02h, configuration time

Meaning Time of configuration

Access Read-write

PDO mapping –

Value range –

Default value

Can be saved Yes


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4.3.2.18 1029h error behavior

The object specifies the behavior of the NMT state machine in the event of a communication error.

Object description

Value description

Settings, subindex 01h

Index 1029h

Object name Error behavior

Object code ARRAY

Data type Unsigned8



Access Read only

PDO mapping –

Value range –

Default value 1

Can be saved –

Subindex 01h, Communication Error

Meaning Communication errors

Access Read-write

PDO mapping –

Value range 0 ... 2

Default value 0

Can be saved Yes

Value Meaning

0 Pre-operational (with state Operational only)

1 No state transition

2 stopped

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4.3.2.19 1200h 1st server SDO parameter

The object contains the settings for the first server SDO.

Object description

Value description

Index 1200h

Object name 1st server SDO parameter

Object code RECORD

Data type SDO server parameter



Access Read only

PDO mapping –

Value range –

Default value 2

Can be saved –

Subindex 01h, COB ID client -> server

Meaning Identifier client -> server

Access Read only

PDO mapping –

Value range 0 ... 4294967295

Default value 1536 + node ID

Can be saved Yes

Subindex 02h, COB ID server -> client

Meaning Identifier server -> client

Access Read only

PDO mapping –

Value range 0 ... 4294967295

Default value 1408 + node ID

Can be saved Yes


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4.3.2.20 1201h 2nd server SDO parameter

The object contains the settings for the second server SDO.

Object description

Value description

Index 1201h

Object name 2nd server SDO parameter

Object code RECORD

Data type SDO server parameter



Access Read only

PDO mapping –

Value range –

Default value 3

Can be saved –

Subindex 01h, COB ID client -> server

Meaning Identifier client -> server

Access Read-write

PDO mapping –

Value range 0 ... 4294967295


Can be saved Yes

Subindex 02h, COB ID server -> client

Meaning Identifier server -> client

Access Read-write

PDO mapping –

Value range 0 ... 4294967295


Can be saved Yes

Subindex 03h, node ID SDO client

Meaning Node ID SDO client

Access Read-write

PDO mapping –


Default value –

Can be saved Yes

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4.3.2.21 1400h 1st receive PDO parameter

The object contains the settings for the first receive PDO R_PDO1.

Object description

Value description

Bit assignment subindex 01h

Bit 31 A R_PDO can only be used if bit 31="0".

Index 1400h

Object name 1st receive PDO parameter

Object code RECORD

Data type PDO Communication Parameter

Subindex 00h, number of entries


Access Read only

PDO mapping –

Value range –

Default value 2

Can be saved –

Subindex 01h, COB ID used by PDO

Meaning Identifier of the R_PDO1

Access Read-write

PDO mapping –

Value range 0 ... 4294967295

Default value 0200h + node ID

Can be saved Yes

Subindex 02h, transmission type = asynchronous

Meaning Transmission type

Access Read-write

PDO mapping –


Default value 255

Can be saved Yes


31 rw 0b 0: PDO is enabled 1: PDO is disabled

30 ro 0b 0: RTR (see below) is possible 1: RTR not per-mitted



10-7 rw 0100b Function code, bits 10-7 of the COB ID

6-0 ro – Node address, bits 6-0, of the COB ID


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Bit 30: RTR Bit If a device supports R_PDOs with RTR (remote transmission request), it can request a PDO from a PDO producer with RTR = "0" in accordance with the producer-consumer relationship.

The device cannot request PDOs, but it can respond to the request for a PDO, see RTR bit for T_PDO1 settings (1800h).

Bit coding, subindex 02h The type of control for evaluating R_PDO data is specified via subindex 02h. The values 241 ... 251 are reserved.

If an R_PDO is transmitted synchronously (transmission type=0 ... 252), the device evaluates the received data depending on the SYNC object.

• In the case of acyclic transmission (transmission type=0), the evalu-ation depends on the SYNC object, but not the transmission of the PDO. A received PDO message is evaluated with the following SYNC.

A value between 1 and 240 specifies the number of SYNC cycles after which a received PDO is evaluated.

The values 252 to 254 are relevant for updating T_PDOs, but not for sending them.

• 252: Updating of transmit data with receipt of the next SYNC

• 253: Updating of transmit data with receipt of a request from a PDO consumer

• 254: Updating of data in an event-driven way, the triggering event is specified in a manufacturer-specific way

R_PDOs with the value 255 are updated immediately upon receipt of the PDOs. The triggering event is the data that is transmitted corresponding to the definition of the CiA 402 device profile in the PDO.

Settings R_PDO1 is processed asynchronously and in an event-driven way.

The byte assignment of the R_PDO1 is specified via PDO mapping with the object 1st receive PDO mapping (1600h). The following de-fault assignment is used for R_PDO1:

• Bytes 0 ... 1: Control word controlword (6040h).

The COB ID of the object can be changed in the NMT state "Pre-Oper-ational".

Transmission type

cyclic acyclic synchro-nous

asynchro-nous

RTR-controlled

0 – X X – –

1-240 X – X – –

252 – – X – X

253 – – – X X

254 – – – X –

255 – – – X –

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4.3.2.22 1401h 2nd receive PDO_parameter

The object contains settings for the second receive PDO R_PDO2.

Object description

Value description

The meaning of the bit states and subindex values is described with the object 1st receive PDO parameters (1400h).

Index 1401h

Object name 2nd receive PDO parameter

Object code RECORD


Subindex 00h, largest subindex supported

Meaning Largest subindex supported

Access Read only

PDO mapping –

Value range –

Default value 2

Can be saved –

Subindex 01h, COB ID R_PDO2


Access Read-write

PDO mapping –

Value range 0 ... 4294967295


Can be saved Yes

Subindex 02h, transmission type


Access Read-write

PDO mapping –


Default value 255

Can be saved Yes


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Settings R_PDO2 is processed synchronously, acyclically and in an event-driven way and must be activated with bit 31=1 in subindex 01h before it can be used.

The byte assignment of R_PDO2 is specified via PDO mapping with the object 2nd Receive PDO mapping (1601h). The following default assign-ment is set for the operating mode Profile Position:

• Bytes 0 ... 1: Control word controlword (6040h)

• Bytes 2 ... 5: Target position of the motion command target position (607Ah)


The transmission type for the receive PDO can have 3 value ranges:

4.3.2.23 1402h 3rd receive PDO-Parameter

The object contains settings for the third receive PDO R_PDO3.

Object description

Value description

0 For an asynchronous cycle

1 to 240 Instructs the receive PDO to become active only if a SYNC object is received

255 Specifies that the PDO is executed when it is received

Index 1402h

Object name 3rd receive PDO parameter

Object code RECORD




Access Read only

PDO mapping –

Value range –

Default value 2

Can be saved –



Access Read-write

PDO mapping –

Value range 0 ... 4294967295


Can be saved Yes

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The meaning of the bit states and subindex values is described with the object 1st receive PDO-parameters (1400h).

Settings R_PDO3 is processed synchronously, acyclically and in an event-driven way and must be activated with bit 31=1 in subindex 01h before it can be used.

The byte assignment of the R_PDO3 is specified via PDO mapping with the object 3rd Receive PDO mapping (1602h). The following de-fault assignment is set for the operating mode Profile Velocity:

• Bytes 0 ... 1: Control word controlword (6040h)

• Bytes 2 ... 5: Reference velocity of motion command Target velocity (60FFh)


The transmission type for the receive PDO can have 3 value ranges:



Access Read-write

PDO mapping –


Default value 255

Can be saved Yes

0 For an asynchronous cycle

1 to 240 Instructs the receive PDO to become active only if a SYNC object is received

255 Specifies that the PDO is executed when it is received


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4.3.2.24 1403h 4th receive PDO parameter

The object stores settings for the fourth receive PDO R_PDO4.

Object description

Value description

The meaning of the bit states and subindex values is described under object 1st receive PDO-parameters (1400h).

PDO settings R_PDO4 is processed asynchronously and in an event-driven way and must be activated with bit 31=1 in subindex 01h before it can be used.


Index 1403h

Object name 4th receive PDO parameter

Object code RECORD




Access Read only

PDO mapping –

Value range –

Default value 2

Can be saved –



Access Read-write

PDO mapping –

Value range 0 ... 4294967295


Can be saved Yes



Access Read only

PDO mapping –

Value range –

Default value 254

Can be saved Yes

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4.3.2.25 1600h 1st receive PDO mapping

The object specifies the objects mapped in R_PDO1 and transmitted with the PDO. When the object is read, subindex 00h, the number of mapped objects is read.

Object description

Value description

Bit coding starting at subindex 01h Each subindex entry from subindex 01h on specifies the object and the bit length of the object. The object is identified via the index and the subindex, which refer to the object dictionary of the device.

Settings The PDO assignment for R_PDO1 cannot be modified. The following default assignment is used:

• Subindex 01h: PDO mapping of the control word, object controlword (6040h).

Index 1600h

Object name 1st receive PDO mapping

Object code RECORD

Data type PDO mapping

Subindex 00h, number of mapped objects


Access Read only

PDO mapping –

Value range 1 ... 8

Default value 1

Can be saved –

Subindex 01h, CMD: Control word

Meaning First object for mapping in R_PDO1

Access Read only

PDO mapping –

Value range 0 ... 4294967295


Can be saved –

Bit Meaning

31 ... 16 Index

15 ... 8 Subindex

7 ... 0 Object length in bit


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4.3.2.26 1601h 2nd receive PDO mapping


Object description

Value description

The meaning of the bit states is described with the object 1st receive PDO-mapping (1600h).

Settings The PDO assignment for R_PDO2 cannot be modified. The following default assignment is set for the operating mode Profile Position:


• Subindex 02h: target position of the motion command, object target position (607Ah).

Index 1601h

Object name 2nd receive PDO mapping

Object code RECORD


Subindex 00h, number of mapped application objects in PDO


Access Read only

PDO mapping –

Value range 1 ... 8

Default value 2

Can be saved –

Subindex 01h, PDO mapping for the first application object to be mapped (control word)


Access Read only

PDO mapping –

Value range 0 ... 4294967295


Can be saved –

Subindex 02h, PDO mapping for the second application object to be mapped (target position)

Meaning Second object for mapping in R_PDO2

Access Read only

PDO mapping –

Value range 0 ... 4294967295

Default value 607A 0020h

Can be saved –

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4.3.2.27 1602h 3rd receive PDO mapping


Object description

Value description


Settings The PDO assignment for R_PDO3 cannot be modified. The following default assignment is set for the operating mode Profile Velocity:


• Bytes 2..5: reference velocity of the motion command Target velocity (60FFh).

Index 1602h

Object name 3rd receive PDO mapping

Object code RECORD




Access Read only

PDO mapping –

Value range 1 ... 8

Default value 2

Can be saved –

Subindex 01h, PDO mapping for the first application object to be mapped (control word)


Access Read only

PDO mapping –

Value range 0 ... 4294967295


Can be saved –

Subindex 02h, PDO mapping for the second application object to be mapped (target velocity)

Meaning Second object for mapping in R_PDO3

Access Read only

PDO mapping –

Value range 0 ... 4294967295

Default value 60FF 0020h

Can be saved –


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4.3.2.28 1603h 4th receive PDO mapping


Object description

Value description

The meaning of the bit states is described with the object 1st receive PDO mapping (1600h).

Settings The PDO assignment for R_PDO4 can be modified.

4.3.2.29 1800h 1st transmit PDO parameter

The object contains settings for the first transmit PDO T_PDO1.

Object description

Value description

Index 1603h

Object name 4th receive PDO mapping

Object code RECORD




Access Read-write

PDO mapping –

Value range 0 ... 4

Default value 0

Can be saved Yes

Index 1800h

Object name 1st transmit PDO parameter

Object code RECORD


Subindex 00h, number of entries


Access Read only

PDO mapping –

Value range –

Default value 5

Can be saved –


Meaning Identifier of the T_PDO1

Access Read-write

PDO mapping –

Value range 0 ... 4294967295

Default value 0180h + node ID

Can be saved Yes

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Settings T_PDO1 is transmitted asynchronously and in an event-driven way whenever the PDO data changes.

The byte assignment of the T_PDO1 is specified via PDO mapping with the object 1st transmit PDO mapping (1A00h). The following de-fault assignment is used:

• Bytes 0..1: Status word statusword (6041h).


Subindex 02h, transmission type = asynchronous


Access Read-write

PDO mapping –


Default value 255

Can be saved Yes

Subindex 03h, inhibit time

Meaning Inhibit time for locking bus access (1=100µs)

Access Read-write

PDO mapping –


Default value 0

Can be saved Yes

Subindex 04h, reserved

Meaning Reserved

Access –

PDO mapping –


Default value –

Can be saved –

Subindex 05h, event timer

Meaning Time span for event triggering (1=1 ms)

Access Read-write

PDO mapping –


Default value 0

Can be saved Yes


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4.3.2.30 1801h 2nd transmit PDO parameter

The object contains settings for the second transmit PDO T_PDO2.

Object description

Value description

Index 1801h

Object name 2nd transmit PDO parameter

Object code RECORD




Access Read only

PDO mapping –

Value range –

Default value 5

Can be saved –



Access Read-write

PDO mapping –

Value range 0 ... 4294967295

Default value C000 0280h + node ID

Can be saved Yes



Access Read-write

PDO mapping –


Default value 255

Can be saved Yes



Access Read-write

PDO mapping –


Default value 0

Can be saved Yes

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Settings T_PDO2 is transmitted synchronously and acyclically.

The byte assignment of the T_PDO2 is specified via PDO mapping with the object 2nd transmit PDO mapping (1A01h). The following de-fault assignment is set for the operating mode Profile Position:


• Bytes 2..5: Current position position actual value (6064h).



Meaning Reserved

Access –

PDO mapping –


Default value –

Can be saved –



Access Read-write

PDO mapping –


Default value 100

Can be saved Yes


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4.3.2.31 1802h 3rd transmit PDO parameter

The object contains settings for the third transmit PDO T_PDO3.

Object description

Value description

Index 1802h

Object name 3rd transmit PDO parameter

Object code RECORD




Access Read only

PDO mapping –

Value range –

Default value 5

Can be saved –



Access Read-write

PDO mapping –

Value range 0 ... 4294967295


Can be saved Yes



Access Read-write

PDO mapping –


Default value 255

Can be saved Yes



Access Read-write

PDO mapping –


Default value 0

Can be saved Yes

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Settings T_PDO3 is transmitted synchronously and acyclically.

The byte assignment of the T_PDO3 is specified via PDO mapping with the object 3rd transmit PDO mapping (1A02h). The following de-fault assignment is set for the operating mode Profile Velocity:


• Bytes 2..5: Actual velocity velocity actual value (606Ch).



Meaning Reserved

Access –

PDO mapping –


Default value –

Can be saved –



Access Read-write

PDO mapping –


Default value 100

Can be saved Yes


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4.3.2.32 1803h 4th transmit PDO parameter

The object contains settings for the fourth transmit PDO T_PDO4.

Object description

Value description

Index 1803h

Object name 4th transmit PDO parameter

Object code RECORD




Access Read only

PDO mapping –

Value range –

Default value 5

Can be saved –



Access Read-write

PDO mapping –

Value range 0 ... 4294967295


Can be saved Yes



Access Read only

PDO mapping –


Default value 254

Can be saved Yes



Access Read-write

PDO mapping –


Default value 0

Can be saved Yes

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Settings R_PDO4 is transmitted asynchronously and in an event-driven way.


4.3.2.33 1A00h 1st transmit PDO mapping

The object specifies the objects mapped in T_PDO1 and transmitted with the PDO. When the object is read, subindex 00h, the number of mapped objects is read.

Object description

Value description


Meaning Reserved

Access –

PDO mapping –


Default value –

Can be saved –



Access Read-write

PDO mapping –


Default value 0

Can be saved Yes

Index 1A00h

Object name 1st transmit PDO mapping

Object code RECORD


Subindex 00h, number of mapped objects


Access Read only

PDO mapping –

Value range 1 ... 8

Default value 1

Can be saved –


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The meaning of the bit states is described with the object 1st receive PDO mapping (1600h).

Settings The PDO assignment for T_PDO1 cannot be modified. The following de-fault assignment is used:

• Subindex 1: PDO mapping of the status word, object statusword (6041h)

4.3.2.34 1A01h 2nd transmit PDO mapping


Object description

Value description

Subindex 01h, ETA: status word

Meaning First object for the mapping in T_PDO1

Access Read only

PDO mapping –

Value range 0 ... 4294967295


Can be saved –

Index 1A01h

Object name 2nd transmit PDO mapping

Object code RECORD




Access Read only

PDO mapping –

Value range 1 ... 8

Default value 2

Can be saved –

Subindex 01h, PDO mapping for the first application object to be mapped (status word)


Access Read only

PDO mapping –

Value range 0 ... 4294967295


Can be saved –

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BLP14A 4 Basics



Settings The PDO assignment for T_PDO2 cannot be modified. The following de-fault assignment is set for the operating mode Profile Position:

• Subindex 1: PDO mapping of the status word, object statusword (6041h)

• Subindex 2: PDO mapping of the current position, object position actual value (6064h).

4.3.2.35 1A02h 3rd transmit PDO mapping


Object description

Value description

Subindex 02h, PDO mapping for the second application object to be mapped (actual position)

Meaning Second object for the mapping in T_PDO2

Access Read only

PDO mapping –

Value range 0 ... 4294967295


Can be saved –

Index 1A02h

Object name 3rd transmit PDO mapping

Object code RECORD




Access Read only

PDO mapping –

Value range 1 ... 8

Default value 2

Can be saved –

Subindex 01h, PDO mapping for the first application object to be mapped (status word)


Access Read only

PDO mapping –

Value range 0 ... 4294967295


Can be saved –


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Settings The PDO assignment for T_PDO3 cannot be modified. The following de-fault assignment is set for the operating mode Profile Velocity:


• Bytes 2..5: Actual velocity velocity actual value (606Ch).

4.3.2.36 1A03h 4th transmit PDO mapping


Object description

Value description

The meaning of the bit states is described under object 1st receive PDO mapping (1600h) .

Settings The PDO assignment for T_PDO4 can be modified.

Subindex 02h, PDO mapping for the second application object to be mapped (actual velocity)

Meaning Second object for the mapping in T_PDO3

Access Read only

PDO mapping –

Value range 0 ... 4294967295

Default value 606C 0020h

Can be saved –

Index 1A03h

Object name 4th transmit PDO mapping

Object code RECORD




Access Read-write

PDO mapping –

Value range 0 ... 4

Default value 0

Can be saved Yes

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BLP14A 5 Engineering


55 Engineering

This chapter contains information on the application of the product that is vital in the design phase.

5.1 Specification of the control mode

Control mode: Local or fieldbus When you start the product for the first time, you must specify whether it is to be controlled in local control mode or fieldbus control mode. This setting can only be modified by restoring the factory settings, see chap-ter 8.6.12.2 "Restoring the factory settings".

The availability of operating modes of the product also depends on this setting.

Local Control mode In the case of local control mode, the reference values for movements are supplied in the form of analog signals (±10V).

Limit switches and reference switches cannot be connected in local con-trol mode.

Fieldbus control mode In fieldbus control mode, fieldbus commands are used for communica-tion with the product.

5.2 Configurable inputs and outputs

This product has digital inputs and outputs that can be configured. The inputs and outputs have a defined standard assignment depending on the start-up operating mode. This assignment can be adapted to the re-quirements of the customer's installation. See chapter 8.6.7 "Setting the digital signal inputs and signal outputs" for additional information.


5 Engineering BLP14A

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5.3 External power supply units

5.3.1 Power stage supply

General The power supply unit must be rated for the power requirements of the drive. The input current can be found in the technical data.

The actual power requirements are often significantly lower because the maximum possible motor torque is usually not required for normal oper-ation of a system.

When designing the system, note that the input current of the drive is higher during the motor acceleration phase than during constant move-ment. The VDC power supply for this product is the DC bus.

Reverse polarity protection In the case of reverse polarity of the VDC supply voltage, there is a short-circuit in the drive. The product is continuous short circuit-proof up to a short-circuit current of a maximum of 15A. If the power is supplied by a transformer power supply unit, several hundred amperes may flow for a short period of time in the event of reverse polarity; the drive is rated for this and will not be damaged if proper fusing is provided.

Required fuse: a circuit-breaker (type Multi9 C60N by Merlin Gerin (http://www.schneider-electric.com); Cat.No.60112; rated current 15A, trip characteristic C.) or a blade fuse (FKS, maximum 15A) or a fuse (5mm x 20mm, 10A slow-blow).

@ DANGERELECTRIC SHOCK CAUSED BY INCORRECT POWER SUPPLY UNIT

The VDC and +24VDC supply voltages are connected with many ex-posed signal connections in the drive system.

• Use a power supply unit that meets the PELV (Protective Extra Low Voltage) requirements.

• Connect the negative output of the power supply unit to PE (ground).

Failure to follow these instructions will result in death or serious injury.

@ WARNINGLOSS OF CONTROL DUE TO REGENERATION CONDITION

Regeneration conditions resulting from braking or external driving forces may increase the VDC supply voltage to an unexpected level. Components not rated for this voltage may be destroyed or cause mi-soperation.

• Verify that all VDC consumers are rated for the voltage occurring during regeneration conditions (for example limit switches).

• Use only power supply units that will not be damaged by regener-ation conditions.

• If necessary, use a braking resistor controller.


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Regeneration condition Note the following for drives with high external moments of inertia or for highly dynamic applications:

The motors regenerate energy during deceleration. The DC bus can ab-sorb a limited amount of energy in the capacitors. Connecting additional capacitors to the DC bus increases the amount of energy that can be ab-sorbed.

If the capacity of the capacitors is exceeded, the excess energy must be discharged via internal or external braking resistors. If the energy is not discharged, an overvoltage monitor will shut off the power stage.

Overvoltages can be limited by adding a braking resistor with a corre-sponding braking resistor controller. This converts the regenerated en-ergy to heat energy during deceleration.

Braking resistor controllers can be found in chapter 12 "Accessories and spare parts". See the product manual for a description of the braking re-sistor controller.

5.3.2 Signal power supply

General A separate power supply unit is required to supply the sensors and the digital signal outputs (+24VDC).

The sensors and the digital signal outputs (+24VDC) cannot be supplied via the power stage supply VDC since regeneration conditions may cause excessively high voltages at VDC.

� Use a separate power supply unit to supply the sensors and digital signal outputs (+24VDC).

Chapter 9 "Examples" provides wiring examples.



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5.4 Safety function STO ("Safe Torque Off")

See chapter 2.5 "Functional safety" for information on using the IEC 61508 standard.

5.4.1 Definitions

Safety function STO (IEC 61800-5-2)

The safety function STO ("Safe Torque Off") shuts off the motor torque safely. It is not necessary to interrupt the supply voltage. There is no monitoring for standstill.

Category 0 stop (IEC 60204-1) Stopping by immediate removal of power to the machine actuators (i.e. an uncontrolled stop).

Category 1 stop (IEC 60204-1) Controlled stop with power available to the machine actuators to achieve the stop. Power is not interrupted until the stop is achieved.

5.4.2 Function

The STO safety function integrated into the product can be used to im-plement an "EMERGENCY STOP" (IEC 60204-1) for category 0 stops. With an additional, approved EMERGENCY STOP safety relay module, it is also possible to implement category 1 stops.

Function principle The STO safety function is triggered via 2 redundant inputs. The circuits of the two inputs must be separate so that there are two channels.

The switching process must be simultaneous for both inputs (offset <1s). The power stage is disabled and an error message is generated. The motor can no longer generate torque and coasts down without braking. A restart is possible after resetting the error message with a "Fault Re-set".

The power stage is disabled and an error message is generated if only one of the two inputs is switched off or if the time offset is too great. This error message can only be reset by switching off the product.

5.4.3 Requirements for using the safety function

Category 0 stop During a category 0 stop, the motor coasts down in an uncontrolled way. If access to the machine coasting down involves a hazard (results of the hazard and risk analysis), you must take appropriate measures.

Category 1 stop A controlled stop must be triggered with a category 1 stop. The control-led stop is not monitored by the drive system. In the case of power out-age or an error, a controlled stop is impossible. Final shutoff of the motor is achieved by switching off the two inputs of the STO safety function. The shutoff is usually controlled by a standard EMERGENCY STOP safety relay module with a safe time delay.

@ WARNINGLOSS OF SAFETY FUNCTION

Incorrect usage may cause a hazard due to the loss of the safety func-tion.

• Observe the requirements for using the safety function.


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Vertical axes, external forces If external forces act on the motor (vertical axis) and an unwanted move-ment, for example caused by gravity, could cause a hazard, the motor must not be operated without additional measures for fall protection.

Unintended restart To avoid unintended restart of the motor after restoration of power (for example, after power outage), the parameter IO_AutoEnable must be set to "off". Note that a master controller must not trigger an unintended restart.

Degree of protection when thesafety function is used

You must ensure that conductive substances cannot get into the product (pollution degree 2). Conductive substances may cause the safety func-tion to become inoperative.

Protected cable installation If short circuits and cross circuits can be expected in connection with safety-related signals and if they are not detected by upstream devices, protected cable installation as per ISO 13849-2 is required.

In the case of an unprotected cable installation, the two signals (both channels) of a safety function may be connected to external voltage if a cable is damaged. If the two channels are connected to external voltage, the safety function is no longer operative.

Data for maintenance plan andsafety calculations

Use the following data of the STO safety function for your maintenance plan and the safety calculations:

Hazard and risk analysis As a system integrator you must conduct a hazard and risk analysis of the entire system. The results must be taken into account in the appli-cation of the safety function.

The type of circuit resulting from the analysis may differ from the follow-ing application examples. Additional safety components may be re-quired. The results of the hazard and risk analysis have priority.

Lifetime (IEC 61508) 20 years

Safe Failure FractionSFF (IEC 61508) [%] 49

Hardware Fault ToleranceType A subsystemHFT (IEC 61508) 1

Safety integrity levelIEC 61508IEC 62061

SIL2SILCL2

Probability of Dangerous Hard-ware Failure per HourPFH (IEC 61508) [1/h] 4.299*10-9

Performance LevelPL (ISO 13849-1) d (category 3)

Mean Time to Dangerous FailureMTTFd (ISO 13849-1) 1995 years

Diagnostic CoverageDC (ISO 13849-1) [%] 90



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5.4.4 Application examples STO

Example of category 0 stop Use without EMERGENCY STOP safety relay module, category 0 stop.

Figure 5.1 Example of category 0 stop

An EMERGENCY STOP is requested. This request leads to a category 0 stop

• The power stage is immediately disabled via the inputs STO_A and STO_B of the STO safety function. Power can no longer be supplied to the motor. If the motor has not yet stopped at this point in time, it coasts down in an uncontrolled way (uncontrolled stop).

M3~

24V

ENABLE

FAULT RESET

24V

STO_A

STO_B

PLC

EM

ER

GE

NC

YS

TO

P

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Example of category 1 stop Application with EMERGENCY STOP safety relay module, category 1 stop.

Figure 5.2 Example of category 1 stop with external Preventa XPS-AVEMERGENCY STOP safety relay module

An EMERGENCY STOP is requested. This request leads to a category 1 stop

• The function "Halt" is immediately started (undelayed) via the input HALT (single-channel, not monitored). Any active movement is decelerated via the adjusted ramp.

• The power stage is disabled via the inputs STO_A and STO_B of the STO safety function after the delay time set in the EMERGENCY STOP safety relay module has elapsed. Power can no longer be supplied to the motor. If the motor has not yet stopped when the delay time has elapsed, it coasts down in an uncontrolled way (uncontrolled stop).

NOTE: The specified minimum current and the permissible maximum current of the relay outputs of the EMERGENCY STOP safety relay module must be observed.

24V 24V

S12

PreventaXPS-AV

Y64

3837

S31

A2A1S14

03 04

Y+

ENABLE

FAULT RESET

Y74Y84

1424

1323

4757 58

48

S11

S13S21S22S32

24V24V24V

STO_A

STO_B

HaltM3~

Delayed

Undelayed

PLC

EMERGENCYSTOP



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5.4.5 Error handling E1300 (STO)

Prior to firmware version V1.20 In the operating states 5, 6, 7, 8, an error is generated when the STO in-puts are deactivated to that the drive transitions to the operating state 9 Fault. If the STO inputs are activated in the operating state 4 Ready To Switch On, the drive transitions to operating state 3 Switch On Disabled.

If the STO inputs are already activated during start-up, the drive also re-mains in the operating state 3 Switch On Disabled. No error message is generated.

As of firmware version V1.20 andhigher

The parameter DEVSafetyReact allows you to specify that the drive is to transition to the operating state 2 Not Ready To Switch On and an er-ror message (E1300) is to be generated if the STO inputs are activated in the operating states 3 Switch On Disabled, 4 Ready To Switch On and9 Fault.

It is only possible to exit the operating state 9 Fault via a "Fault Reset" if voltage is available at both STO inputs.





DEVSafetyReact

-

-

Specific safety function response

0 / Standard: Standard response1 / Specific: Specific response: Error response in all states

-001

UINT16UINT16R/Wper.-


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5.5 Monitoring functions

The monitoring functions in the product can help to guard the system and reduce the risks involved in a system misoperation. These monitor-ing functions may not be used to protect persons.

The following monitoring functions are available:

Available as of software version V1.20 and higher:

Monitoring Task

Blocking error Error message if, in spite of maximum current, the motor shaft does not move for the time set with this parameter.

Data connection Error response if the link becomes inoperative

Limit switch signals Monitors for permissible movement range

I2t limitation Power limitation in the case of overloads for the motor, the output current, the output power and the braking resistor.

Short circuit Monitoring for short circuits between the motor phases

Position deviation Monitors for difference between actual position and reference position

Overvoltage and undervolt-age

Monitors for overvoltage and undervoltage of the power stage supply

Overtemperature Monitors the device for overtemperature

Monitoring Task

Hall signals Monitors for correct hall signals

Motor encoder signals Monitors for correct encoder signals if processing with motor encoder is active.

Motor connection Monitors for motor connection. The test is performed when the power stage is enabled.



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BLP14A 6 Installation


66 Installation

An engineering phase is mandatory prior to mechanical and electrical installation, see chapter 5 "Engineering".


• The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop, overtravel stop, power outage and restart.

• Separate or redundant control paths must be provided for critical functions.

• System control paths may include communication links. Consid-eration must be given to the implication of unanticipated transmis-sion delays or failures of the link.

• Observe all accident prevention regulations and local safety guidelines. 1)

• Each implementation of the product must be individually and thor-oughly tested for proper operation before being placed into serv-ice.


1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application, Installation, and Maintenance of Solid State Con-trol” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Sys-tems”.


6 Installation BLP14A

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6.1 Electromagnetic compatibility, EMC

Limit values This product meets the EMC requirements according to the standard IEC 61800-3 if the measures described in this manual are implemented during installation.

If the selected composition is not designed for category C1, note the fol-lowing:

EMC measures

Cable shield The following cables must be shielded:

• Fieldbus cable

• Cables for safety function STO:Note the requirements in chapter 5.4.3 "Requirements for using the safety function".

The following cables do not need to be shielded:

• Supply voltage VDC

• 24 V signal interface

@ WARNINGSIGNAL AND DEVICE INTERFERENCE

Signal interference can cause unexpected responses of device.

• Install the wiring in accordance with the EMC requirements.

• Verify compliance with the EMC requirements.


@ WARNINGHIGH-FREQUENCY INTERFERENCE

In a residential environment this product may cause high-frequency interference that require interference suppression.


EMC measures Effect

Cable as short as possible. No ground loops. Avoid capacitive and induc-tive interference.

Ground shields of digital signal wires at both ends by connecting them to a large surface or via conductive connector housings.

Reduces interference affect-ing the signal wires, reduces emissions

Connect large surface areas of cable shields, use cable clamps and ground straps.

Reduces emissions.

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Equipotential bonding conductors Potential differences can result in excessive currents on the cable shields. Use equipotential bonding conductors to reduce currents on the cable shields.

The equipotential bonding conductor must be rated for the maximum current flowing. Practical experience has shown that the following con-ductor cross sections can be used:

• 16 mm2 (AWG 4) for equipotential bonding conductors up to a length of 200 m

• 20 mm2 (AWG 4) for equipotential bonding conductors with a length of more than 200 m



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6.2 Mechanical installation

@ WARNINGHOT SURFACES

The heat sink at the product may heat up to over 100°C (212°F) during operation.

• Avoid contact with the hot heat sink.

• Do not allow flammable or heat-sensitive parts in the immediate vicinity.

• Consider the measures for heat dissipation described.


@ WARNINGLOSS OF SAFETY FUNCTION CAUSED BY FOREIGN OBJECTS

Conductive foreign objects, dust or liquids may cause safety functions to become inoperative.

• Do not use the a safety function unless you have protected the system against contamination by conductive substances.


@ WARNINGMOTOR WITHOUT BRAKING EFFECT

If power outage, functions or errors cause the power stage to be switched off, the motor is no longer decelerated in a controlled way and may cause damage.

• Verify the mechanical situation.

• If necessary, use a cushioned mechanical stop or a suitable hold-ing brake.


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Figure 6.1 EMC measures

CN5

CN1

+ -

~

CN4

CN3

CN6 CN7

M~

Control cabinet

Centralgrounding point

Machine

Motor (groundto machine)

Motor

Encoder



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6.3 Mounting the device

Control cabinet The control cabinet must have a sufficient size so that the devices and components can be permanently installed and wired in compliance with the EMC requirements.

Sufficient ventilation of the control cabinet must be provided to remove the heat generated by all devices and components operated in the con-trol cabinet.

Mounting distances, ventilation When selecting the position of the device in the control cabinet, note the following:

• Mount the device in a vertical position (±10°). This is required for cooling the device.

• Adhere to the minimum installation distances for required cooling. Avoid heat accumulations.

• Do not mount the device close to heat sources.

• Do not mount the device on flammable materials.

• The heated airflow from other devices and components must not heat up the air used for cooling the device.

• If the thermal limits are exceeded during operation, the drive switches off (overtemperature).

Figure 6.2 Mounting distances and air circulation

The specified continuous current is applicable if the following distances are maintained and the device is installed vertically.

• At least 10mm of free space is required in front of the device.

• At least 50mm of free space is required above the device.

• At least 30 mm of free space is required for "d".

• At least 200 mm of free space (with EMC plate) is required below the device to allow for cable installation without bends.

If other parts are mounted in the areas mentioned, the possible contin-uous current is reduced.

dd

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Mounting the device The product can be mounted directly via the narrow or wide mounting surface with two M4 screws. The product can optionally be snapped onto a standard TH35 rail as per EN 60715 (DIN rail 35 mm). See chap-ter 3.3.1 "Dimensions", page 23 for the dimensions of the mounting holes.

� Mount the device in a vertical position (±10°). This is required for cooling the device.

� Use the EMC kit (see chapter 12 "Accessories and spare parts") or alternative connection elements (busbars, shield clamps or similar) to route the cable and connect the shield.

NOTE: Painted surfaces have an insulating effect. Before mounting the device to a painted mounting plate, remove all paint across a large area of the mounting points until the metal is completely bare.



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6.4 Electrical installation

Suitability of the cables Cables must not be twisted, stretched, crushed or bent. Use only cables that comply with the cable specification. Consider the following in deter-mining suitability of the cables:

• Suitable for drag chain applications

• Temperature range

• Chemical resistance

• Outdoor installation

• Underground installation

@ WARNINGUNEXPECTED BEHAVIOR DUE TO EXTERNAL OBJECTS

External objects, deposits or humidity can cause unexpected behav-ior.

• Do not use damaged products.

• Prevent external objects such as chips, screws or wire clippings from entering the product.

• Do not use products that contain external objects.


@ WARNINGDAMAGE TO SYSTEM COMPONENTS AND LOSS OF CONTROL

Interruptions of the negative connection of the controller supply volt-age can cause excessively high voltages at the signal connections.

• Do not interrupt the negative connection between the power sup-ply unit and load with a fuse or switch.

• Verify correct connection before switching on.

• Do not connect the controller supply voltage or change its wiring while the supply voltage is present.


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6.4.1 Overview of procedure

� The entire installation procedure must be performed without voltage present.

� Connect the device to the neutral point for grounding the system.

� Make the required connections according to the table below. Verify compliance with the EMC requirements, see chapter 12 "Accesso-ries and spare parts", page 357.

� Finally, verify proper installation.

See Kapitel „Wiring examples“, Seite 9-277 for wiring examples.

Chapter Page

6.4.3 "Power stage supply connection (CN1)" 127

6.4.4 "Commissioning interface connection (CN2)" 129

6.4.5 "I/O signal interface connection (CN3)" 131

6.4.6 "I/O expansion signal interface connection (CN4 optional)" 133

6.4.7 "Fieldbus connection (CN5)" 135

6.4.8 "Motor connection (CN6)" 138

6.4.9 "Hall effect sensor connection (CN7)" 140

6.4.10 "Motor encoder connection (CN8)" 141



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Figure 6.3 Overview of signal connections

14

32

CN3

CN7

CN8

CN6

CN2

CN1

S1

CN4

CN5

S2

S3

LEDOK

LEDBUS_RUN

LEDERR

LEDBUS_ERR









CN8 Motor encoder

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6.4.3 Power stage supply connection (CN1)

@ DANGERELECTRIC SHOCK CAUSED BY INCORRECT POWER SUPPLY UNIT

The +24VDC supply voltage is connected with many exposed signal connections in the drive system.

• Use a power supply unit that meets the PELV (Protective Extra Low Voltage) requirements.

• Connect the negative output of the power supply unit to PE (ground).


@ WARNINGLOSS OF CONTROL DUE TO REGENERATION CONDITION

Regeneration conditions resulting from braking or external driving forces may increase the VDC supply voltage to an unexpected level. Components not rated for this voltage may be destroyed or cause mi-soperation.

• Verify that all VDC consumers are rated for the voltage occurring during regeneration conditions (for example limit switches).

• Use only power supply units that will not be damaged by regener-ation conditions.

• If necessary, use a braking resistor controller.


CAUTIONDAMAGE TO CONTACTS

The connection for the controller supply voltage at the product does not have an inrush current limitation. If the voltage is switched on by means of switching of contacts, damage to the contacts or contact welding may result.

• Use a power supply unit that limits the peak value of the output current to a value permissible for the contact.

• Switch the power input of the power supply unit instead of the output voltage.

Failure to follow these instructions can result in equipment dam-age.



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Wiring diagram

Figure 6.4 Connector CN1

Fuses See 12 "Accessories and spare parts" for fuses.

Required mating plug The connector is available as a part of a connector kit. See chapter 12 "Accessories and spare parts".

Assembling cables Note the dimensions specified when assembling cables.

1

CN1

2

CN1

CN2

Pin Signal Meaning

1 VDC Power stage supply 1)

1) Note the special requirements in terms of the power supply units. See 5.3 "Exter-nal power supply units"(regeneration condition).

2 0VDC Reference potential to VDC

Designation Type (Weidmüller)

Power stage supply Female header 2 pins 5.08, GOLD black

BLZF 5.08/02/180F AU SW




Cross section rigid or flexible [mm2]

Supply cable 30 30 10 0.5 ... 2.5(AWG 20 ... AWG 14)

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6.4.4 Commissioning interface connection (CN2)

Function The device is suitable for connection to Modbus.

A Modbus connects multiple devices via a bus cable. Each network de-vice must be configured before it can be operated on the network. A unique node address is assigned to each device.

The baud rate must be the same for all devices in the fieldbus.

Address and baud rate are set during commissioning. See "First Setup", page 157.

Cable specifications The cables used must have to the following properties:

• Twisted pair

• Shielded cable

• Shield grounded at both ends

� Use equipotential bonding conductors, see page 119.

� Use pre-assembled cables (page 357) to reduce the risk of wiring errors.

Wiring diagram

Figure 6.5 Wiring diagram Modbus

Maximum cable length [m] 400

Minimum conductor cross section [mm2] 0.14 (AWG 24)

8

CN2

1

CN1

CN2

Pin Signal Meaning I/O

4 MOD_D1 Bidirectional transmit/receive signal RS485 level

5 MOD_D0 Bidirectional transmit/receive signal, inverted RS485 level

7 MOD+10V_OUT 12 V supply, maximum 200 mA O

8 MOD_0V Reference potential to MOD+10V_OUT O



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Connecting Modbus � Connect the Modbus cable to CN4 with an RJ45 connector.

Designation

Modbus RJ45





Modbus 10 2 - 0.14 ... 1.5(AWG 26 ... AWG 16)

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6.4.5 I/O signal interface connection (CN3)

Wiring diagram

Figure 6.6 Wiring diagram signal interface

14

32

CN5

CN3

CN4S1

S2

S3

CN3

4321

10987

65

1211


7 ANA1+ Analog input 1 I

1 ANA1- Reference potential to ANA1+ I

8 LO1_OUT Digital output 1 O

2 LO2_OUT Digital output 2 O

9 LI1 Digital input 1 I




11 STO_A Safety function STO I

5 STO_B Safety function STO I

12 0VDC Reference potential to +24VDC I

6 +24VDC 1)

1) Do not bridge with supply voltage (regeneration). See 5.3.2 "Signal power supply".

24 Vdc supply voltage for the signal out-puts

I



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Information on the signals STO_A and STO_B of the safety function can also be found in chapter 5.4 "Safety function STO ("Safe Torque Off")" and in chapter 3.4.5 "STO safety function at CN3".

Connection information The inputs and outputs of this interface are galvanically connected to the power stage supply. The reference potentials may not have an additional connection to 0VDC.



Connecting the signal interface � Verify that wiring and cables meet the PELV requirements.

� Connect the connector to CN3.

@ WARNINGLOSS OF SAFETY FUNCTION

Incorrect usage may cause a hazard due to the loss of the safety func-tion.

• Observe the requirements for using the safety function.



Signal interface Female connector B2L, 12 pins, black, with tension clamp

B2L 3.5/12 SN SW






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6.4.6 I/O expansion signal interface connection (CN4 optional)

Wiring diagram

Figure 6.7 Wiring diagram signal interface

Connection information The inputs and outputs of this interface are galvanically connected to the power stage supply. The reference potentials may not have an additional connection to 0VDC.


14

32

CN5

CN3

CN4S1

S2

S3

CN4109876

4321

5


6 XLO1_OUT Digital output XLO1_OUT O

1 XLO2_OUT Digital output XLO2_OUT O

7 XLI1 Digital input XLI1 I






10 XANA1+ Analog input XANA1 I

5 XANA1- Reference potential to XANA1+ I



B2L 3.5/12 SN SW



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Connecting the signal interface � Verify that wiring and cables meet the PELV requirements.

� Connect the connector to CN4.






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6.4.7 Fieldbus connection (CN5)

Function The device is suitable for connection to CANopen.

A CAN bus connects multiple devices via a bus cable. Up to 110 devices can be connected and up to 127 devices addressed in one CAN bus net-work branch.

A repeater must be used if the number of devices exceeds 64.

Each network device must be configured before it can be operated on the network. The device is assigned a unique 7 bit node address (node ID) between 1 (01h) and 127 (7Fh). The baud rate must be the same for all devices in the fieldbus.

Address and baud rate are set during commissioning. See "First Setup", page 157.

Cable specifications • Shielded cable

• Twisted pair


• Maximum length depends on the number of devices, the baud rate and signal propagation delay. The higher the baud rates the shorter the bus cable needs to be.



� Verify that wiring, cables and connected interfaces meet the PELV requirements.

Terminating resistors Both ends of a CAN bus line must be terminated. A 120Ω terminating re-sistor between CAN_L and CAN_H is used for this purpose.



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Wiring diagram

Figure 6.8 Wiring diagram CAN at CN4



14

32

12345

CN5

CN5

CN3

CN4S1

S2

S3


1 Reserved Reserved -

2 CAN_H Data CAN level

3 SHLD Shield connection -

4 CAN_L Data, inverted CAN level

5 CAN_0V Reference potential CAN -


CAN Female header, BL, 5.08 mm, 5 pins gray, printed, GOLD, flange

BLDZ DN5.08/5/180F GR BED





CAN cable See table "Max-imum bus length CAN", page 137

See table "Max-imum bus length CAN", page 137

7 0.5 ... 2.5(AWG 20 ... AWG 14)

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Maximum bus length CAN The maximum bus length depends on the selected baud rate. Table 6.1 shows the maximum recommended overall length of the CAN bus in the case of cables with D-SUB connectors.

Table 6.1 Maximum bus length for CAN with D-SUB connection

NOTE: If you use cables with RJ45 connectors, the maximum bus length is reduced by 50%.

At a baud rate of 1 Mbit/s, the drop lines are limited to 0.3m.

Connecting CAN � Connect the CAN cable to CN5.

Baud rate [kbit/s] Maximum bus length [m]

50 1000

125 500

250 250

500 100

1000 20 1)

1) According to the CANopen specification, the maximum bus length is 4 m. How-ever, in practice, 20 m have been possible in most cases. External interference may reduce this length.



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6.4.8 Motor connection (CN6)

Monitoring The motor phases are monitored for:

• Short circuit between the motor phases

A short circuit between the motor phases and VDC is not detected.

Connecting the motor cable � Verify that wiring and cables meet the PELV requirements.

� Note the EMC requirements for the motor cables, see page 118.

� Connect the motor phases and the protective ground conductor to terminals U, V, W and PE (ground). The connection assignments at the motor and device ends must match.

� Connect a large area of the cable shield to the optional EMC plate or the alternative connection element.

Wiring diagram

Figure 6.9 Wiring diagram motor

@ DANGERELECTRIC SHOCK

High voltages at the motor connection may occur unexpectedly.

• The motor generates voltage when the shaft is rotated. Prior to performing any type of work on the drive system, block the motor shaft to prevent rotation.

• AC voltage can couple voltage to unused conductors in the motor cable. Insulate both ends of unused conductors in the motor cable.

• The system integrator is responsible for compliance with all local and national electrical code requirements as well as all other applicable regulations with respect to grounding of all equipment. Supplement the motor cable grounding conductor with an addi-tional protective ground conductor to the motor housing.


CN6

CN8

CN7

CN61

2

3

4

Connection Meaning

1 Motor phase

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2 Motor phase V

3 Motor phase W

4 Shield connection

Connection Meaning


Motor Female header 4 pins 5.08, GOLD black

BLZF 5.08/04/180F AU SW





Motor cable 15 3 10 0.5 ... 2.5(AWG 20 ... AWG 14)



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6.4.9 Hall effect sensor connection (CN7)

Wiring diagram

Figure 6.10 Wiring diagram Hall effect sensors



CN7

CN8

CN7

CN6

4

321

65


1 HALL_U Hall signal I

2 HALL_V Hall signal I

3 HALL_W Hall signal I

4 SHLD Shield connection

5 HALL_0V Reference potential to HALL_5VOUT O

6 HALL_5VOUT 5Vdc supply for Hall effect sensors O


Hall effect sensors Female connector B2L, 6 pins, black, with tension clamp

B2L 3.5/6 SN SW





Hall effect sensor cable 15 3 7 0.2 ... 1.0(AWG 24 ... AWG 18)

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6.4.10 Motor encoder connection (CN8)

Function and encoder type The motor encoder is an incremental encoder integrated into the motor. It signals changes of the position of the motor shaft in the form of A/B/I signals.

Figure 6.11 Time chart with A, B and index pulse signal, counting forwardsand backwards

Cable specifications • Shielded cable

• Twisted pair




A

I

0

1

0

1

0

1

B

+ -

..7 ... ...8 9 1312 13 9 8..14 1415



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Wiring diagram

Figure 6.12 Wiring diagram encoder



Connecting the encoder � Connect the connector to CN8. If you do not use a pre-assembled cable, verify correct pin assignment.

� Make the appropriate settings during commissioning. See "First Setup", page 157.

CN8

CN8

CN7

CN6

4321

8765


1 ENC_A Encoder signal channel A RS422 input signal

2 ENC_B Encoder signal channel B RS422 input signal

3 ENC_I Encoder signal channel I RS422 input signal

4 ENC_5V Encoder supply 5Vdc O

5 ENC_A Channel A, inverted RS422 input signal

6 ENC_B Channel B, inverted RS422 input signal

7 ENC_I Channel I, inverted RS422 input signal

8 ENC_0V Reference potential to ENC_5V -


Encoder Female connector B2L, 8 pins, black, with tension clamp

B2L 3.5/8 SN SW





Encoder cables 15 3 7 0.2 ... 1.0(AWG 24 ... AWG 18)

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6.5 Checking installation

Verify proper installation:

� Did you properly install and connect all cables and connectors?

� Are there any live, exposed cables?

� Did you properly connect the signal wires?

� Are all fuses correct?



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BLP14A 7 Commissioning


77 Commissioning

An alphabetically sorted overview of the parameters can be found in the chapter "Parameters". The use and the function of some parameters are explained in more detail in this chapter.

@ DANGERUNINTENDED CONSEQUENCES OF EQUIPMENT OPERATION

When the system is started, the drives are usually out of the opera-tor's view and cannot be visually monitored.

• Only start the system if there are no persons in the hazardous area.



When the drive is operated for the first time, there is a risk of unex-pected movements caused by possible wiring errors or unsuitable pa-rameters.

• Run initial tests without coupled loads.

• Verify that a functioning button for emergency stop is within reach.

• Anticipate movements in the incorrect direction or oscillation of the drive.

• Only start the system if there are no persons or obstructions in the hazardous area.



7 Commissioning BLP14A

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@ WARNINGUNINTENDED BEHAVIOR

The behavior of the drive system is governed by numerous stored data or settings. Unsuitable settings or data may trigger unexpected movements or responses to signals and disable monitoring functions.

• Do NOT operate the drive system with unknown settings or data.

• Verify that the stored data and settings are correct.

• When commissioning, carefully run tests for all operating states and potential error situations.

• Verify the functions after replacing the product and also after making changes to the settings or data.



@ WARNINGMOTOR WITHOUT BRAKING EFFECT

If power outage, functions or errors cause the power stage to be switched off, the motor is no longer decelerated in a controlled way and may cause damage.

• Verify the mechanical situation.

• If necessary, use a cushioned mechanical stop or a suitable hold-ing brake.


@ WARNINGHOT SURFACES

The heat sink at the product may heat up to over 100°C (212°F) during operation.

• Avoid contact with the hot heat sink.

• Do not allow flammable or heat-sensitive parts in the immediate vicinity.

• Consider the measures for heat dissipation described.


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@ WARNINGUNINTENDED OPERATION

• Do not write values to reserved parameters.

• Do not write values to parameters unless you fully understand the function.

• Run initial tests without coupled loads.

• Verify that the system is free and ready for the movement before changing parameters.

• Verify the use of the word sequence with fieldbus communication.

• Do not establish a fieldbus connection unless you have fully understood the communication principles.



The product is unable to detect an interruption of the network link if connection monitoring is not active.

• Verify that connection monitoring is on.

• The shorter the time for monitoring, the faster the detection of the interruption.




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7.1 Overview

This chapter describes the commissioning procedure for the drive.

The following is required for commissioning:

• EDS file (http://www.schneider-electric.com)

• Commissioning software Lexium CT(http://www.schneider-electric.com)

• Fieldbus converter for the commissioning software Lexium CT, see software manual for the commissioning software.

You must also re-commission an already configured product if you want to use it under changed operating conditions.

To be done � Carry out the steps below in the specified order.

� Carry out the following steps using the commissioning software.

To be done ... Page

6.5 "Checking installation" 143

7.2.2 "Lexium CT commissioning software" 150

7.3.1 "Setting the device address and baud rate" 156

7.3.2 ""First Setup"" 157

To be done ... Page

7.3.3 "Setting basic parameters and limit values" 164

7.3.4 "Setting, scaling and checking analog signals" 166

7.3.5 "Testing the signals of the limit switches" 169

7.3.6 "Testing the safety function STO" 170

7.3.7 "Checking the direction of movement" 171

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7.2 Commissioning tools

7.2.1 Overview

The following tools can be used for commissioning, parameterization and diagnostics:

Figure 7.1 Commissioning tools

(1) PC with commissioning software(2) Remote terminal HMI (accessory)(3) Fieldbus

ESC

ENT

RUNFWO

REV

stopreset

1 2 3



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7.2.2 Lexium CT commissioning software

The commissioning software has a graphic user interface and is used for commissioning, diagnostics and testing settings.

• Graphic interface for parameterization and status display

• Comprehensive set of diagnostics tools for optimization and mainte-nance

• Long-term recording for evaluation of the performance

• Testing the input and output signals

• Tracking signals on the screen

• Archiving of device settings and recordings with export function for further processing in other applications

Prerequisites • Converter for fieldbus - PC connection, see software manual for the commissioning software.

• Software manual:Commissioning software Lexium CT

Factory setting Modbus The factory baud rate setting is 19200 Baud factory address is 247.

Online help The commissioning software offers help functions, which can be ac-cessed via "? - Help Topics" or by pressing the F1 key.

Source of commissioning software The latest version of the commissioning software is available for down-load from the internet.


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7.2.3 HMI: Human-Machine Interface

Function The device allows you to display and set parameters via a remote ter-minal (HMI). The sections on commissioning and operation include in-formation on whether a function can be carried out via the HMI or whether the commissioning software must be used.

The following sections provide a brief introduction to the HMI structure and the operation.

Remote terminal The figure below shows remote terminal.

Figure 7.2 Remote terminal

(1) Status indication(2) ESC:

- Close a menu or parameter- Return from displayed value to last stored value

(3) Status LEDs(4) ENT:

- Display a menu or parameter- Save displayed value to the EEPROM

(5) Quick Stop (Software Stop)(6) No function(7) No function(8) Down Arrow:

- Go to next menu or parameter- Decrease the displayed value

(9) Up arrow:- Return to previous menu or parameter- Increase the displayed value

Font on HMI display The following table shows the assignment of the letters and numbers to the symbols displayed by the HMI as used in the sections on parame-ters. Uppercase and lowercase are only distinguished for the letter "C".

8.8.8.8

RUN Halt

Contxxxx

xxxx

ESC

ENT

7

1

2

3

4

6 5

8

9

A B C D E F G H I J K L M N O P Q R

A B cC D E F G H i J K L M N o P Q R

S T U V W X Y Z 1 2 3 4 5 6 7 8 9 0

S T u V W X Y Z 1 2 3 4 5 6 7 8 9 0



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Displaying parameters via the HMI Each parameter that can be displayed is accessed via a menu item.

The following figure shows an example of displaying a parameter and entering a parameter value.

Figure 7.3 HMI, example of setting a parameter

The two arrow keys are used to set numerical values within the permit-ted range of values; alphanumerical values are selected from lists.

Press ENT to confirm the selected value. The display flashes once for confirmation. The modified value is immediately written to the EEP-ROM.

If you press ESC, the display returns to the original value.

Menu structure The HMI is menu-driven. The following illustration shows the top level of the menu structure.

Figure 7.4 HMI menu structure

ESC

ENT

ESC

ENT

ESCSet-

MenuParameter Value

Store(flashing)

(next parameter)

ENTESC

1000iStd

GFAc 500

1000

rdy

ESC

drC-

ESC

ESCENT

JoG-

ESC

ESCENT

(Om-

ESC

ESCENT

InF-

ESC

SEt-

ESC

ESCENT

ESC

ENT

ESC

ENT

srV

ESC

ESCENT

FLt-

ESC

ESCENT

STA-

ESC

ENT

FSU-

ENT

ENT

Power On:- First Setup not performed

- First Setup performed

Menus

Drive Configuration

JOG Mode

Communication

Information / Identification

Settings

Service

Fault

Status Information

First Setup

Save

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HMI menu FSU- Description

FSU- First setup (First SetUp),

DEVC Specification of the control mode

Mtyp Motor selection

ENCm Processing of motor encoder position

ioPi Signal selection position interface

io-M Start-up operating mode for "Local Control" mode

CoAD CANopen address = node number ("Fieldbus" control mode only)

CoBD CANopen baud rate ("Fieldbus" control mode only)

MBAD Modbus address ("Fieldbus" control mode only)

MBBD Modbus baud rate ("Fieldbus" control mode only)

SAVE Saving settings

HMI menu SET- Description

Set- Device settings (SETtings)

A1of Offset at analog input ANA1

A1WN Zero voltage window at analog input ANA1

A1NS Scaling ANA1 for reference velocity at +10V (operating mode Oscillator)

istd Percentage of phase current at standstill

irmp Percentage of phase current during acceleration / deceleration component

icms Percentage of phase current during constant movement

HMI menu DRC- Description

drC- Device configuration (DRive Configuration)

A2Mo Selection of limitation via ANA2

A2iM Scaling for current limitation via ANA2 at +10V

A2NM Scaling for limitation of speed of rotation via ANA2 at +10V

io-M Start-up operating mode for "Local Control" mode

ioAE Automatic Enable at PowerOn if ENABLE input is active

PRoT Specification of the direction of movement

FCS Restore factory settings (default values)

BTCL Time delay for applying the holding brake

BTRE Time delay for releasing the holding brake

supv Value displayed by HMI when motor moves

ntyp Motor selection

Sens Selection Hall effect sensor / motor encoder

HMI menu SRV- Description

srv- Service

brak Releasing/applying the holding brake (prerequisite: power stage supply is off)



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HMI menu JOG- Description

Jog- Jog movement (JOG)

STrt Start jog movement

NSLW Speed of rotation for slow jog

NFST Speed of rotation for fast jog

HMI menu COM- Description

COm- Communication (COMmunication)

CoAD CANopen address = node number ("Fieldbus" control mode only)

CoBD CANopen baud rate ("Fieldbus" control mode only)

pBAD Profibus address

MBAD Modbus address ("Fieldbus" control mode and commissioning software)

MBFo Modbus data format ("Fieldbus"control mode and commissioning software

MBBD Modbus baud rate ("Fieldbus" control mode and commissioning software)

MBWo Modbus word order for double words (32 bit values) ("Fieldbus" control mode and commissioning software)

HMI menu FLT- Description

FLt- Error indication (FauLT)

STPF Error number of last error

HMI menu INF- Description

Inf- Information/Identification (INFormation / Identification)

dev[ Active control mode

_nAM Product Name

_PNR Firmware program number

_PVR Firmware version number

PoWo Number of power stage enable cycles

PiNo Nominal current of power stage

MiNo Nominal motor current

MiMA Maximum motor current

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Status indication By default, the current operating state is displayed, see page 184. You can set the following via the menu item drc- / supv:

• stat displays the current operating state

• nact display the current speed of rotation of the motor

• iact displays the current motor current

A change only becomes active when the power stage is disabled.

HMI menu STA- Description

StA- Monitoring of device, motor and status information (STAtus Information)

ioAC Status of the digital inputs and outputs

A1AC Voltage value analog input ANA1

NACT Actual velocity of motor

PACU Actual position of the motor in user-defined units

Pdif Current deviation of reference position from and actual position

iACT Total motor current

uDCA DC bus voltage

TDEV Device temperature

TPA Power stage temperature

WRNS Saved warnings, bit-coded

SiGS Saved status of monitoring signals

oPh Operating hours counter

HMI menu I-O- Description

i-o- Configurable inputs/outputs (In Out)

Li1 Function digital input LI1



oli1 Function digital input XLI1






Lo1 Function digital output LO1_OUT

Lo2 Function digital output LO2_OUT

olo1 Function digital output XLO1_OUT

olo2 Function digital output XLO2_OUT



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7.3 Commissioning procedure

7.3.1 Setting the device address and baud rate

Setting the baud rate Parameter switch S1 allows you to set the baud rate.

� Switch off all supply voltages. Verify that no voltages are present (safety instructions).

� Use parameter switches S1.1 to S1.3 to set the baud rate.

Figure 7.5 Parameter switch S1

In the case of switch settings 01 ... 06, the selected switch setting cor-responds to the baud rate.

If the switch setting is 0, the baud rate is set via the commissioning soft-ware.

@ WARNINGLOSS OF CONTROL DUE TO UNSUITABLE PARAMETER VALUES

Unsuitable parameter values may disable monitoring functions and trigger unexpected movements or responses of signals.

• Prepare a list with the parameters required for the functions used.

• Check the parameters before operation.



S1

ONOFF

1 432

OFFOFFOFF

1 432

1 432OFF

1 432

1 432

1 432

1 432ON

CANbaud 50 kBaud

1000 kBaud500 kBaud250 kBaud

125 kBaud

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Setting the address Each device on the network is identified by a unique, adjustable node address.

The illustration below shows the factory setting of the device address.


� Use parameter switches S2 and S3 to set the address.

Figure 7.6 Settings of the rotary switches

(S2) MSD (most significant digit)Determines the tens digit of the node address

(S3) LSD (least significant digit)Determines the ones digit of the node address

Example Parameter switch S2 = BParameter switch S3 = 8Results in an address setting of 118.

In the case of switch settings 01 ... 127, the selected switch setting cor-responds to the address.

If the switch setting is 0, the address is set via the parameter CANadr.

Factory setting The factory setting for the device address is 0 in the parameter CANadr. Switch setting 0 reads the parameter CANadr. To operate the device, ei-ther the switch setting or the parameter CANadr must be changed. This helps to avoid that 2 devices on the network have the same address.

7.3.2 "First Setup"

A "First Setup" is required when the controller supply voltage is switched on for the first time or after the factory settings have been restored.

Preparation � If the device is not to be commissioned exclusively via the HMI, a PC with the commissioning software must be connected.

� Switch on the controller supply voltage.

S3

LSD

S2

MSD

0 1

23

456

78

90 1 2

34

56

789A

BC

D

EF



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"First Setup" via HMI The following diagram shows the sequence via the HMI.

Figure 7.7 "First Setup" via HMI

(1) The next menu item can only be selected if the previous menu item has a valid value (≠none).

ENT

COAD 127

COBD 125

mbad 1

mbbd 9600

SaVe

ENT

FSU-

ENT

ESC

sens None

hinc

hall

ENT

DEVC = CANO DEVC = MoDBDEVC = IO

ENT

ENTENT

ENT

ENT

ESC

ENT

ESC

ENT

ESC

ENT

ESC

ENT

ESC

MTYP

IO-M

sped

none

ENTENT

ESC

curr

ENT

ENT

ESC

DevC None

CANO

MoDB

IO

ENT

1

1

1

1

None

4344

7748

4334

4338

USER

...

jog

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Device control � Use the parameter DEVcmdinterf (DEVC) to specify the control mode for the device.

Motor type � Use the parameter M_Type (MTYP) to specify the motor connected to the device.

When you select a defined motor type, the motor-specific data is auto-matically set.

In the case of a user-specific motor, the appropriate motor-specific data must be set via the commissioning software or the fieldbus. The follow-ing parameters must be checked and adjusted:

M_Sensor, M_n_max, M_n_nom, M_I_max, M_I_nom, M_U_nom, M_R_UV, M_I2t, M_I_0, M_Polepair, M_SenssLine, M_hallshift, M_hallpos, M_currcomp, M_kE_EC and M_L_q_EC.





DEVcmdinterf

- - DEVC

- - DEVC

Specification of the control mode

0 / None / NoNE: Undefined1 / IODevice / io: Local control mode2 / CANopen / CANo: CANopen3 / Modbus / MoDB: Modbus

NOTE: Changed settings do not become active until the unit is switched on the next time (exception: change of value 0, for "First Setup").

-003





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M_Type

DRC- - MTYP

DRC- - MTYP

Motor type

0 / None / none: No motor selected4334 / BDM4332 (RECM343/3 24V) / 4334: BDM4332 (RECM343/3 24V)4338 / BDM4334 (RECM343/3 48V) / 4338: BDM4334 (RECM343/3 48V)4344 / BDM4342 (RECM343/4 24V) / 4344: BDM4342 (RECM343/4 24V)4348 / BDM4344 (RECM343/4 48V) / 4348: BDM4344 (RECM343/4 48V)4534 / BDM4532 (RECM345/3 24V) / 4534: BDM4532 (RECM345/3 24V)4538 / BDM4534 (RECM345/3 48V) / 4538: BDM4534 (RECM345/3 48V)4544 / BDM4542 (RECM345/4 24V) / 4544: BDM4542 (RECM345/4 24V)4548 / BDM4544 (RECM345/4 48V) / 4548: BDM4544 (RECM345/4 48V)7224 / BDM7222 (RECM372/2 24V) / 7224: BDM7222 (RECM372/2 24V)7228 / BDM7224 (RECM372/2 48V) / 7228: BDM7224 (RECM372/2 48V)7244 / BDM7242 (RECM372/4 24V) / 7244: BDM7242 (RECM372/4 24V)7248 / BDM7244 (RECM372/4 48V) / 7248: BDM7244 (RECM372/4 48V)7424 / BDM7422 (RECM374/2 24V) / 7424: BDM7422 (RECM374/2 24V)7428 / BDM7424 (RECM374/2 48V) / 7428: BDM7424 (RECM374/2 48V)7444 / BDM7442 (RECM374/4 24V) / 7444: BDM7442 (RECM374/4 24V)7448 / BDM7444 (RECM374/4 48V) / 7448: BDM7444 (RECM374/4 48V)7528 / BDM7524 (RECM375/2 48V) / 7528: BDM7524 (RECM375/2 48V)7548 / BDM7544 (RECM375/4 48V) / 7548: BDM7544 (RECM375/4 48V)7728 / BDM7724 (RECM377/2 48V) / 7728: BDM7724 (RECM377/2 48V)7748 / BDM7744 (RECM377/4 48V) / 7748: BDM7744 (RECM377/4 48V)99999999 / User-defined Motor / uSEr: User-defined motor

After selection of a motor type from the list, the motor-specific parameters are automati-cally set.When you select 'user-defined', you must set the motor-specific parameters via the com-missioning software or the fieldbus.

----

UINT32UINT32R/---

CANopen 300D:2hModbus 3332

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Hall effect sensors and motorencoder

� Use the parameter M_Sensor (SENS) to specify whether or not a motor encoder is connected to the device and to indicate its func-tion.

Select nonE if no motor encoder is connected. If hall or hinc is se-lected, an encoder must be connected for operation.

Start-up operating mode � DEVcmdinerf = IODevice(DEVC = IO)

� Use the IOdefaultMode parameter (IO-M) to set the operating mode the device is to activate whenever it is switched on.

The operating modes are described in chapter 8.5 "Operating modes".





M_Sensor

DRC- - SENS

DRC- - SENS

Encoder type of motor

0 / Unknown / none: Unknown16 / Hallsensor / hall: Hall signals17 / Hall And Incremental / hinc: Hall and increment signals

--0-

UINT16UINT16R/---






IOdefaultMode

DRC- - io-M

DRC- - io-M

Start-up operating mode for 'Local control mode'

0 / None / NoNE: None1 / CurrentControl / CuRR: Current control (reference value from ANA1)2 / SpeedControl / SPED: Speed control (ref-erence value from ANA1)5 / Jog / Jog: Jog6 / MotionSequence / MotS: Motion sequence

NOTE: The operating mode is automatically activated as soon as the drive switches to the operating state Operation Enabled and 'IODevice / IO' is set in the parameter DEVc-mdinterf.

-006





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Baud rate and address viaparameters

� DEVcmdinerf = CANopenDeviceParameter switch S1 = 0Parameter switch S2 and S3 = 0

� Use the parameter CANadr to specify the node address and the parameter CANbaud to specify the baud rate.

Each device must have its own unique node address, which may only be assigned once in the network.





CANadr

COM- - CoAD

COM- - CoAD

CANopen address (node number)

Valid addresses (node numbers): 1 to 127

Read access:Rotary switch (NodeID) = 0: NodeID = Parameter valueRotary switch (NodeID) = >0: NodeID = Value from rotary switch

NOTE: Changed settings do not become active until the unit is switched on the next time or until after an NMT reset.

-1127127



CANbaud

COM- - CoBD

COM- - CoBD

CANopen Baud rate

50 / 50 kB / 50: 50 kBaud125 / 125 kB / 125: 125 kBaud250 / 250 kB / 250: 250 kBaud500 / 500 kB / 500: 500 kBaud1000 / 1 MB / 1000: 1 MBaud

Read access:Rotary switch (Baud) = 0 -> Baud rate = value of user parameterRotary switch (Baud) >0 -> Baud rate = value selected via rotary switch

NOTE: Changed settings do not become active until the unit is switched on the next time

-501251000



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Fieldbus Modbus � DEVcmdinerf = ModbusDevice(DEVC = MoDB)

� Specify the node address with the MBadr parameter (MBAD) and the baud rate with the MBbaud parameter (MBBD).

Saving data to the EEPROM

� Store the entries when you are done.Commissioning software: Save your settings via "Configuration - Save to EEPROM"

� The device saves the settings to the EEPROM.

A restart of the device is required for the changes to become effective.

Further steps � Attach a label to the device that contains information for servicing the device such as fieldbus type, fieldbus address and fieldbus baud rate.

� Make the settings described below for commissioning.

Note that you can only return to the "First Setup" by restoring the factory settings, see chapter 8.6.12.2 "Restoring the factory settings", page 275.





MBadr

COM- - MBAD

COM- - MBAD

Modbus address

Valid addresses: 1 to 247

-11247



MBbaud

COM- - MBBD

COM- - MBBD

Modbus Baud rate

9600 / 9600 / 9.6: 9600 Baud19200 / 19200 / 19.2: 19200 Baud38400 / 38400 / 38.4: 38400 Baud


-96001920038400



CAUTIONDAMAGE TO THE PRODUCT CAUSED BY POWER OUTAGE

If the supply voltage becomes unavailable during an update, the prod-uct will be damaged and must be sent in for repair.

• Do not switch off the supply voltage during the update.

• Update the firmware only with a reliable supply voltage.




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7.3.3 Setting basic parameters and limit values

Prepare a list with the parameters required for the functions used.

Setting limit values Suitable limit values must be determined and calculated on the basis of the system and motor data. As long as the motor is operated without loads, the default settings do not need to be changed.

Current limitation The maximum motor current can be set with the parameter CTRL_I_max.

The maximum current for the "Quick Stop" function can be limited with the parameter LIM_I_maxQSTP and for the "Halt" function with the pa-rameter LIM_I_maxHalt.

� Use the parameter CTRL_I_max to set the maximum motor cur-rent.

� Use the parameter LIM_I_maxQSTP to set the maximum motor current for the "Quick Stop" function.

� Use the parameter LIM_I_maxHalt to set the maximum motor current for the "Halt" function.

The motor can be decelerated via a deceleration ramp or the maximum current for the functions "Quick Stop" and "Halt".













CTRL_I_max

SET- - iMAX

SET- - iMAX

Current limitation

The value must not exceed the maximum permissible current of the motor or the power stage.

Default: M_I_max or PA_I_max, whichever is lowest

Apk0.00-299.99



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Limitation of speed of rotation The parameter CTRL_n_max can be used to limit the maximum speed of rotation.

� Use the parameter CTRL_n_max to set the maximum speed of rota-tion of the motor.

LIM_I_maxQSTP

SET- - LiQS

SET- - LiQS

Current limitation for Quick Stop

Max. current during braking via torque ramp due to an error of error classes 1 or 2 and when a software stop is triggered.

Maximum and default settings depend on the motor and the power stage(settings M_I_max and PA_I_max)

In increments of 0.01Apk

Apk---



LIM_I_maxHalt

SET- - LihA

SET- - LihA

Current limitation for Halt

Max. current during braking after Halt or when an operating mode is terminated.



Apk---











CTRL_n_max

SET- - NMAX

SET- - NMAX

Speed limitation

The set value must not exceed the maximum motor speed.

Default: maximum motor speed (see M_n_max)

min-1

0-13200





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7.3.4 Setting, scaling and checking analog signals

Analog inputs Analog input voltages between -10 Vdc and +10 Vdc can be read via the analog inputs. The current voltage value at ANA1+ (XANA1+) can be read with the parameter ANA1_act (XANA1_act).

� Power stage supply is switched off.Controller supply voltage is switched on.

� Apply a voltage in the range from ±10Vdc to the analog input.

� Check the applied voltage with the parameter ANA1_act (XANA1_act).

Reference value An input voltage at ANA1 can be used as the reference value for the op-erating mode Current Control or Speed Control. The reference value for a voltage value of +10V can be set via the parameters ANA1_I_scale or ANA1_n_scale.





ANA1_act

STA- - A1AC

STA- - A1AC

Analog 1: Value of input voltage mV-10000-10000

INT16INT16R/---


ANAX1_act

STA- - A3AC

STA- - A3AC

Voltage value analog input XANA1 mV-10000-10000

INT16INT16R/---

CANopen 3009:ChModbus 2328





ANA1_I_scale

SET- - A1iS

SET- - A1iS

Reference value in op. mode Current Control at 10V at ANA1

By using a negative sign, you can invert the evaluation of the analog signal.

Apk-300.003.00300.00

INT16INT16R/Wper.-


ANA1_n_scale

SET- - A1NS

SET- - A1NS

Reference value in operating mode speed control at 10V at ANA1

The internal maximum speed is limited to the current setting in CTRL_n_max.


min-1

-30000300030000

INT16INT16R/Wper.-


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Offset and zero voltage window The parameter ANA1_offset can be used to define an offset and the parameter ANA1_win to define a zero voltage window for the input volt-age at ANA1.

This corrected input voltage is the voltage value for the operating modes Current Control and Speed Control as well as the read value of the pa-rameter ANA1_act.

Figure 7.8 Offset and zero voltage window

(1) Input voltage at ANA1(2) Voltage value for operating modes Current Control and Speed

Control as well as read value of the parameter ANA1_act(3) Input voltage without processing(4) Input voltage with offset(5) Input voltage with offset and zero voltage window





ANA1_offset

SET- - A1oF

SET- - A1oF

Analog 1: Offset voltage

The analog input ANA1 is corrected/offset by the offset value. If you have defined a zero voltage window, this window is effective in the zero pass range of the corrected analog input ANA1.

mV-500005000

INT16INT16R/Wper.-

CANopen 3009:BhModbus 2326

ANA1_win

SET- - A1WN

SET- - A1WN

Analog 1: Zero voltage window

Threshold value up to which an input voltage value is treated as 0 V.Example: Value 20, this means a range from -20 ... +20 mV is treated as 0 mV.

mV001000



-10 V

-10 V

10 V

10 V

2

1

3

4

5



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Limitations A current limitation or a voltage limitation can be activated via the analog input ANA2.

� Use the parameter ANA2LimMode to specify the type of limitation.

� Use the parameters ANA2_I_max or ANA2_n_max to define the scaling of the limitation at +10V.





ANA2LimMode

DRC- - A2Mo

DRC- - A2Mo

Selection of limitation via ANA2

0 / None / NoNE: No limitation1 / Current Limitation / CuRR: Limitation of reference current value of current controller2 / Speed Limitation / SPED: Limitation of reference speed value of speed controller

(limitation value at 10V in ANA2_n_max)

-002



ANA2_I_max

DRC- - A2iM

DRC- - A2iM

Current limitation at 10V at ANA2

The maximum limit is ImaxM and ImaxPA, whichever is smaller.

Apk0.003.00300.00



ANA2_n_max

DRC- - A2NM

DRC- - A2NM

Velocity limitation at 10V at ANA2

The minimum velocity limitation value is set to 100 min-1. Lower values have no effect.The maximum velocity is also limited by the adjustable value in CTRL_n_max.

min-1

500300030000


CANopen 3012:DhModbus 4634

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7.3.5 Testing the signals of the limit switches

� You must have configured the functions "Negative limit switch (LIMN)" and "Positive limit switch (LIMP)", see chapter 8.6.7 "Set-ting the digital signal inputs and signal outputs".

� Set up the limit switches in such a way as to keep them from being overtraveled during normal operation.

� Trigger the limit switches manually.

� The commissioning software displays the operating state 9 Fault caused by a limit switch.

The appropriate parameters can be used to release the limit switches and to set the evaluation to active 0 or active 1, see chapter 8.6.1 "Mon-itoring functions".

If possible, use normally closed contacts so that a wire break can be signaled as an error.


The use of limit switches can provide some protection against hazards (for example, collision with mechanical stop caused by incorrect ref-erence values).

• If possible, use the limit switches.

• Verify correct connection of the limit switches.

• Verify the correct installation of the limit switches. The limit switches must be mounted in a position far enough away from the mechanical stop to allow for an adequate stopping distance.

• You must release the limit switches before you can use them.




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7.3.6 Testing the safety function STO

Operation with STO If you want to use the STO safety function, carry out the following steps:

� Power stage supply is switched off.Controller supply voltage is switched off.

� Verify that the inputs STO_A and STO_B are isolated from each other. The two signals must not be electrically connected.

� Power stage supply voltage is switched on.Controller supply voltage is switched on.

� To avoid unintended restart after restoration of power, the parame-ter IO_AutoEnable must be set to "off". Verify that the parameter IO_AutoEnable is set to "off" (HMI: conf→acg→ioae).

� Start the operating mode Jog (without motor movement) (see page 196).

� Trigger the STO safety function. STO_A and STO_B must be switched off simultaneously.

� The power stage is disabled and error message 1300 is generated. (NOTE: Error message 1301 indicates a wiring error.)

� Check the behavior of the drive when errors are present.

� Document all tests of the safety function in your acceptance certifi-cate.

Operation without STO If you do not want to use the STO safety function:

� Verify that the inputs STO_A and STO_B are connected to +24VDC.

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7.3.7 Checking the direction of movement

Direction of movement Movements are made in positive or in negative directions.In the case of a rotary motors, direction of movement is defined in ac-cordance with IEC 61800-7-204: Positive direction is when the motor shaft rotates clockwise as you look at the end of the protruding motor shaft.

� Start the operating mode Jog.

� Start a movement with positive direction of movement.

� The motor shaft rotates with positive direction of movement.

� Start a movement with negative direction of movement.

� The motor shaft rotates with negative direction of movement.

� If the arrow and direction of movement do not match, correct this with the POSdirOfRotat parameter, see chapter 8.6.8 "Reversal of direction".



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7.3.8 Controller optimization with step response

7.3.8.1 Controller structure

Figure 7.9 Controller structure

Current controller The current controller determines the torque of the motor. The current controller is automatically optimally tuned with the stored motor data.

Velocity controller The velocity controller maintains the required motor velocity by varying the output motor torque depending on the load situation. The velocity controller has a decisive influence on the dynamic response of the drive. The dynamics of the velocity controller depend on:

• Moment of inertia of the drive and the controlled system

• Torque of the motor

• Stiffness and elasticity of the elements in the flow of forces

• Backlash of the drive elements

• Friction

_n_pref

_p_tarRAMPusr

_n_actRAMP_n_targetRAMP

_p_actRAMPusr

M3~

E

POSdirOfrotat

0

1

_p_act, _p_actusr

CTRL_TAUref

_n_act

CTRL_KPnCTRL_TNn

CTRL_I_max

CTRL_KFPp

CTRL_KPp CTRL_n_max

_iq_act

_p_ref_p_refusr

_p_dif

_n_ref

_iq_ref

Reference valueat operating mode "Speed Control"

Velocitycontroller

Referencevalue filter Velocity

controller

Currentcontroller

Profilegenerator

Velocityfeed-forward

Power stage

Encoder evaluation

Actual value- Velocity- Position

Jerk limitation

Reference valueat operating mode "Current Control"

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Position controller The position controller reduces the difference between the reference po-sition and the actual position of the motor (position deviation) to a mini-mum. When the motor is at a standstill, the position deviation is close to zero in the case of a well-tuned position controller.

In the operating modes Profile Position, Profile Velocity, Homing and Jog, the reference position for the closed positioning loop is generated by the internal motion profile generator.

An optimized velocity control loop is a prerequisite for good amplification of the position controller.

The controller structure of the controller corresponds to the classical cascaded closed positioning loop with current controller, velocity con-troller and position controller. In addition, the reference value of the ve-locity controller can be smoothed via a filter.

The controllers are tuned one after the other from the "inside" to the "out-side" in the following sequence: current controller, velocity controller, po-sition controller. The superimposed control loop remains off.

7.3.8.2 Optimization

The drive optimization function matches the device to the application conditions. The following options are available:

• Selecting control loops. Superimposed control loops are automati-cally deactivated.

• Defining reference value signals: signal type, amplitude, frequency and starting point

• Testing control performance with the signal generator.

• Recording the control performance on screen and evaluating it with the commissioning software.

Setting reference value signals � Start controller optimization with the commissioning software using the sequence of menus and commands "Functions - Recording/Tuning...".

� Display the "Tune" tab.

� Set the following values for the reference value signal:

• Amplitude: 100 min-1

• Period: 100 ms

• Signal: Positive step

• Number of repetitions: 1

� Also note additional settings in the menu "Display - Specific Dis-plays".

Only the signal types "Step" and "Square" allow you to determine the entire dynamic behavior of a control loop. The manual shows signal paths for the signal type "Step".



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Entering controller values The optimization steps described on the following pages require you to enter control loop parameters and test their effect by triggering a step function.

A step function is triggered as soon as you start recording in the com-missioning software.

You can enter controller values for optimization in the parameters win-dow in the "Control" group.

7.3.8.3 Optimizing the velocity controller

Optimum settings of complex mechanical control systems require hands-on experience with controller tuning . This includes the ability to calculate control loop parameters and to apply identification procedures.

Less complex mechanical systems can often be successfully optimized by means of experimental adjustment using the aperiodic limit method. The following parameters are used for this:

Check and optimize the calculated values in a second step, as described on page 178.





CTRL_KPn

-

-

Velocity controller P gain

The default value is calculated on the basis of the motor parameters.

A/min-1

0.0001-1.2700



CTRL_TNn

-

-

Velocity controller integral action time ms0.009.00327.67



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Determining the mechanicalsystem of the system

To assess and optimize the transient response behavior of your system, group its mechanical system into one of the following two categories.

• System with rigid mechanical system

• System with a less rigid mechanical system

Figure 7.10 Rigid and less rigid mechanical systems

� Couple the motor and the mechanical system

� If you use limit switches, verify the function of the limit switches after installation of the motor.

Switching off the reference valuefilter of the velocity controller

The reference value filter of the velocity controller allows you to improve the transient response at optimized velocity control. The reference value filter must be switched off for the first setup of the velocity controller.

� Deactivate the reference value filter of the velocity controller. Set the parameter CTRL_TAUnref to the lower limit value "0".

The procedure for optimization of the settings is only a suggestion. It is responsibility of the user to decide whether the method is suitable for the actual application.

Rigid mechanical system

Less rigid mechanical system

e. g.

low elasticity higher elasticity

low backlashhigh backlash

Elastic coupling

Belt drivee. g. Direct driveRigid coupling Weak drive shaft





CTRL_TAUnref

-

-

Filter time constant of reference velocity value filter

ms0.009.00327.67





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Determining controller parametervalues for rigid mechanical systems

In the case of a rigid mechanical system, adjusting the control perform-ance on the basis of the table is possible if:

• the moment of inertia of the load and of the motor are known and

• the moment of inertia of the load and of the motor are constant

The P gain CTRL_KPn and the integral action time CTRL_TNn depend on:

• JL: moment of inertia of the load

• JM: moment of inertia of the motor

� Determine the controller parameter values using Table 7.1:

Table 7.1 Determining controller values

Determining controller parametervalues for rigid mechanical systems

For optimization purposes, determine the P gain of the velocity control-ler at which the controller adjusts velocity _n_act as quickly as possible without overshooting.

� Set the integral action time CTRL_TNn to infinite.CTRL_TNn = 327.67 ms.

If a load torque acts on the motor when the motor is at a standstill, the integral action time must not exceed a value that causes uncon-trolled change of the motor position.

If the motor is subject to loads when it is at a standstill, setting the integral action time to "infinite" may cause position deviations. Reduce the integral action time if the deviation is unacceptable in your application. However, reducing the integral action time can adversely affect optimization results.

JL= JM JL= 5 * JM JL= 10 * JM

JL[kgcm2] KPn TNn KPn TNn KPn TNn

1 0.0125 8 0.008 12 0.007 16

2 0.0250 8 0.015 12 0.014 16

5 0.0625 8 0.038 12 0.034 16

10 0.125 8 0.075 12 0.069 16

20 0.25 8 0.15 12 0.138 16

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� Initiate a step function.

� After the first test, check the maximum amplitude for the reference value for the current _Iq_ref.

Set the amplitude of the reference value just high enough so the refer-ence value for the current _Iq_ref remains below the maximum value CTRL_I_max. On the other hand, the value selected should not be too low, otherwise friction effects of the mechanical system will determine the performance of the control loop.

� Trigger another step function if you had to modify _n_ref and check the amplitude of _Iq_ref.

� Increase or decrease the P gain in small increments until _n_act is obtained as fast as possible. The following diagram shows the required transient response on the left. Overshooting - as shown on the right - is reduced by reducing CTRL_KPn.

Differences between _n_ref and _n_act result from setting CTRL_TNn to "Infinite".

Figure 7.11 Determining "TNn" for the aperiodic limit

In the case of drive systems in which oscillations occur before the aperiodic limit is reached, the P gain "KPn" must be reduced until oscillations can no longer be detected. This occurs frequently in the case of linear axes with a toothed belt drive.


The step function moves the motor at constant velocity until the spec-ified time has expired.

• Verify that the selected values for velocity and time do not exceed the available distance.

• If possible, use limit switches.


• Verify that the system is free and ready for the movement before starting the function.


0%tt

n_act

n_ref

100%

63%

0%

100%

TNn

n_act

n_ref

KPn

Amplitude

Improve with



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Graphic determination of the 63%value

Graphically determine the point at which the actual velocity _n_act reaches 63% of the final value. The integral action time CTRL_TNn then results as a value on the time axis. The commissioning software sup-ports you with the evaluation:

7.3.8.4 Checking and optimizing default settings

Figure 7.12 Step responses with good control performance

The controller is properly set when the step response is approximately identical to the signal shown. Good control performance is characterized by

• Fast transient response

• Overshooting up to a maximum of 40%, 20% is recommended.

If the control performance does not correspond to the curve shown, change CTRL_KPn in increments of about 10% and then trigger another step function:

• If the control is too slow: Use a higher CTRL_KPn value.

• If the control tends to oscillate: Use a lower CTRL_KPn value.

Oscillation ringing is characterized by continuous acceleration and de-celeration of the motor.

Figure 7.13 Optimizing inadequate velocity controller settings

If the controller performance remains unsatisfactory in spite of optimization, contact your local sales representative.

0%tt

100%

0%

100%

n_act

n_ref

n_act

n_ref

Am

plitu

de

Am

plitu

de

Rigid mechanicalsystem

Less rigid mechanical system

0%tt

100%

0%

100%

n_act

n_ref

n_act

n_ref

KPn KPnImprove with Improve with

OscillationsToo slow

Am

plitu

d

Am

plitu

d

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7.3.8.5 Optimizing the position controller

Optimization requires good control dynamics in the subordinate velocity control loop.

When tuning the position controller, you must optimize the P gain CTRL_KPp in two limits:

• CTRL_KPp too high: Overshooting of the mechanical system, insta-bility of the closed-loop control

• CTRL_KPp too low: High position deviation

Setting the reference value signal � Select Position Controller as the reference value in the commission-ing software.

� Set the reference value signal:

• Signal type: "Step"

• Set the amplitude to approx. 1/10 motor revolution.

The amplitude is entered in user-defined units. With the default scaling, the resolution is 16384 usr per motor revolution.

Selecting the recording signals � Select the values in the box General Recording Parameters:

• Reference position of position controller _p_refusr (_p_ref)

• Actual position of position controller _p_actusr (_p_act)

• Actual velocity _n_act

• Current motor current _Iq_ref

Controller values for the position controller can be changed in the same parameter group that you already used for the velocity controller.





CTRL_KPp

-

-

Position controller P gain

The default value is calculated.

1/s2.0-495.0




The step function moves the motor at constant velocity until the spec-ified time has expired.

• Verify that the selected values for velocity and time do not exceed the available distance.

• If possible, use limit switches.


• Verify that the system is free and ready for the movement before starting the function.




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Optimizing the position controllervalue

� Trigger a step function with the default controller values.

� After the first test, check the values achieved for _n_act and _Iq_ref for current and velocity control. The values must not reach the current and velocity limitation ranges.

Figure 7.14 Step responses of a position controller with good control perform-ance

The setting of the proportional gain CTRL_KPp is optimal if the reference value is reached rapidly and with little or no overshooting.

If the control performance does not correspond to the curve shown, change the P gain CTRL_KPp in increments of approximately 10% and trigger another step function.

• If the control tends to oscillate: Use a lower CTRL_KPp value.

• If the actual value is too slow reaching the reference value: Use a higher CTRL_KPp value.

Figure 7.15 Optimizing inadequate position controller settings

t

Am

plitu

de

Am

plitu

det

Rigid mechanism

Less rigid mechanism

p_act

p_ref

p_act

p_ref

0%

100%

0%

100%

0%t

Am

plitu

de

Am

plitu

de

t

Improve

with KPpImprove

with KPp

Control oscillatingControl too slow

p_act p_act

p_refp_ref

100%

0%

100%

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BLP14A 8 Operation


88 Operation

The chapter "Operation" describes the basic operating states, operating modes and functions of the device.

An alphabetically sorted overview of the parameters can be found in the chapter "Parameters". The use and the function of some parameters are explained in more detail in this chapter.









@ CAUTIONINCONSISTENT CONTROL COMMANDS

If a PLC is used as the master device, the exchange of data can lead to inconsistent transmit data since fieldbus and PLC cycles do not op-erate synchronously.

• Observe the information concerning operation with a PLC.

Failure to follow these instructions can result in injury or equip-ment damage.


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8.1 Overview of operating modes

The following table shows an overview of the operating modes and the way reference values are supplied.

Reference value for control loop The following table shows the relationship between operating mode, control loop and the use of the profile generator.

Operating mode with Local Control mode With Fieldbus Control mode Description

Jog Digital inputs Digital inputs 1)

Fieldbus commands

Page 196

Current Control Analog input Analog input

Fieldbus commands

Page 199

Speed Control Analog input Analog input

Fieldbus commands

Page 201

Profile Position - Fieldbus commands Page 203

Profile Velocity - Fieldbus commands Page 206

Motion Sequence Digital inputs Digital inputs 1)

Fieldbus commands

Page 208

Homing - Fieldbus commands Page 224

1) Optional

Operating mode Control loop Profile generator

Jog Position controller X

Current Control Current controller -

Speed Control Velocity controller -

Profile Position Position controller X

Profile Velocity Position controller X

Homing Position controller X

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8.2 Access channels

The device has several access channels. Using an access channel, you can control the device (for example, state transitions or motor move-ments).

Exclusive access can be assigned to an access channel. With exclusive access, the device can only be controlled via this access channel.

The device has the following access channels:

• Fieldbus

• Commissioning software

• Signal inputs

8.2.1 Via fieldbus

Use the parameter AccessLock to assign exclusive access to the field-bus. In this case, the product can no longer be controlled via another ac-cess channel.

8.2.2 Via commissioning software

Use the "Access" control to assign exclusive access to the commission-ing software. In this case, the product can no longer be controlled via an-other access channel.

8.2.3 Via signal inputs

You can control the device using the functions of the signal inputs LI1 ... LI4 and XLI1 ... XLI6. Control is not possible while another access channel has exclusive access.

The following signal inputs are effective even if another access channel has exclusive access.

• The functions "Halt", "Positive limit switch (LIMP)", "Negative limit switch (LIMN)" and "Reference switch (REF)" remain effective.

• The digital signal inputs STO_A and STO_B remain effective.





AccessLock

-

-

Locking other access channels

0: Release other access channels1: Lock other access channels

The fieldbus can lock active access to the device via the following access channels with this parameter:- Commissioning software- HMI- A second fieldbus

Processing of the input signals (such as HALT) cannot be locked.

-0-1

UINT16UINT16R/W--

CANopen 3001:1EhModbus 316


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8.3 Operating states

8.3.1 State diagram

After switching on and when an operating mode is started, the product goes through a number of operating states.

The state diagram (state machine) shows the relationships between the operating states and the state transitions.

The operating states are monitored and influenced by internal monitor-ing functions and system functions such as temperature monitoring or current monitoring.

Graphical representation The state diagram is represented as a flow chart.

Figure 8.1 State diagram

T10

T12

T15

3

4

5

Ready To Switch On

Switched On

Switch On Disabled

T11

T16

T9 T2 T7

T1

Not Ready To Switch On

1

2T0

T13

Fault

Fault Reaction Active

8

9

T14

Quick Stop ActiveOperation Enabled

RUN/HALT6 7

T4

T3

T5

T6T8

Start

Switching on

Error Class 2, 3, (4)Error Class 1

Operating state State transition Error

Motor under current

Motor without current

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Operating states

State transitions State transitions are triggered by an input signal, a fieldbus command or as a response to a monitoring signal.

Operating state Description

1 Start Controller supply voltage switched onElectronics are initialized

2 Not Ready To Switch On The power stage is not ready to switch on

3 Switch On Disabled Impossible to enable the power stage

4 Ready To Switch On The power stage is ready to switch on.

5 Switched On Power stage is switched on

6 Operation Enabled Power stage is enabledSelected operating mode is active

7 Quick Stop Active "Quick Stop" is being executed

8 Fault Reaction Active Error response is active

9 Fault Error response terminatedPower stage is disabled

Transi-tion

Operating state

Condition / event 1) 2) Response

T0 1-> 2 • Device electronics successfully initialized

T1 2-> 3 • Parameter successfully initialized

T2 3 -> 4 • No undervoltage

Encoder successfully checked

Actual velocity: <1000 min-1

STO signals = +24V

Fieldbus command: Shutdown 3)

T3 4 -> 5 • Request for enabling the power stage

• Fieldbus command: Switch On or Enable Operation

T4 5 -> 6 • Automatic transition

• Fieldbus command: Enable Operation

Power stage is enabledUser-defined parameters are checkedHolding brake is released (if available)

T5 6 -> 5 • Fieldbus command: Disable Operation Motion command is canceled with "Halt"Holding brake is appliedPower stage disabled

T6 5 -> 4 • Fieldbus command: Shutdown

T7 4 -> 3 • Undervoltage

• STO signals = 0V

• Actual velocity: >1000 min-1

(for example by external driving force)

• Fieldbus command: Disable Voltage

-

T8 6 -> 4 • Fieldbus command: Shutdown Power stage is immediately disabled.

T9 6 -> 3 • Request for disabling the power stage


Power stage is immediately disabled.




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Error class The product triggers an error response if an error occurs. Depending upon the severity of the error, the device responds in accordance with one of the following error classes:

T11 6 -> 7 • Error of error class 1

• Fieldbus command: Quick Stop

Motion command is canceled with "Quick Stop".



Power stage is disabled immediately, even if "Quick Stop" is still active.

T13 x -> 8 • Error of error classes 2, 3 or 4 Error response is carried out, see "Error Response"

T14 8 -> 9 • Error response terminated (error class 2)

• Error of error classes 3 or 4

T15 9-> 3 • Function: "Fault Reset" Error is reset (cause of error must be corrected).

T16 7 -> 6 • Function: "Fault reset"

• Fieldbus command: Enable Operation 4)

1) In order to trigger a state transition it is sufficient if one condition is met2) Fieldbus commands only with fieldbus control mode3) Only required with fieldbus control mode, fieldbus CANopen and parameter DCOMcompatib= 14) Possible only if operating state was triggered via the fieldbus

Transi-tion

Operating state


Error class

Response Meaning

0 Warning A monitoring function has detected a problem. No interruption of the movement.

1 "Quick Stop" Motor stops with "Quick Stop", the power stage remains enabled.

2 "Quick Stop" with switch-off

Motor stops with "Quick Stop", the power stage is disabled after standstill has been achieved.

3 Fatal error The power stage is immediately disabled without stopping the motor first.

4 Uncontrolled operation

The power stage is immediately disabled without stopping the motor first. The error can only be reset by switching off the product.

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Error response The state transition T13 (error class 2, 3 or 4) initiates an error response as soon as an internal occurrence signals an error to which the device must react.

An error can be triggered by a temperature sensor, for example. The de-vice cancels the motion command and starts the error response, for ex-ample deceleration and stopping with "Quick Stop" or disabling the power stage. Subsequently, the operating state changes to 9 Fault.

To exit the 9 Fault operating state, the cause of the error must be reme-died and a Fault Reset must be executed.

In the event of a "Quick Stop" triggered by an error of class 1 (operating state 7), a "Fault Reset" causes a direct transition to operating state 6.

Error class Statefrom -> to

Response

2 x -> 8 Stop movement with "Quick Stop"Holding brake is appliedPower stage disabled

3, 4 or Safety func-tion STO

x -> 8 -> 9 Power stage is disabled immediately, even if "Quick Stop" is still active.


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8.3.2 Indicating the operating states

You can indicate the current operating state via the signal outputs, the commissioning software and the fieldbus.

Signal outputs The current operating state is indicated via the digital signal outputs.

Commissioning software For a detailed description, see the "Lexium CT commissioning software" product manual.

State "No fault" 1)

1) Function is the factory setting for signal output LO1

"Active" 2)

2) Function is the factory setting for signal output LO2

"Brake release" 3)

3) The function must be configured, see chapter 8.6.7 "Setting the digital signal inputs and signal outputs".

2: Not ready to switch on 0 0 0

3: Switch on disabled 0 0 0

4: Ready to switch on 1 0 0

5: Switched on 1 0 0

6: Operation enable 1 1 1

7: Quick Stop activ 0 0 1

8: Fault Reaction active 0 0 1

9: Fault 0 0 0

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Fieldbus The parameter DCOMstatus provides information on the operating state of the device and the processing status of the operating mode.

Figure 8.2 Changing and monitoring the operating state via parameters

Bits 0, 1, 2, 3, 5 and 6 Bits 0, 1, 2, 3, 5 and 6 of the DCOMstatus parameter provide informa-tion on the operating state.

Figure 8.3 Indication of the operating state

State machine

Monitoring andSystem functions

DCOMcontrol DCOMstatus





DCOMstatus

-

-

Drivecom status word

Refer to chapter Operation, State Machine for bit coding information.Bit 0-3,5,6: Status bitsBit 4: Voltage enabledBit 7: WarningBit 8: HALT request activeBit 9: RemoteBit 10: Target reachedBit 11: ReservedBit 12: Operating mode specificBit 13: x_errBit 14: x_endBit 15: ref_ok

--0-

UINT16UINT16R/---


7 0...MSB 15 8 ... LSB

X XX X XX X X X

02356 1

XState

machine

Operating state

Bit 6Switch On Disabled

Bit 5Quick Stop

Bit 3Fault

Bit 2Operation Enabled

Bit 1Switch On

Bit 0Ready To Switch On

2 Not Ready To Switch On 0 X 0 0 0 0

3 Switch On Disabled 1 X 0 0 0 0

4 Ready To Switch On 0 1 0 0 0 1

5 Switched On 0 1 0 0 1 1

6 Operation Enabled 0 1 0 1 1 1

7 Quick Stop Active 0 0 0 1 1 1

8 Fault Reaction Active 0 X 1 1 1 1

9 Fault 0 X 1 1 1 1


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Bit 4, Voltage enabled Bit 4=1 indicates whether the DC bus voltage is correct. If the voltage is missing or is too low, the device does not transition from operating state 3 to operating state 4.

Bit 7, Warning Bit 7 is 1 if parameter _WarnActive contains a warning message. The movement is not interrupted. The bit remains set as long as a warning message is contained in parameter _WarnActive. The bit remains set for at least 100 ms, even if a warning message is active for a shorter time. The bit is reset immediately in the case of a "Fault Reset".

Bit 8, Halt request active Bit 8=1 indicates that a "Halt" is active.

Bit 9, Remote If bit 9 is set, the device carries out commands via the fieldbus. If Bit 9 is reset, the device is controlled via a different interface. In such a case, it is still possible to read or write parameters via the fieldbus.

Bit 10, target reached Bit 10 only becomes "1", if the operating mode is terminated success-fully and the motor has come to a standstill. Bit 10 has the value "0" as long as the motor is running, if the operating mode is interrupted by a "Halt" or canceled because of an error.

Bit 11 Reserved.

Bit 12 Bit 12 is used for monitoring the current operating mode. Details can be found in the chapters on the individual operating modes.

Bit 13, x_err Bit 13 only becomes "1" in the case of an error which needs to be rem-edied prior to further processing. The device responds corresponding to an error class, see page .

Bit 14, x_end Bit 14 changes to "0" if an operating mode is started. When processing is terminated or interrupted, for example by a "Halt", bit 14 toggles back to "1" once the motor has come to a standstill.The signal change of bit 14 to "1" is suppressed if one process is fol-lowed immediately by a new process in a different operating mode.

Bit 15, ref_ok Bit 15 is "1" if the motor or the axis has a valid reference point, for ex-ample as a result of a reference movement.

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8.3.3 Changing operating states

Local Control mode In Local Control mode, the operating state is changed either via the commissioning software, the signal inputs or automatically.

Fieldbus control mode In fieldbus control mode, the operating states are set either via the com-missioning software or the parameter DCOMcontrol. Bits 0 to 3 and bit 7 are relevant for state transitions.

Figure 8.4 Changing and monitoring the operating state via parameters

Input signalState transi-tions State transition to

ENABLE 0 -> 1 T3, T4 6 Operation Enabled

ENABLE 1 -> 0 T5, T6 4 Ready To Switch On

FAULT_RESET 0 -> 1 T15T16

4 Ready To Switch On6 Operation Enabled

State machine

Monitoring andSystem functions

DCOMcontrol DCOMstatus





DCOMcontrol

-

-

Drivecom control word

Refer to chapter Operation, Operating States, for bit coding information.Bit 0: Switch onBit 1: Enable Voltage Bit 2: Quick StopBit 3: Enable OperationBit 4..6: Operating mode specificBit 7: Fault ResetBit 8: HaltBit 9..15: Reserved (must be 0)

--0-

UINT16UINT16R/W--



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Bits 0 to 3 and 7

Figure 8.5 Changing the operating state

The bit states in the fields marked with "X" have no meaning for the cor-responding state transition.

Bits 4 to 6 Bits 4 to 6 are used for the operating mode-specific settings. Details can be found in the descriptions of the individual operating modes in this chapter.

Bit 8, Halt A "Halt" can be triggered with bit 8=1.

Bits 9 to 15 Reserved.

7 0...MSB 15 8 ... LSB

X XX X XX X X X

0237 1

X XState

machine

Fieldbus command State tran-sitions State transition to

Bit 7Reset Fault

Bit 3Enable Opera-tion

Bit 2Quick Stop

Bit 1Enable Voltage

Bit 0Switch On

Shutdown T2, T6, T8 4 Ready To Switch On X X 1 1 0

Switch On T3 5 Switched On X X 1 1 1

Disable Voltage T7, T9, T10, T12

3 Switch On Disabled X X X 0 X

Quick Stop T7, T10T11

3 Switch On Disabled7 Quick Stop Active

X X 0 1 X

Disable Operation T5 5 Switched On X 0 1 1 1

Enable Operation T4, T16 6 Operation Enabled X 1 1 1 1

Fault Reset T15 3 Switch On Disabled 0->1 X X X X

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8.4 Displaying, starting and changing operating modes

Prerequisites The device must be ready for operation and properly initialized for an op-erating mode to be started.

The product cannot run in two operating modes at the same time. If an operating mode is active, you can only change to a different operating mode if the current operating mode is terminated or canceled.

An operating mode is terminated if the motor has reached the target po-sition or if it is stopped by the functions "Quick Stop" or "Halt". If an error occurs during the movement which causes the current operating mode to be canceled, the movement can be resumed or you can change to a different operating mode after the cause of the error has been removed.

Changing operating states and activating operating modes must be done separately. An operating mode can usually only be activated if the operating state is already "Operation Enabled".


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8.4.1 Starting the operating mode

Local Control mode In the case of Local Control mode, after starting, the device changes to the operating mode set with the parameter IOdefaultMode.

By setting the input signal ENABLE, current is applied to the motor and the set operating mode is started.

In addition, a "Jog" movement or "Autotuning" can be started via the HMI.

Fieldbus control mode In the case of fieldbus control mode, the operating mode is started using the parameter DCOMopmode.

The following table shows the sequence of parameters for starting an operating mode using the example of the operating mode Current Con-trol.

In the operating modes Profile Position and Homing, the device receives the request for starting the selected operating mode via bit 4 in the pa-rameter DCOMcontrol.

In the other operating modes, bits 4 to 6 have operating mode-specific assignments.

Parameter Meaning

1 CUR_I_target Reference value

2 CURreference Reference value source

3 DCOMopmode Start of the operating mode





CUR_I_target

-

-

Reference current in operating mode current control

Apk-300.000.00300.00

INT16INT16R/W--


CURreference

-

-

Reference value source for operating mode Current Control

0 / None: None1 / Analog Input: Reference value via +/-10V interface ANA12 / Parameter 'currTarg': Reference value via parameter CUR_I_target

-002

UINT16UINT16R/W--

CANopen 301B:10hModbus 6944

DCOMopmode

-

-

Operating mode

DS402 operating modes:1: Profile position3: Profile velocity6: Homing

--------------------------------------Manufacturer operating modes:-1: Jog-3: Current control-4: Speed control-8: Motion sequence

--8-6

INT8INT16R/W--


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8.4.2 Changing the operating mode

Local Control mode When the drive is at a standstill, the default operating mode can be changed using the parameter IOdefaultMode. The operating modes cannot be changed during operation. The new settings only become ac-tive until after the device is switched off and on again.

Fieldbus control mode The operating modes can be changed during operation. For this pur-pose, the current process must be completed or explicitly canceled. The drive must be at a standstill. Then proceed as described in "Starting an operating mode".

The operating modes Current Control and Profile Velocity are an excep-tion to this. No motor standstill is required to change between these op-erating modes.

2 parameters are available for indicating the current operating mode and for changing the operating modes.

• Parameter for indication: _DCOMopmd_act

• Parameter for change: DCOMopmode





_DCOMopmd_act

-

-

Active operating mode

See DCOMopmode for coding

--6-6

INT8INT16R/---


DCOMopmode

-

-

Operating mode



--8-6

INT8INT16R/W--



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8.5 Operating modes

8.5.1 Operating mode Jog

Overview of operating mode Jog In the operating mode Jog, the motor moves by one jog unit or at con-stant speed of rotation during continuous movements. The distance of the jog unit, the values for the speed of rotation and the waiting time prior to continuous movement can be set.

The current motor position is the start position for the operating mode Jog. The jog distance and the values for the speed of rotation are en-tered in user-defined units.

Starting the operating mode The operating mode can be started in the following ways.

• In the case of Local Control mode, the operating mode can be set as start-up operating mode.

The functions "Jog positive" and "Jog negative" are used to start movements. The function "Jog fast/slow" lets you switch between slow and fast movements.

• In fieldbus control mode, the operating mode must be set via the parameter DCOMopmode. Writing the parameter value causes the operating mode to start. The parameter JOGactivate starts a movement.

The Functions "Automatic/Manual", "Jog positive", "Jog negative" and "Jog fast/slow" must be configured, see chapter 8.6.7 "Setting the digital signal inputs and signal outputs".

With the start signal for the jog movement, the motor first moves by a de-fined jog distance JOGstepusr. If the start signal is still available after a specified waiting time JOGtime, the device switches to continuous movement until the start signal is canceled.

Status messages The drive provides information concerning the movements via bits 10 and 12 to 15 in the parameter DCOMstatus.

Figure 8.6 Status messages for the operating mode

7 0...MSB 15 8 ... LSB

X X X X X X X X X

1012131415

XX

Parameter value Meaning

Bit 10: Target reached Not relevant for this operating mode

Bit 12: Operating mode-dependent Reserved

Bit 13: x_err 1: Error

Bit 14: x_end 1: Operating mode terminated, motor at a standstill

Bit 15: ref_ok 1: Drive has valid reference point

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Description With the start signal for the jog movement, the motor first moves by a de-fined jog distance JOGstepusr. If the start signal is still available after a specified waiting time JOGtime, the device switches to continuous movement until the start signal is canceled.

The figure below provides an overview in local control mode.

Figure 8.7 Jog, slow and fast

The figure below provides an overview in fieldbus control mode.

Figure 8.8 Jog, slow and fast

(1) Distance unit(2) t < waiting time(3) t > waiting time(4) Continuous movement

The distance unit, waiting time and velocity levels can be set. If the dis-tance is zero, the jog movement starts directly with continuous move-ment irrespective of the waiting time.

1

0

1

0

M

"Jog positive"

JOGn_slow

JOGn_fast

1

0

1 41 21 2 3

"Jog fast/slow"

"Jog negative"

1

0

1

0

1

0

M

JOGactivate Bit0

JOGactivate Bit2

DCOMstatus Bit14

JOGn_slow

JOGn_fast

1

0JOGactivate Bit1

1 41 21 2 3


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Terminating the operating mode Jog is finished when the motor has come to a standstill and

• the direction signal is inactive

• the operating mode has been interrupted by "Halt" or an error

Further options For further settings and functions for the operating mode, see page 237.





JOGactivate

-

-

Activation of operating mode Jog

Bit 0: positive direction of rotationBit 1: negative direction of rotationBit 2: 0=slow 1=fast

-007

UINT16UINT16R/W--


JOGn_slow

JOG- - NSLW

JOG- - NSLW

Speed for slow jog

The adjustable value is internally limited to the current parameter setting in RAMPn_max.

min-1

16013200



JOGn_fast

JOG- - NFST

JOG- - NFST

Speed for fast jog


min-1

118013200



JOGstepusr

-

-

Jog distance prior to continuous movement

0: Direct activation of continuous movement>0: Positioning distance per jog cycle

usr0202147483647

INT32INT32R/Wper.-


JOGtime

-

-

Wait time prior to continuous movement

This time is only effective if you have set a jog distance not equal to 0, otherwise the drive immediately starts a continuous move-ment.

ms150032767



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8.5.2 Operating mode Current Control

Overview of Current Control In the operating mode Current Control, a reference value for the motor current is supplied.

The following overview shows the function principle of the parameters which can be set for the operating mode.

Figure 8.9 Operating mode Current Control, function principle of adjustableparameters

Starting the operating mode In local control mode, the operating mode must be set using the param-eter IOdefaultMode. Setting the input signal ENABLE enables the power stage, applies current to the motor and evaluates the inputs ac-cording to the settings made.

In fieldbus control mode, the operating mode must be set with via the pa-rameter DCOMopmode. Writing the parameter value causes the operat-ing mode to start.



ANA1(±10V)

SignalProcessing

SignalProcessing

Controller

CTRL_I_max

CTRL_n_max

(±10V)XANA1_n_max

XANA1_I_max

CURreference

XANA1LimMode

M3~

E

CUR_I_target

XANA1

ANA1_I_scale

ANA1_offsetANA1_win

7 0...MSB 15 8 ... LSB

X X X X X X X X X

1012131415

XX


Bit 10: Target reached 0: Speed of rotation greater than 0 min-1

1: Speed of rotation is 0 min-1

Bit 12: Operating mode-dependent Reserved (0)


Bit 14: x_end 1: Operating mode terminated, motor at a standstill



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Setting limit values See chapter 7.3.3 "Setting basic parameters and limit values" for setting the limitation of the current and the speed of rotation.

Reference value settings In local control mode, the analog input ANA1 is automatically evaluated.

In fieldbus control mode, the parameter CURreference determines whether the analog input ANA1 or the parameter CUR_I_target are to be evaluated.

Reference value with +10V inputsignal

It is possible to change the development of the reference value with ref-erence to the ±10V input value:

• Settings for the reference value at +10V

• Parameterization of a zero voltage window

• Parameterization of a voltage offset

See chapter 7.3.4 "Setting, scaling and checking analog signals" for set-tings for the analog inputs.

On the basis of this reference value, the device calculates a current with which the motor accelerates to a velocity limited by the load torque. Therefore, without a load, the motor accelerates up to the adjustable ve-locity limit.

Terminating the operating mode Processing is terminated by:

• Deactivation of the operating mode and motor at a standstill

• Standstill of motor caused by "Halt" or by an error

@ WARNINGEXCESSIVELY HIGH VELOCITY DUE TO INCORRECT LIMIT VALUE

Without a proper limit value, the motor can reach a very high velocity in this operating mode.

• Check the parameterized velocity limitation.






CURreference

-

-

Reference value source for operating mode Current Control


-002

UINT16UINT16R/W--


CUR_I_target

-

-

Reference current in operating mode current control

Apk-300.000.00300.00

INT16INT16R/W--


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8.5.3 Operating mode Speed Control

Overview of Speed Control In the operating mode Speed Control, a reference value for the speed of rotation of the motor is supplied.

Transitions between two velocities follow the adjusted control loop pa-rameters.

The following overview shows the function principle of the parameters which can be set for the operating mode.

Figure 8.11 Operating mode Speed Control, function principle of adjustableparameters



Status information The word "driveStat" provides information on the operating mode.

Setting limit values See chapter for setting the limitation of the current and the speed of ro-tation.

SignalProcessing Controller

CTRL_I_max

CTRL_n_maxSPEEDreference

M3~

E

SPEEDn_target

ANA1(±10V)

SignalProcessing(±10V)

XANA1_n_max

XANA1_I_max

XANA1LimMode

XANA1

ANA1_n_scale

ANA1_offsetANA1_win

Bit Name Meaning

13 x_info 0: Motor shaft rotates1: Motor standstill

14 x_end 0: Operating mode active1: Operating mode terminated

15 x_err 0: No error1: Error


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Reference value settings In local control mode, the analog input ANA1 is automatically evaluated.

In fieldbus control mode, the parameter SPEEDreference determines whether the analog input ANA1 or the parameter SPEEDn_target are to be evaluated.

Reference value with +10V inputsignal

It is possible to change the development of the reference value with ref-erence to the ±10V input value:

• Settings for the reference value at +10V

• Parameterization of a zero voltage window

• Parameterization of a voltage offset

See chapter for settings for the analog inputs.

Terminating the operating mode Processing is terminated by:

• Deactivation of the operating mode and motor at a standstill

• Standstill of motor caused by "Halt" or by an error





SPEEDreference

-

-

Reference value source for operating mode Speed Control

0 / None: None1 / Analog Input: Reference value via +/-10V interface ANA12 / Parameter 'speedTarg': Reference value via parameter SPEEDn_target

-002

UINT16UINT16R/W--


SPEEDn_target

-

-

Reference velocity in operating mode Speed Control


min-1

-30000030000

INT16INT16R/W--


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8.5.4 Operating mode Profile Position

The operating mode can only be used in fieldbus control mode and can only be executed via the fieldbus.

In the operating mode Profile Position, a movement with an adjustable motion profile is performed from a start position to a target position. The value of the target position can be specified as either a relative or an ab-solute position.

You can set a motion profile with values for acceleration ramp, deceler-ation ramp and target velocity.

Relative and absolute movements In the case of absolute positioning, the movement distance is specified absolutely with reference to the zero point of the axis. A zero point must be defined with the operating mode Homing prior to the first absolute movement.

In the case of relative positioning, the movement distance is specified relatively with reference to the current axis position or the target position.

Figure 8.12 Absolute movement (left) and relative movement (right)

Triggering positioning

A new movement is started when the edge of bit 4 in the parameter DCOMcontrol rises.

The movement can be triggered in 2 ways depending on bit 5.

• Bit 5 = 0:

Positioning values (PPp_targetusr, PPn_target, RAMPacc and RAMPdecel) that are supplied while a movement is active, are saved temporarily. The movement continues to the target position of the current positioning movement. The new movement according to the new values is executed only when the target position has been reached.

If new positioning values are provided again, the temporarily saved positioning values are overwritten.

• Bit 5 = 1:

Positioning values (PPp_targetusr, PPn_target, RAMPacc and RAMPdecel) that are supplied while a positioning movement is active, are immediately executed. The movement to the new target position starts immediately.

1.200 usr

500 usr500 usr

0700 usr

0


Bit 4: New target value 0->1: Start positioning movement or pre-pare subsequent positioning movement

Bit 5: Change setpoint immedi-ately (only if New setpoint 0->1)

0: Activate new position values when tar-get position is reached1: Activate new position values immedi-ately

Bit 6: Absolute / relative 0: Absolute positioning1: Relative positioning


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Status messages The drive provides information concerning positioning via bits 10 and 12 to 15 in the parameter DCOMstatus.


Figure 8.14 Operating mode Profile Position, function principle of adjustableparameters

Current position The current position can be determined with the 2 parameters _p_actusr and _p_actRAMPusr.

7 0...MSB 15 8 ... LSB

X X X X X X X X X

1012131415

XX


Bit 10: Target reached 0: Target position not reached(also in the case of "Halt" or error)1: Target position reached

Bit 12: Target value acknowledge 0: New position possible1: New target position accepted


Bit 14: x_end 1: Positioning finished, motor at a stand-still


* fp

SPV_SW_Limits

PPp_targetusr

POSNormNumPOSNormDenom

*fv=1

*fa=1

DCOMstatusPPn_target

RAMPaccRAMPdecel

RAMPn_max





_p_actusr

STA- - PACu

STA- - PACu

Actual position in user-defined units usr-0-

INT32INT32R/---


_p_actRAMPusr

-

-

Actual position of profile generator

In user-defined units

usr-0-

INT32INT32R/---

CANopen 301F:2hModbus 7940

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Target position A new position value is assigned with the parameter PPp_targetusr.

In the case of absolute positioning, the positioning distance is specified absolutely with reference to the zero point of the axis.

In the case of a relative positioning, the positioning distance is specified relatively with reference to the current axis position or the target position. This depends on the setting in parameter PPoption.





PPn_target

-

-

Target velocity for operating mode Profile Position

The adjusted value is internally limited to the current parameter value in RAMPn_max.

min-1

160-

UINT32UINT32R/W--


PPoption

-

-

Options for operating mode profile position

Determines the reference position for rela-tive positioning:0: Relative with reference to the previous tar-get position of the motion profile generator1: Not supported2: Relative with reference to the actual posi-tion of the motor

-002

UINT16UINT16R/W--

CANopen 60F2:0hModbus 6960

AbsHomeRequest

-

-

Absolute positioning only after homing

0 / No: No1 / Yes: Yes

-001



PPp_targetusr

-

-

Target position for operating mode Profile Position

Min./max values depend on:- Scaling factor- Software limit switches (if they are acti-vated)

usr-0-

INT32INT32R/W--

CANopen 607A:0hModbus 6940


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8.5.5 Operating mode Profile Velocity

In the operating mode Profile Velocity, a movement is made with a de-sired target velocity. You can set a motion profile with values for accel-eration and deceleration ramps.

Starting the operating mode After the operating mode, the operating state and the parameter values have been set, the operating mode can be started by applying the ref-erence velocity set in the parameter PVn_target.



Overview The following overview shows the function principle of the parameters which can be set for the operating mode Profile Velocity.

Figure 8.16 Operating mode Profile Velocity, function principle of adjustableparameters

7 0...MSB 15 8 ... LSB

X X X X X X X X X

1012131415

XX


Bit 10: Target reached 0: Reference velocity not reached1: Reference velocity reached(also in the case of motor standstill via "Halt")

Bit 12: speed=0 0: Motor shaft moves1: Motor at a standstill


Bit 14: x_end 1: Operating mode terminated


*fv=1PVn_target

*fa=1RAMPaccRAMPdecel

DCOMstatusRAMPn_max

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Target velocity The target velocity is assigned via the parameter PVn_target in min-1 and can be changed during the movement. The operating mode is not limited by the movement range limits. New velocity values are accepted immediately during the execution of a running motion command.

Actual velocity The actual velocity can be determined with the 2 parameters _n_act and _n_actRAMP.





PVn_target

-

-

Target velocity for operating mode Profile Velocity


min-1

-0-

INT32INT32R/W--

CANopen 60FF:0hModbus 6938





_n_act

STA- - NACT

STA- - NACT

Actual speed of rotation min-1

-0-

INT32INT16R/---

CANopen 606C:0hModbus 7696

_n_actRAMP

-

-

Actual velocity of profile generator min-1

-0-

INT32INT32R/---



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8.5.6 Operating mode Motion Sequence

Without the I/O expansion signal interface, only a few digital inputs and outputs are available. This limits the functionality for direct selection of data sets. If you do not have the I/O expansion signal interface and if the drive operates in local control mode, you should therefore use sequential selection of data sets if possible.

If, in fieldbus control mode, a positive limit switch is to be used instead of the reference switch, it must be configured, see chapter 8.6.7 "Setting the digital signal inputs and signal outputs".

Basics The operating mode Motion Sequence is based on the basic principles and functions of the operating modes Homing and Profile Position. The function principle is described in the individual chapters on the corre-sponding operating mode.

Overview of Motion Sequence In the operating mode Motion Sequence, the motor is controlled by data sets that can be programmed as required.

The data sets are parameterized via the commissioning software or the fieldbus.

Parameterization via the commissioning software is considerably easier since a graphic user interface is available.

There are 2 processing modes for the data sets:

• Direct selection of the data sets

Direct selection of the data sets is used if a master controller (for example, a PLC) is in charge of the time coordination between the various data sets.

In Local Control mode and without the I/O expansion signal inter-face, the data set with the number 0 is started. With the I/O expan-sion signal interface, the number of the data set to be processed is selected by means of the functions "DataSet Bit0" ... "DataSet Bit3". The selected data set is started via the function "DataSet Start". This way, data sets can be started directly.

In fieldbus control mode, the number of the data set to be started is specified by means of the parameter MSMsetNum. The data set is started once the corresponding transition conditions are met.

• Sequential selection of the data sets

Sequential selection of the data sets is typically used with motion sequences with a fixed order. Time coordination between and the sequence of the various data sets is stored in the drive. The global transition condition must be fulfilled before the start of the first data set. Special conditions can be parameterized for the subsequent data sets.

In local control mode, an external signal meets a transition condition between the data sets via the function "DataSet Start".

In fieldbus control mode, a transition condition can be met via the parameter MSMstartReq.

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In local control mode, the processing state of a data set can be output via a signal output with the "DataSet Start Acknowledge" function.

In addition, an internal processing state such as "Motor Standstill" can be output via an additional signal output.

The following table provides an overview of the processing modes and control modes of the operating mode Motion Sequence.

8.5.6.1 Global settings

Selection of processing mode The processing mode is set with the parameter MSMprocMode.

Processing mode Fieldbus control mode Local Control mode Description

Direct selection of the data sets

The data sets can be selected directly via a parameter.

Without the I/O expansion signal interface, the data set with the number 0 is started.

With the I/O expansion signal interface, the data sets can be selected directly via functions.

Page 217

Sequential selection of the data sets

Any sequence can be started, interrupted and continued starting with any data set.

Without the I/O expansion signal interface, the sequence beginning with the data set number 0 is started.

Wit the I/O expansion signal inter-face, any sequence can be started, interrupted and continued starting with any data set.

Page 220





MSMprocMode

-

-

Processing mode

0 / Direct: Direct selection1 / Sequential: Sequential selection

-011




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Global transition condition The global transition condition is specified via the parameter MSMglobalCond. The global transition condition applies both to the start of the first data set and to the transition to the subsequent data sets for which the global transition condition is specified as a condition. The global transition condition can be replaced by a special transition condi-tion in each individual data set.

8.5.6.2 Structure of a data set

Figure 8.17 Structure of a data set

(1) Direct selection of the data sets(2) Sequential selection of the data sets





MSMglobalCond

-

-

Global transition condition

0 / Rising Edge: Rising edge1 / Falling Edge: Falling edge2 / 1-level: 1 level3 / 0-level: 0 level

The global transition condition defines the way the start request is to be processed. This setting is used for the first start after activation of the operating mode. In addition, this setting can be used as transition condi-tion in the individual data sets (default assignment).

-003



1

2 PauseTriggerOut SetStart

TriggerOut SetEnd

ConditionType Target Speed Acceleration Deceleration Next data set

Type Target Speed Acceleration Deceleration

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Type Selection of data set type

Depending on the selected data set type, the Target settings have the following different meanings:

Target Corresponds to different values depending on the data set type. In the case of positioning, this is the value of an absolute or relative movement. In the case of homing, the homing method can be selected here. In the case of position setting, an absolute position is specified.

Type Description

Pos. absolute Absolute positioning see chapter 8.5.4 "Operat-ing mode Profile Position"

Pos. relative Relative positioning see chapter 8.5.4 "Operating mode Profile Position"

Homing Reference movement to limit switch with and without index pulse, see chapter 8.5.7 "Operating mode Homing"

Position setting Position setting see chapter 8.5.7.4 "Homing by position setting"





MSMdataType

-

-

Selection of movement type

0 / None: None1 / Absolute Positioning: Absolute position-ing2 / Relative Positioning: Relative position-ing3 / Homing: Homing4 / Set Position: Position setting

Sequential selection:Processing of wait time and transition condi-tion only.Direct selection:Triggering of a data set without movement, but compliance with handshake mechanism.

-004







MSMdataTarget

-

-

Target value of movement type

The value depends on the selected process-ing type (see MSMdataType for settings):- None: no meaning- Absolute positioning: absolute position in usr- Relative positioning: relative distance in usr- Reference movement: type of reference movement (see HMmethod)- Position setting: position setting position in usr

--214748364802147483647

INT32INT32R/Wper.-



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Velocity, acceleration anddeceleration

The values for velocity [min-1], acceleration [min-1] and deceleration [min-1] are specified separately for each data set.

Subsequent data set Specifies the number of the data set that is to be executed next.

Pause Specifies the waiting time after the end of the movement. Values from 0 to 30000 ms can be specified. The data set is not complete until after this time has elapsed.





MSMdataSpeed

-

-

Speed

In the case of relative or absolute move-ments, this value corresponds to the refer-ence speed, in the case of homing to the search speed.

min-1

0013200



MSMdataAcc

-

-

Acceleration

0: Use of current acceleration, no change>0: Special acceleration value, see parame-ter RAMPacc for adjustment range

min-1/s003000000



MSMdataDec

-

-

Deceleration

0: Use of current deceleration, no change>0: Special deceleration value, see parame-ter RAMPdecel for adjustment range

min-1/s003000000







MSMdataNext

-

-

Number of subsequent data set

This setting is only effective in the process-ing mode 'sequential selection'.

-0015







MSMdataDelay

-

-

Wait time

Additional wait time in ms after termination of the movement.


ms0030000



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Condition Specifies the transition condition that must be met before the next data set is executed. The following settings are available for the parameter:

Example of blended movements The following illustration shows the difference between blended move-ment a and b, using 3 data sets.

Figure 8.18 Blended movement

Condition Meaning

Auto The next data set is started immediately after the current data set.

Rising edge The function "DataSet Start" is monitored and if a rising edge is detected, the condition is con-sidered to be fulfilled.

Falling edge The function "DataSet Start" is monitored and if a falling edge is detected, the condition is con-sidered to be fulfilled.

0 level The function "DataSet Start" is monitored and if the level is 0, the condition is considered to be fulfilled.

1 level The function "DataSet Start" is monitored and if the level is 1, the condition is considered to be fulfilled.

Global transition condition Uses the global transition condition, see chap-ter 8.5.6.1 "Global settings".

Blended movement

Blended movement a)

Blended movement b) 1).

1) Only possible with linear ramps. See 8.6.3 "Motion profile"

The motor movement is not stopped between the data sets. The transition condition between the data sets is reaching the target position.

The condition "Blended Movement" is possible only for:

• Absolute positioning.

• In the case of subsequent data sets, whose target position is greater than that of the current data set.

The speed of rotation of the subsequent data set is adjusted after the target position is reached.

The speed of rotation of the subsequent data set is adjusted before the target position is reached.

t

1/min

t

1/min

1 2 3

a

b


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TriggerOut SetStart / SetEnd Each data set can control a signal output at the start (SetStart) and also at the end of the data set including expiry of the waiting time (SetEnd) if the corresponding signal output is set to the function "DataSet trigger output".

8.5.6.3 Starting the operating mode



Starting a data set in local controlmode

In local control mode, the global transition condition refers to the state of the function "DataSet Start". The first data set (data set number 0) is started if the global transition condition is fulfilled. Separate transition conditions can be defined for each subsequent data set after the first data set.





MSMdataNextCond

-

-

Transition condition

0 / Rising Edge: Rising edge1 / Falling Edge: Falling edge2 / 1-level: 1 level3 / 0-level: 0 level4 / Global Next Condition: Global transition condition (see MSMglobalCond)5 / Auto: Auto6 / Blended Move Typ A: Blended move-ment a7 / Blended Move Typ B: Blended move-ment b


-047



TriggerOutSetStart

TriggerOutSetEnd

Description

Unchanged Unchanged Output level remains unchanged

1 level 1 level Output level switches 1 level

0 level 0 level Output level switches to 0 level

Inverted Inverted Output level is inverted

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Starting a data set in fieldbuscontrol mode

In fieldbus control mode, the global transition condition refers to the pa-rameters MSMstartReq or DCOMcontrol bit 4. The first data set is started if the global transition condition is fulfilled. Separate transition conditions can be defined for each subsequent data set after the first data set.

Status messages In the operating mode Motion Sequence, the drive provides information on the movement in bits 7, 8, 13, 14 and 15 in the parameter DCOMstatus.






MSMstartReq

-

-

Start request for processing of a data set

Direct selection: The data set is triggered by a rising edge. The number of the data set to be triggered must first adjusted via MSMsetNum.Sequential selection: Triggering of a data set with start or transi-tion condition. The start condition is defined with MSMglobalCond. The transition condi-tion can be specially adjusted for each data set.

-001

UINT16UINT16R/W--


7 0...MSB 15 8 ... LSB

X XX X X X X X X

7131415

X

8

X


Bit 7: Warning 1: Indicates that the parameter _WarnActive contains a warning

Bit 8: Halt request active 1: indicates that a "Halt" is active.


Bit 14: x_end 1: Data set completed, motor at a stand-still

Bit 15: ref_ok 1: Drive is referenced


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8.5.6.4 Switching on the drive system

If Motion Sequence is selected as the start-up operating mode, the input signals and settings are processed in the following sequence when the drive system is switched on:

Enabling the power stage If the parameter IO_AutoEnable is set to the value 2, the power stage is automatically enabled when the device is switched on.

If the parameter IO_AutoEnable is parameterized to 0, the power stage must be enabled separately.

Selection of the data sets In Local Control mode and without the I/O expansion signal interface, the data set with the number 0 is started. With the I/O expansion signal interface, the number of the data set to be started is specified via the functions "DataSet Bit0" ... "DataSet Bit1". The selected data set is started via the function "DataSet Start". This way, the data sets can be started directly.

In fieldbus control mode, the number of the data set to be started can be specified via the parameter MSMSetnum.

Start of a data set The global transition condition MSMGlobalCond must be fulfilled before the start of the first data set.

In local control mode, the parameter MSMGlobalCond evaluates the "DataSet start" function.

In fieldbus control mode, the parameter MSMGlobalCond evaluates the value of the parameter MSMstartReq.

If a "0" or "1" level is parameterized as the global transition condition (MSMglobalCond) and this level is present at the time the power stage is enabled, the data set is started directly.

This sequence allows you to parameterize the drive in such a way as to allow for automatic starts of movements when the product is switched on.

@ DANGERUNEXPECTED RESTART

If appropriately parameterized, the product can automatically start movements as soon as the VDC power stage supply is available. This may cause unexpected restarts after a power outage.

• Verify the behavior of the system when the power stage supply is switched on.

• Verify that there are no hazards to persons when the system restarts after a power outage.

• Verify that there are no persons in the hazardous area.


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8.5.6.5 Processing mode "Direct selection of data sets"

Without the I/O expansion signal interface, only a few digital inputs and outputs are available. This limits the functionality for direct selection of data sets. If you do not have the I/O expansion signal interface and if the drive operates in local control mode, you should therefore use sequential selection of data sets if possible.

Direct selection of the data sets is parameterized via the parameter MSMsubMode.

In fieldbus control mode, the parameter MSMSetnum specifies the number of the data set to be started.

Operation with master controller Timing of the process is controlled via I/O signals of a master controller, for example, a PLC. The current processing status of the drive can be determined via suitable feedback signals. The signals are exchanged via handshake.

Example of a processing sequencein fieldbus control mode

Figure 8.20 Example of processing sequence with direct selection of the datasets

(1) PLC: In fieldbus control mode, the parameter MSMsetNum specifies the number of the data set to be started.

(2) Drive: A change in the parameter MSMstartReq from 0 to 1 starts the data set. The start of the data set is acknowledged via x_end = "0" (DCOMstatus).

(3) PLC: The PLC detects the start of the data set via x_end = "0" and sets MSMstartReq = "0".

(4) Drive: The fact that the data set has been finished is signaled to the PLC via x_end = "1" (MSMstartReq must be 0).

The handshake signal checks the function "Motor Standstill" internally. If "Motor Standstill" = "0" and MSMstartReq = "0", bit x_end of the pa-rameter DCOMstatus = "1". x_end = "1" allows the PLC to detect that the data set has been finished.

The second movement is a short movement. The PLC cycle is longer than the duration of the movement. x_end = "1" allows the PLC to detect that the data set has been finished.

MSMsetNum

x_end

10

10

MSMstartReq

3 7

M

1

2 3

4

1


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Example of a processing sequencein local control mode

In local control mode, the data set to be started is selected via the func-tions "DataSet Bit0" ... "DataSet Bit3". The function "DataSet Start" starts the data set. The processing status is returned by means of the function "DataSet Start Acknowledge".

Figure 8.21 Handshake with direct selection of data sets

(1) PLC: Selection of the data set via the signal inputs. A rising edge for "DataSet Start" starts the data set.

(2) Drive: The data set is started and the function "DataSet Start Acknowledge" is set to 0.

(3) PLC: The PLC detects the start of the movement by means of "DataSet Start Acknowledge" and sets "DataSet Start" = "0".

(4) Drive: The fact that the data set has been finished is signaled to the PLC via "DataSet Start Acknowledge" = "1" ("DataSet Start" must be 0).

The function "DataSet Start Acknowledge" internally checks the function "Motor Standstill". If "Motor Standstill" = "0" and "DataSet Start" = "0", "DataSet Start Acknowledge" = "1". "DataSet Start Acknowledge" = "1" allows the PLC to detect that the data set has been finished.

The second movement is a short movement. The PLC cycle is longer than the duration of the movement. "DataSet Start Acknowledge" = "1" allows the PLC to detect that the data set has been finished.

Example For control via a PLC, the data sets in the controller are to do the follow-ing:

DATA_x

"Start acknowledge DataSet"

10

10

"Start DataSet"

3 7

M

1

2 3

4

Data set number Type Target Velocity Acceleration Deceleration

0 Reference move-ment

LIMN 1000 500 500

1 Absolute 1000 1000 750 200

2 Absolute 5000 2000 1000 1000

3 Relative -1000 500 500 500

4 Relative 1000 1000 250 250

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Setting The following settings are made in the commissioning software:

Figure 8.22 Example of direct selection of the data sets


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8.5.6.6 Processing mode "Sequential selection of data sets"

The sequential selection of the data sets is parameterized via parameter MSMprocMode.

The processing sequence is specified by parameterization of the data sets. The global transition condition MSMglobCond is used to start the first data set.

In local control mode, the function "DataSet Start" can be used to fulfill a condition.

In fieldbus control mode, the parameter MSMstartReq can be used to fulfill a condition.

Operation without externalcontroller

The movements including the waiting time are processed sequentially. The transition conditions between the data sets can be tuned to the re-quirements of the application.

If multiple data sets are activated one after the other by the same start command, processing of the sequence can be stopped by not fulfilling the condition. This is possible if a static state has been set as the tran-sition condition , for example 1 level. If the sequence is stopped, the cur-rently running data set is completed. When the transition condition is met again, the next data set in the sequence is processed.

In fieldbus control mode, the parameter MSMsetNum specifies the number of the data set to be started first. The setting becomes active when the power stage is enabled.

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Example of sequential selection ofthe data sets

After enabling of the power stage, the following steps are to be per-formed:

Figure 8.23 Processing principle for sequential data sets

• DataSet_0: Reference movement to negative limit switch, no wait-ing time, next data set = DataSet_1, continue processing directly with next data set (DataSet_1).

• DataSet_1: Absolute positioning to 200000 usr, no waiting time, next data set = DataSet_2, continue processing directly with the next data set on reaching the position, the speed of rotation is not set to 0 due to the condition Blended Movement.

• DataSet_2: Absolute positioning to 1000000 usr, then waiting time of 2000ms, next data set = DataSet_3, continue processing directly with next data set if condition is still met.

• DataSet_3: Relative positioning by 1200000 usr, no waiting time, next data set = DataSet_1, continue processing with next data set if rising edge parameterized via the parameter MSMglobalCond is fulfilled. During positioning, the "DataSet Trigger Output" function is to be at level 1.

DataSet_0

DataSet_3

DataSet_2

DataSet_1

MSMglobalCond = rising edge

Reference movement terminated

Positioning terminatedCondition = Blended movement a

Positioning terminatedPause terminated

Condition = 1-Level

Positioning terminatedMSMglobalCond = rising edge

homing

absolute positioning

relative positioning

absolute positioning


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Setting The "DataSet Trigger Output" function has been assigned to a digital signal output.

The following settings are made in the commissioning software:

Figure 8.24 Example of sequential selection of the data sets

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Processing principle (1) MSMglobalCond = Rising edge(2) Reference movement terminated(3) Movement terminated, direct transition to next data set(4) Movement terminated AND DelayTime passed AND

condition 1 level fulfilled(5) Movement terminated AND MSMglobalCond fulfilled with ris-

ing edge

The data sets are processed sequentially. The specified data set 0 is se-lected after the power stage is enabled. Processing of the first data set is started when the global start condition is fulfilled. End of processing is signaled by an acknowledgement signal.

A return value is available via the parameter DCOMstatus (fieldbus con-trol mode) or the function "DataSet Start Acknowledge" (local control mode).

Example of a processing sequence

Figure 8.25 Handshake with sequential processing mode

(1) The change from 0 to 1 in the parameter MSMstartReq acti-vates the first data set (here 0). The data set has already been selected when the power stage was enabled.

(2) Processing of the selected data set is started; at the same time, bit x_end is set to 0.

(3) Transition from reference movement to data set 1 takes place immediately after the end of the reference movement.

(4) Transition from DataSet_1 to DataSet_2 takes place without standstill of the motor, because the condition is motion se-quence.

(5) Transition after the waiting time from DataSet_2 to DataSet_3 takes place immediately because the transition condition is met. During the movement as per DataSet_3, the level of the function "DataSet Trigger Output" is 1.

(6) After completion of DataSet_3, a change from 0 to 1 is expect-ed in parameter MSMstartReq for continued processing. The completion of a processing sequence is signaled by the value 1 of the x_end bit. When processing of the data set is termi-nated, the level of the function "DataSet Trigger Output" is re-set to 0.

(7) The change from 0 to 1 in the parameter MSMstartReq acti-vates the data set 1.

10

10

M

1

2

3

4

6

7

5

MSMstartReq/

x_end/

"DataSet startacknowlege"

"DataSet start"

"DataSet trigger output"


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8.5.7 Operating mode Homing

Overview of Homing The operating mode Homing establishes an absolute position reference between the motor position and a defined axis position. Homing can be carried out by a means of a reference movement or by position setting.

• A reference movement is a movement to a defined point, the refer-ence point, on the axis; the objective is to establish the absolute position reference between the motor position and the axis position. The reference point also defines the zero point that is used for the subsequent absolute movements as a reference point. It is possible to parameterize a shift of the zero point.

A reference movement must be completed successfully for the new zero point to be valid. If the reference movement is interrupted, it must be started again. As opposed to the other operating modes, a reference movement must be completed before a new operating mode can be activated.

The signals required for the reference movement must have been wired. Monitoring signals that are not used must be deactivated.

• Position setting lets you set the current motor position to a desired position value to which the subsequent position values will relate.

Types of reference movements There are 4 standard types of reference movements:

• Movement to negative limit switch LIMN

• Movement to positive limit switch LIMP

• Movement to reference switch REF in negative direction of move-ment

• Movement to reference switch REF in positive direction of move-ment

Reference movements are possible with or without index pulse.

• Reference movement without index pulseMovement from the switching point to a parameterizable distance from switching point

• Reference movement with index pulseMovement from the switching point to the closest index pulse of the motor. The current motor position can be read via the parameter _p_absENCusr. The index pulse is at position value 0.

Starting the operating mode Homing is triggered via bit 4=1 in parameter DCOMcontrol.

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BLP14A 8 Operation


Status messages The drive provides information concerning positioning via bits 10 and 12 to 15 in the parameter DCOMstatus.


Operating mode terminated The operating mode is terminated after successful homing, a motor standstill by "Halt" or an error.

When the power stage is disabled, the valid reference point is retained.

7 0...MSB 15 8 ... LSB

X X X X X X X X X

1012131415

XX


Bit 10: Target reached 0: Homing not completed1: Homing completed(also in the case of cancellation via "Halt")

Bit 12: Homing attained 1: Homing successfully completed


Bit 14: x_end 1: Homing completed, motor at standstill



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Description There are various methods of homing which can be selected via the pa-rameter HMmethod.

Use the parameter IOsigREF to set the evaluation of the reference switch REF to active 0 or active 1. A release of the switch is not required.





HMmethod

-

-

Homing method

1: LIMN with index pulse2: LIMP with index pulse7: REF+ with index pulse, inv., outside8: REF+ with index pulse, inv., inside9: REF+ with index pulse, not inv., inside10: REF+ with index pulse, not inv., outside11: REF- with index pulse, inv., outside12: REF- with index pulse, inv., inside13: REF- with index pulse, not inv., inside14: REF- with index pulse, not inv., outside17: LIMN18: LIMP23: REF+, inv., outside24: REF+, inv., inside25: REF+, not inv., inside26: REF+, not inv., outside 27: REF-, inv., outside28: REF-, inv., inside29: REF-, not inv., inside30: REF-, not inv., outside 33: Index pulse neg. direction34: Index pulse pos. direction35: Position setting

Abbreviations:REF+: Search movement in pos. directionREF-: Search movement in pos. directioninv.: Invert direction in switchnot inv.: Direction not inverted in switchoutside: Index pulse / distance outside switchinside: Index pulse / distance inside switch

-11835

INT8INT16R/W--


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BLP14A 8 Operation


The parameters IOsigLimP and IOsigLimN are used to release the input signals LIMP and LIMN and the evaluation is set to active 0 or active 1.


The parameters HMn and HMn_out are used to set the speeds for searching the switch and for moving away from the switch.





IOsigRef

-

-

Signal evaluation for reference switch

1 / Normally Closed: Normally closed NC2 / Normally Open: Normally open NO

The reference switch is only active while a reference movement to the reference switch is processed.

-112


CANopen 3006:EhModbus 1564

IOsigLimN

-

-

Signal evaluation for negative limit switch

0 / Inactive: Inactive1 / Normally Closed: Normally closed NC2 / Normally Open: Normally open NO

-012


CANopen 3006:FhModbus 1566

IOsigLimP

-

-

Signal evaluation for positive limit switch

0 / Inactive: Inactive1 / Normally Closed: Normally closed NC2 / normally open: Normally open NO

-012







HMn

-

-

Target velocity for searching the switch


min-1

16013200



HMn_out

-

-

Target velocity for moving away from switch


min-1

163000




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The parameter HMp_homeusr can be used to specify a desired position value, which is set at the reference point after a successful reference movement. This position value defines the current motor position at the reference point. This also defines the zero point.

The parameters HMoutdisusr and HMsrchdisusr can be used for activation of the monitoring of the switch function.





HMp_homeusr

-

-

Position at reference point

After a successful reference movement, this position is automatically set at the reference point.

usr-214748364802147483647

INT32INT32R/Wper.-






HMoutdisusr

-

-

Maximum distance for search for switching point

0: Monitoring of distance inactive>0: Maximum distance in user-defined units

After detection of the switch, the drive starts to search for the defined switching point. If the defined switching point is not found within the distance defined here, the refer-ence movement is canceled with an error.

usr002147483647

INT32INT32R/Wper.-


HMsrchdisusr

-

-

Maximum search distance after overtravel of switch

0: Search distance monitoring disabled>0: Search distance in user units

The switch must be activated again within this search distance, otherwise the reference movement is canceled.

usr002147483647

INT32INT32R/Wper.-


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BLP14A 8 Operation


8.5.7.1 Reference movement without index pulse

Description The first movement is to the defined limit switch or reference switch. The next movement is to a defined distance from the switching point.

The parameter HMdisusr lets you set the distance to the switching point.

Reference movement to limit switch The following illustration shows a reference movement to the negative limit switch with distance from the switching point (HMmethod = 17).

Figure 8.27 Reference movement to the negative limit switch

(1) Movement to limit switch at search velocity(2) Movement to switching point at velocity for moving away from

switch(3) Movement to distance from switching point at velocity for mov-

ing away from switch





HMdisusr

-

-

Distance from switching point

The distance from the switching point is defined as the reference point.

The parameter is only effective during a ref-erence movement without index pulse.

usr12002147483647

INT32INT32R/Wper.-


LIMN LIMP

�

�

M

R-

HMoutdisusr

HMdisusr

�

HMn

HMn_out


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Reference movement to referenceswitch

The following illustration shows reference movements to the reference switch with distance from the switching point (HMmethod =27 to 30).

Figure 8.28 Reference movements to the reference switch

(1) Movement to reference switch at search velocity(2) Movement to switching point at velocity for moving away from

switch(3) Movement to distance from switching point at velocity for mov-


REF

�

� �

�

�

�

M

HMmethod = 27

HMmethod = 30

HMmethod = 28

HMmethod = 29

�

LIMN LIMP

HMn

HMn_out

�

�

��

�

R-

R-

R-

R-

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BLP14A 8 Operation


Examples The following illustration shows reference movements to the reference switch with distance from the switching point (HMmethod =27). Various responses at different search velocities and start positions are shown.

• Movement to the reference switch with first movement in negative direction; the reference switch is once in front of the starting point (A1, A2), once behind it (B1, B2).

• Additional movement when the switch range is passed (A2, B2).



switch(3) Excessively fast movement to reference switch at search ve-

locity(4) Movement back to switch range at velocity for moving away

from switch(5) Movement to distance from switching point at velocity for mov-


REF

�

�

�

�

�

�

�

MM

A1

B2

A2

B1

�

LIMN LIMP

HMn

HMn_out

HMoutdisusr

�

R-

�

R-

�

R-�

R-

�


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8.5.7.2 Reference movement with index pulse

Description The first movement is to the defined limit switch or reference switch. The next movement is to the nearest index pulse.

Parameterization The position distance between the switching point and index pulse can be determined with the parameter HMdisREFtoIDX.The value must be >0.05 for reproducible reference movements with in-dex pulse. If the index pulse is too close to the switching point, the limit switch or reference switch can be moved mechanically.

Reference movement to limit switch The following illustration shows a reference movement to the positive limit switch with movement to the first index pulse (HMmethod = 2).

Figure 8.30 Reference movement to the positive limit switch

(1) Movement to limit switch at search velocity(2) Movement to switching point at velocity for moving away from

switch(3) Movement to index pulse at velocity for moving away from

switch





HMdisREFtoIDX

-

-

Distance from switching point to index pulse

It allows to check the distance between the index pulse and the switching point and serves as a criterion for determining whether the reference movement with index pulse can be reproduced.In increments of 1/10000 revolutions

revolution-0.0000-

INT32INT32R/---


LIMN LIMP

�

��

M

HMn

HMn_out

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BLP14A 8 Operation


Reference movement to referenceswitch

The following illustration shows reference movements to the reference switch with movement to the first index pulse (HMmethod = 11 to 14).



switch(3) Movement to index pulse at velocity for moving away from

switch

REF

�

� �

�

�

�

M

HMmethod = 11

HMmethod = 14

HMmethod = 12

HMmethod = 13

�

LIMN LIMP

HMn

HMn_out

�

�

��

�


8 Operation BLP14A

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Examples The following illustration shows reference movements to the reference switch with movement to the first index pulse (HMmethod =11). Various responses at different search velocities and start positions are shown.

• Movement to the reference switch with first movement in negative direction; the reference switch is once in front of the starting point (A1, A2), once behind it (B1, B2).

• Additional movement when the switch range is passed (A2, B2).



switch(3) Excessively fast movement to reference switch at search ve-

locity(4) Movement back to switch range at velocity for moving away

from switch(5) Movement to index pulse at velocity for moving away from

switch

REF

�

�

�

�

�

�

�

�

M

A1

B2

A2

B1

�

LIMN LIMP

HMn

HMn_out

HMoutdisusr

�

�

�

�

M

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BLP14A 8 Operation


8.5.7.3 Reference movement to the index pulse

Description A movement is made from the current position to the index pulse.

Reference movement to index pulse The following illustration shows reference movements to the index pulse (HMmethod = 33 and 34).

Figure 8.33 Reference movements to the index pulse

(1) Movement to index pulse at velocity for moving away from switch

1 1

HMmethod = 33 HMmethod = 34


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8.5.7.4 Homing by position setting

Description By means of position setting, the current motor position is set to the po-sition value in parameter HMp_setpusr. This also defines the zero point.

Homing by position setting can only be carried out when the motor is at a standstill. Any active position deviation remains active and can still be compensated by the position controller after position setting.

Example Position setting can be used to carry out a continuous motor movement without exceeding the positioning limits.

Figure 8.34 Positioning by 4000 usr units with position setting

(1) The motor is positioned by 2000 usr.(2) By means of position setting to 0, the current motor position is

set to position value 0 which, at the same time, defines a new zero point.

(3) When a new motion command by 2000 usr is triggered, the new target position is 2000 usr.

This method avoids overtravel of the absolute position limits during a po-sitioning operation because the zero point is continuously adjusted.

The reference position is read by means of parameter _p_refusr.





HMp_setpusr

-

-

Position for position setting

Position setting position for homing method 35

usr-0-

INT32INT32R/W--


M MM

0

0"0"

2000 usr

"2000"

�

��

2000 usr





_p_refusr

-

-

Reference position in user-defined units usr-0-

INT32INT32R/---

CANopen 301E:ChModbus 7704

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BLP14A 8 Operation


8.6 Functions

8.6.1 Monitoring functions

8.6.1.1 Status monitoring

Figure 8.35 Status monitoring of the control loops

_n_pref

M

_p_actPosintf

_v_act_Posintf _p_addGEAR

_p_tarRAMPusr

_n_actRAMP_n_targetRAMP

_p_actRAMPusr

GEARdir_enabl

+

M3~

E

POSdirOfrotat

0

1

_p_act, _p_actusr, _p_absmodulo, _p_absENCusr

CTRL_TAUref

_n_act

CTRL_KPnCTRL_TNn

CTRL_I_max

CTRL_KFPp

CTRL_KPp CTRL_n_max

_iq_act

_p_ref_p_refusr

_p_dif

_n_ref

GEARratioGEARnumGEARdenum

_iq_ref

Reference valueat operating mode "Speed control"

Speedcontroller

Referencevalue filter Speedcontroller

Currentcontroller

Profilegenerator

Speed feed-forward

Power stage

Encoder evaluation

Actual value- Speed- Position

Jerk limitation

Reference valueat operating mode "Current control"


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8.6.1.2 Positioning range

Positioning range The motor can be moved to any point on the axis within the positioning range by means of absolute positioning.

The current position of the motor can be read with the parameter _p_actusr.

Figure 8.36 Positioning range

With the default scaling, the positioning limits are:

(A) -1073741824 usr(B) 1073741823 usr

Overtraveling of the positioning limits is possible in the operating modes, except during absolute positioning in Profile Position operating mode.

If a positioning limit is overtraveled, the reference point is lost.

In the case of relative movement in the operating mode Profile Position, the unit checks whether the position limits will be overtraveled before the movement is started. If so, internal position setting to 0 is triggered when the movement is started. The reference point is lost (ref_ok = 1 -> 0).

M

M

BA

AA B

A B

BA B

A B

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BLP14A 8 Operation


Software limit switch The positioning range can be limited by software limit switches. This is possible as soon as the drive has a valid zero point (ref_ok = 1). The po-sition values of the software limit switches are specified with reference to the zero point. The software limit switches are set via the parameters SPVswLimPusr and SPVswLimNusr are activated via SPV_SW_Limits. Bit 2 of parameter _SigLatched signals the trigger-ing of a software limit switch.

The determining factor for position monitoring of the software limit switch range is the reference position of the position controller. Therefore, de-pending on the controller settings, the motor may stop before the limit switch position is reached.





SPVswLimPusr

-

-

Positive position limit for software limit switch

If a user-defined value entered is outside of the permissible range, the limit switch limits are automatically set to the maximum user-defined value.

usr-2147483647-

INT32INT32R/Wper.-


SPVswLimNusr

-

-

Negative position limit for software limit switch

Refer to description of parameter SPVswLimPusr.

usr--2147483648-

INT32INT32R/Wper.-


SPV_SW_Limits

-

-

Monitoring of software limit switches

0 / None: None1 / SWLIMP: Activation of software limit switches positive direction2 / SWLIMN: Activation of software limit switches negative direction3 / SWLIMP+SWLIMN: Activation of soft-ware limit switches both directions

Monitoring of software limit switches only works in case of successful homing (ref_ok = 1).

-003




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Limit switches

During movements the two limit switches are monitored via the input sig-nals LIMP and LIMN. If the drive hits a limit switch, the motor stops. Trig-gering of the limit switch is signaled.

The parameters IOsigLimP and IOsigLimN are used to release the input signals LIMP and LIMN and the evaluation is set to active 0 or active 1.


Moving drive out The drive can be moved away from the limit switch range to the move-ment range in the operating mode Jog.


The use of limit switches can provide some protection against hazards (for example, collision with mechanical stop caused by incorrect ref-erence values).

• If possible, use the limit switches.

• Verify correct connection of the limit switches.

• Verify the correct installation of the limit switches. The limit switches must be mounted in a position far enough away from the mechanical stop to allow for an adequate stopping distance.

• You must release the limit switches before you can use them.






IOsigLimN

-

-

Signal evaluation for negative limit switch


-012



IOsigLimP

-

-

Signal evaluation for positive limit switch


-012



IOsigRef

-

-

Signal evaluation for reference switch



-112



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BLP14A 8 Operation


8.6.1.3 Monitoring internal signals

Temperature monitoring Sensors monitor the temperature of the motor and the power stage. The temperature limit values are permanently set. If the temperature of a component approaches its permissible temperature limit, the device generates a warning message. If the temperature exceeds the limit value for more than 5 seconds, the power stage is disabled and the con-troller switches off. The device signals a temperature error.

I2t monitoring If the device operates with high peak currents, temperature monitoring with sensors can be too sluggish. I2t monitoring allows the controller to anticipate a rise in temperature and to reduce the current to the nominal value when the I2t limit value is exceeded.

When the value falls below the limit value, the device can be operated with maximum performance again.





_Temp_act_PA

STA- - TPA

STA- - TPA

Current power stage temperature °C-0-

INT16INT16R/---


PA_T_max

-

-

Maximum permissible temperature of power stage

°C-0-

INT16INT16R/-per.-


PA_T_warn

-

-

Temperature warning threshold of power stage

°C-0-

INT16INT16R/-per.-






_I2t_act_M

-

-

Current overload of motor %-0-

INT16INT16R/---


_I2t_mean_M

STA- - i2TM

STA- - i2TM

Current load of motor %-0-

INT16INT16R/---

CANopen 301C:1AhModbus 7220


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Following error The drive monitors the so-called position deviation at 1 ms intervals. The position deviation is the difference between the current reference posi-tion and the actual position. If the value of this position difference ex-ceeds the limit value set in parameter SPV_P_maxDiff, this will cause an immediate stop (following error) with an error class that can be pa-rameterized.

Select the limit value in the parameter SPV_P_maxDiff considerably greater than the maximum position deviation that may occur during op-eration. This way, a following error will only occur in the case of errors, for example, in the case of excessively high external load torques.

The maximum control deviation that occurred during operation can be determined with the parameter _p_DifPeak; it can be compared to the maximum permissible position deviation. This allows you to determine how far away the product was from the shut-off limit.

In addition, you can change the error class for a following error, see also chapter 8.6.1 "Monitoring functions".





_p_DifPeak

-

-

Value of the maximum tracking error of the position controller

The tracking error is the current position con-trol deviation minus the position control devi-ation caused by the speed.See SPV_p_maxDiff for more information.A write access resets this value.

revolution0.0000-429496.7295

UINT32UINT32R/W--


_p_dif

STA- - PDiF

STA- - PDiF

Current deviation between reference and actual position

Corresponds to the current control deviation of the position controller without considera-tion of any dynamic components.Please note the difference in terms of SPV_p_maxDiff.

revolution-214748.3648-214748.3647

INT32INT32R/---


SPV_p_maxDiff

-

-

Max. permissible tracking error of the posi-tion controller

The tracking error is the current position con-trol deviation minus the position control devi-ation caused by the speed. Actually, only the position control deviation caused by the torque request is used for tracking error monitoring.

revolution0.00011.0000200.0000



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BLP14A 8 Operation


Monitoring parameters The device status and operating state can be monitored by means of various objects.





_SigActive

-

-

Current status of monitoring signals

See _SigLatched for more details on the bit codes.

--0-

UINT32UINT32R/---


_SigLatched

STA- - SiGS

STA- - SiGS

Saved status of monitoring signals

Signal status:0: Not activated1: Activated

Bit assignments:Bit 0: General errorBit 1: Limit switches (LIMP/LIMN/REF)Bit 2: Out of range (SW limit switches, tun-ing)Bit 3: Quick Stop via fieldbusBit 4: Inputs STO are 0Bit 5: ReservedBit 6: RS485 errorBit 7: CAN errorBit 8: Ethernet errorBit 9: Frequency of reference signal too highBit 10: Error current operating modeBit 11: ReservedBit 12: Profibus errorBit 13: ReservedBit 14: Undervoltage DC busBit 15: Overvoltage DC busBit 16: Mains phase missingBit 17: Motor connection errorBit 18: Motor overcurrent/short circuitBit 19: Motor encoder errorBit 20: Undervoltage 24VDCBit 21: Overtemperature (power stage, motor)Bit 22: Following errorBit 23: Maximum velocity exceededBit 24: Inputs STO differentBit 25: ReservedBit 26: ReservedBit 27: ReservedBit 28: ReservedBit 29: EEPROM errorBit 30: System booting (hardware error or parameter error)Bit 31: System error (for example, watchdog)

Monitoring functions are product-dependent.

--0-

UINT32UINT32R/---


_WarnActive

-

-

Active warnings, bit-coded

See _WarnLatched for more details on the bit codes.

--0-

UINT16UINT16R/---

CANopen 301C:BhModbus 7190


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_WarnLatched

STA- - WRNS

STA- - WRNS

Saved warnings, bit-coded

Saved warning bits are deleted in the case of a FaultReset.Bits 10, 11, 13 are deleted automatically.


Bit assignments:Bit 0: General warning (see _LastWarning)Bit 1: Temperature of power stage highBit 2: Temperature of motor highBit 3: ReservedBit 4: Power stage overload (I2t)Bit 5: Motor overload (I2t)Bit 6: Braking resistor overload (I2t)Bit 7: CAN warningBit 8: Motor encoder warningBit 9: RS485 protocol warningBit 10: STO_A (PWRR_A) and/or STO_B (PWRR_B)Bit 11: DC bus undervoltage/missing mains phaseBit 12: Profibus warningBit 13: Position not yet valid (position capture still running)Bit 14: Ethernet warningBit 15: Reserved


--0-

UINT16UINT16R/---

CANopen 301C:ChModbus 7192

_actionStatus

-

-

Action word

Signal status:0: not activated1: activated

Bit 0: WarningBit 1: Error class 1Bit 2: Error class 2Bit 3: Error class 3Bit 4: Error class 4Bit 5: ReservedBit 6: Drive is at standstill (<9 [1/min])Bit 7: Drive rotates clockwiseBit 8: Drive rotates counter-clockwiseBit 9: ReservedBit 10: ReservedBit 11: Profile generator idle (reference speed is 0)Bit 12: Profile generator deceleratesBit 13: Profile generator acceleratesBit 14: Profile generator moves at constant speedBit 15: Reserved

--0-

UINT16UINT16R/---


_StopFault

FLT- - STPF

FLT- - STPF

Number of last error causing a stop

Number of the most recent error.

--0-

UINT16UINT16R/---






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BLP14A 8 Operation


Setting error responses The responses of the device to errors are subdivided into error classes; the error class can be set for a number of monitoring functions. This al-lows you to tune the error response of the device to operation require-ments.





SPV_Flt_pDiff

-

-

Error response to following error

1 / Error Class 1: Error class 12 / Error Class 2: Error class 23 / Error Class 3: Error class 3

-133




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8.6.2 Scaling

Description Scaling translates user units to internal units of the device, and vice versa. The device saves position values in user-defined units.

Figure 8.37 Scaling

@ WARNINGUNEXPECTED MOVEMENT CAUSED BY CHANGED SCALING

Changing the scaling changes the effect of the values in user-defined units. The same user-defined units cause different movements when the scaling is changed.

• Note that scaling affects all relationships between the user-defined units and the movements.

• Check the parameters with user-defined units.


Position

Motorposition

Internalunits

User defined units

E

Scaling-factor

M3~

Scaling

Operatingmode

in Internal

units

_p_refusr

_p_actusr

_p_ref

_p_act

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BLP14A 8 Operation


Scaling factor The scaling factor is the relationship between the number of motor rev-olutions and the required user-defined units [usr].

Figure 8.38 Representation of the scaling factor

The scaling factor is set using the parameters POSscaleNum and POSscaleDenom. A new scaling factor is activated when you specify the numerator value.

When specifying the scaling factor, note that numerator and denomina-tor can only be integer values. A scaling factor less than 1/131072 will limit the working range. An error is signaled when the working range is exceeded.

The scaling factor can only be changed when the power stage is disa-bled. Values in user-defined units are converted to internal units when the power stage is enabled.

If an existing device is replaced by this device, and if the same positioning commands are to be used, the scaling must be set in accordance with the settings used previously.

Default scaling A value of 16384 user-defined units per motor revolution is set as the de-fault scaling.

Scaling factorChange of the user position [usr]

=Motor revolutions





POSscaleNum

-

-

Position scaling: Numerator

Specification of the scaling factor:

Motor revolutions [U]-------------------------------------------User-defined units [usr]

A new scaling is activated when the numera-tor value is supplied.

User-defined limit values may be reduced due to the calculation of an internal factor.

revolution112147483647

INT32INT32R/Wper.-


POSscaleDenom

-

-

Position scaling: Denominator

Refer to numerator (POSscaleNum) for a description.


usr1163842147483647

INT32INT32R/Wper.-



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Examples Various situations can be distinguished as far as setting user-defined units is concerned.

• Scaling corresponds to default scaling1 motor revolution = 16384 user-defined units

=> Movements to every motor position are possible.

• Scaling is less than the default scaling1 motor revolution = for example, 4096 user-defined units

=> Movements to every fourth motor position are possible.

The following persistent parameters must be adapted in addition to the user-defined values to obtain the same movement of the motor after changing the scaling factor: HMoutdisusr, HMdisusr, HMp_homeusr, HMsrchdisusr, JOGstepusr, SPVswLimPusr and SPVswLimNusr.

If the parameters are not adjusted, this may, for example, cause an in-correct reference movement since the distance to the switching point of the limit switch or reference switch is no longer sufficient to leave the switching range.

Example 1 Positioning by 1111 user-defined units is to correspond to 3 motor rev-olutions. This results in

Figure 8.39 Calculation of the scaling factor, example 1

If you now start relative positioning by 900 user-defined units, the motor moves by 900 usr * 3/1111 rev/usr = 2.4302 revolutions.

Example 2 Calculation of a scaling factor in length units: 1 motor revolution corre-sponds to a distance of 100 mm. Each user-defined unit [usr] is to cor-respond to one step of 0.01 mm.

This means: 1 usr = 0.01 mm * 1 rev / 100 mm =1/10000 revolutions.


Example 3 Setting positioning in 1/1000 rad1rad = 1 rev/(2*π)π = 3.1416 (rounded)

User value = 1 usr

Device value = 1/(2*π*1000) U


Scaling factor = 3 rev

1111 usr

1 rev

10000 usr

Scaling factor =

Scaling factor =1 rev

2*3,1416*1000 usr

1 rev

6283,2 usr=

10 rev

62832 usr=

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8.6.3 Motion profile

Profile generator Target position or target velocity are input values specified by the user. The profile generator uses these values to calculate a motion profile de-pending on the selected operating mode.

The values of the profile generator plus the values of a jerk limitation are transformed into a motor movement.

The acceleration and deceleration behavior of the motor can be de-scribed as a ramp function of the profile generator. The characteristic values of the ramp function are the ramp shape and the ramp steepness.

Ramp shape A linear ramp for the acceleration and deceleration phases is available as the ramp shape. The profile settings are valid for both directions of movement of the drive.

Ramp steepness The steepness of the ramp determines the speed changes of the motor per time unit. The ramp steepness can be set for the acceleration ramp via the parameter RAMPacc and for the deceleration ramp via RAMPdecel.

Figure 8.42 Acceleration and deceleration ramps

t

v RAMPn_max_n_actRAMP

RAMPacc RAMPdecel





RAMPacc

-

-

Acceleration of profile generator min-1/s306003000000



RAMPdecel

-

-

Deceleration of profile generator min-1/s7507503000000




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Jerk limitation Jerk limitation removes sudden changes in the acceleration to obtain smooth, virtually jerk-free changes of the speed of rotation.

Figure 8.43 Speed curve with and without (dotted) jerk limitation

The jerk limitation is activated and adjusted via the parameter RAMP_TAUjerk.

The end of the movement (x_end = 1) is not signaled until the target po-sition at the end of the jerk limitation has been reached.

RAMPn_max

-

-

Ref. velocity limitation for op. modes with profile generation

The parameter is active in the following oper-ating modes:- Profile Position- Profile Velocity- Homing- Jog

If a greater reference velocity is set in one of these operating modes, it is automatically limited to RAMPn_max.This way, commissioning at limited velocity is easier to perform.

min-1

601320013200







t

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RAMP_TAUjerk

-

-

Jerk limitation

0 / Off: Off1 / 1: 1 ms2 / 2: 2 ms4 / 4: 4 ms8 / 8: 8 ms16 / 16: 16 ms32 / 32: 32 ms64 / 64: 64 ms128 / 128: 128 ms

Limits the acceleration change (jerk) of the reference position generation during the fol-lowing transitions: Standstill - acceleration Acceleration - constant speed Constant speed - deceleration Deceleration - standstill

Processing in the following operating modes: - Profile Velocity- Profile Position- Jog- Homing

Adjustments can only be made if the operat-ing mode is inactive (x_end=1).

ms00128




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8.6.4 Quick Stop

Function principle A Quick Stop stops the motor. The current movement is stopped.

A Quick Stop can be triggered by an error of error classes 1 or 2 or via a fieldbus command.

In the event of an error response to an error of error class 1, the power stage remains enabled. In the case of error class 2, the power stage is disabled after the drive has come to a standstill.

The motor can be decelerated via a deceleration ramp or a maximum current. Use the parameter LIM_QStopReact to set the type of decel-eration.

� Set the type of deceleration with the LIM_QStopReact parameter.

� Use parameter RAMPquickstop to set a required deceleration ramp or parameter LIM_I_maxQSTP to set a required maximum current.

Overvoltage The drive absorbs the excess braking energy. If the DC bus voltage ex-ceeds the permissible limit the power stage is disabled and the device signals "DC bus overvoltage". The motor coasts down without braking.

Resetting a "Quick Stop" A "Quick Stop" must be reset by a "Fault Reset".

If a "Quick Stop" has been triggered by the positive or negative limit switch, moving back to the movement range is possible by means of the operating mode Jog.





LIM_I_maxQSTP

SET- - LiQS

SET- - LiQS

Current limitation for Quick Stop




Apk---



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8.6.5 Halt

Function principle A Halt stops the motor. The current movement is interrupted; it can be resumed.

Internal position adjustment is performed once the drive comes to a standstill. Position control is activated and the motor is stopped with the power stage remaining enabled.

When the "Halt" requests are cleared, the interrupted movement is re-sumed. If the "Halt" request is already cleared during deceleration, the drive continues to decelerate until it comes to a standstill and then ac-celerates again.

The "Halt" function can be activated by any source (such as commis-sioning software or input signal HALT).

The motor can be decelerated via a deceleration ramp or a maximum current. Use the parameter LIM_HaltReaction to set the type of de-celeration.

� Set the type of deceleration with the LIM_HaltReaction parame-ter.

� Use parameter RAMPdecel to set a required deceleration ramp or parameter LIM_I_maxHalt to set a required maximum current.

Overvoltage The drive absorbs the excess braking energy. If the DC bus voltage ex-ceeds the permissible limit the power stage is disabled and the device signals "DC bus overvoltage". The motor coasts down without braking.





RAMPdecel

-

-

Deceleration of profile generator min-1/s7507503000000



LIM_I_maxHalt

SET- - LihA

SET- - LihA

Current limitation for Halt




Apk---




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8.6.6 Standstill window

The standstill window allows you to monitor whether the motor has reached the target position.

If the control deviation _p_dif of the position controller remains in the standstill window after the end of the movement for the period STANDpwinTime, the device signals the end of processing (x_end = 0->1).

Figure 8.44 Standstill window

(1) Target position reached

The parameters STANDp_win and STANDpwinTime specify the size of the window.

The parameter STANDpwinTout can be used to set the period of time after which an error is signaled if the standstill window was not reached.

1

01

0 t

STANDpwinTime

_p_dif

2 * STANDp_win





STANDp_win

-

-

Standstill window, permissible control devia-tion

The control deviation for the standstill win-dow time must be within this range for a standstill of the drive to be detected.

Processing of the standstill window must be activated via the parameter 'STANDpwin-Time.

revolution0.00000.00103.2767



STANDpwinTime

-

-

Standstill window, time

0: Monitoring of standstill window deacti-vated>0: Time in ms during which the control devi-ation must be in the standstill window

ms0032767



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STANDpwinTout

-

-

Timeout time for standstill window monitor-ing

0 : Timeout monitoring deactivated>0 : Timeout time in ms

Standstill window processing values are set via STANDp_win and STANDpwinTime.

Time monitoring starts when the target posi-tion (reference position of position controller) is reached or when the profile generator has finished processing.

ms0016000








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8.6.7 Setting the digital signal inputs and signal outputs

Description Different signal functions can be assigned to the digital signal inputs and digital signal outputs.

The parameters IOfunct_LI1, IOfunct_LI2 and IOfunct_LI4 are available for signal inputs. The parameters IOfunct_LO1, and IOfunct_LO2 are available for signal outputs.

The optional "I/O expansion interface" provides the additional parame-ters IOfunct_XL1 ... IOfunct_XLI6, IOfunct_XLO1_OUT and IOfunct_XLO2_OUT.

Depending on the start-up operating mode, functions are assigned to the digital signal inputs and signal outputs.

The signal input ENABLE is an exception. The function "Enable" is per-manently assigned to this input, see chapter 8.3 "Operating states".

Setting can only be changed if power stage is disabled. Changed set-tings become active the next time the product is switched on.

The STO safety function is permanently assigned to the digital signal in-puts STO_A and STO_B.

@ WARNINGUNINTENDED BEHAVIOR OF INPUTS AND OUTPUTS

The functions of the inputs and outputs depend on the selected oper-ating mode and the settings of the corresponding parameters.

• Verify that the wiring is appropriate for the settings.


• When commissioning, carefully run tests for all operating states and potential fault situations.


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Current state The parameters _IO_LI_act and _IO_LO_act can be used to read the status of the digital signal inputs and the digital signal outputs.





_IO_LI_act

-

-

Status of digital inputs

Bit assignments:Bit 0: LI1Bit 1: LI2...Bit 8:XLI1Bit 9:XLI2...

--0-

UINT16UINT16R/---


_IO_LO_act

-

-

Status of digital outputs

Bit assignments:Bit 0: LO1_OUTBit 1: LO2_OUT...Bit 8: XLO1_OUTBit 9: XLO2_OUT...

--0-

UINT16UINT16R/---



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Factory settings local control mode The table below shows the factory settings for local control mode de-pending on the start-up operating mode.

When the start-up operating mode is changed and after switching the device off and on, the factory settings are assigned to the signal inputs and signal outputs.

PinSignal

Jog Current Control Speed Control Motion Sequence

CN3.9LI1

Jog negative No function / free availa-ble

No function / free availa-ble

Reference switch (REF)

CN3.3LI2

Jog positive Fault reset Fault reset Negative limit switch (LIMN)

CN3.10LI3

Enable 1) Enable 1) Enable 1) Enable 1)

CN3.4LI4

Jog fast/slow Halt Halt DataSet Start

CN4.7XLI1




DataSet Select

CN4.2XLI2




DataSet Bit0

CN4.8XLI3




DataSet Bit1

CN4.3XLI4




DataSet Bit2

CN4.9XLI5




DataSet Bit3

CN4.4XLI6





CN3.8LO1_OUT

No fault No fault No fault No fault

CN3.2LO2_OUT

Active Active Active Active

CN4.6XLO1_OUT




DataSet start acknowl-edge

CN4.1XLO2_OUT




DataSet trigger output

1) Function cannot be changed.

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Factory settings, fieldbus controlmode

The table below shows the factory settings for fieldbus control mode.

PinSignal

Function

CN3.9LI1

Reference switch (REF)

CN3.3LI2

Negative limit switch (LIMN)

CN3.10LI3

Positive limit switch (LIMP) 1)

1) Function cannot be changed.

CN3.4LI4

Halt

CN4.7XLI1

No function / free available

CN4.2XLI2


CN4.8XLI3


CN4.3XLI4


CN4.9XLI5


CN4.4XLI6


CN3.8LO1_OUT

No fault

CN3.2LO2_OUT

Active

CN4.6XLO1_OUT


CN4.1XLO2_OUT



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8.6.7.1 Description of functions of the signal inputs


No function / free available The function "No function / free available" has no device-internal func-tionality. The signal input can be read as required via the parameter _IO_LI_act.

Fault reset An error message is reset with the function, see chapter An error mes-sage is reset with the function, see chapter 8.3 "Operating states".

Enable The power stage is enabled with the function, see chapter 8.3 "Operat-ing states".

Halt The function triggers a "Halt", see chapter 8.6.5 "Halt".

Enable positive motor move The function enables or disables positive negative reference values via a position switch. When the switching point of the positive position switch is overtraveled, the positive reference values are disabled and the motor is stopped. Only negative reference values are accepted until the motor has moved back over the switching point.

The function is available in the operating modes Speed Control and Jog. It requires properly wired position switches.

Enable negative motor move The function works like the function "Enable positive motor move"; how-ever, in this case, negative reference values are enabled or disabled via a position switch.

Jog positive The function performs a jog movement in positive direction of move-ment, see chapter 8.5.1 "Operating mode Jog".

Jog negative The function performs a jog movement in negative direction of move-ment, see chapter 8.5.1 "Operating mode Jog".

Jog fast/slow The function switches between slow and fast jog, see chapter 8.5.1 "Op-erating mode Jog".

Automatic/Manual The function "Automatic/Manual" allows you to start a jog movement in the operating mode Motion Sequence. For this function to work, the functions "Jog positive", "Jog negative" and, if required, "Jog fast/slow" must have been configured appropriately.

DataSet Start This function fulfils the global transition condition for the operating mode Motion Sequence, see chapter 8.4.1 "Starting the operating mode".

DataSet Select When a sequence waits for a transition condition, a data set can be se-lected with the "DataSet Select" function. The data set is started if the global transition condition is fulfilled.

Reference switch (REF) The function defines the way the reference switch operates. See chapter 8.5.7 "Operating mode Homing".

Positiv limit switch (LIMP) The function defines the way the positive limit switch operates. See chapter 8.5.7 "Operating mode Homing" and chapter 8.6.1.2 "Position-ing range".

Negative limit switch (LIMN) The function defines the way the negative limit switch operates. See chapter 8.5.7 "Operating mode Homing" and chapter 8.6.1.2 "Position-ing range".

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8.6.7.2 Configuration of signal inputs

The parameters IOfunct_LI1, IOfunct_LI2 and IOfunct_LI4 are used to assign functions to the digital inputs. The optional I/O expansion interface provides the additional parameters IOfunct_XLI1 ... IOfunct_XLI6.

The following table provides an overview of the functions in local control mode depending on the start-up operating mode.

The following table provides an overview of the functions in fieldbus con-trol mode.

Function Jog Current Control Speed Control Motion Sequence

No function / free available LI1, LI2, LI4, XLI1 ... XLI6

LI1, LI2, LI4 LI1, LI2, LI4 LI1, LI2, LI4, XLI1 ... XLI6

Fault reset LI2 LI2 LI2 LI1, LI2, LI4

Halt LI4 LI4 LI4 LI1, LI2, LI4

Enable positive motor move - - LI1, LI2, LI4 -

Enable negative motor move - - LI1, LI2, LI4 -

Jog positive LI1, LI2, LI4 - - XLI1 ... XLI6

Jog negative LI1, LI2, LI4 - - XLI1 ... XLI6

Jog fast/slow LI1, LI2, LI4 - - XLI1 ... XLI6

DataSet Start - - - LI1, LI2, LI4, XLI1 ... XLI6

DataSet Select - - - LI1, LI2, LI4, XLI1 ... XLI6

DataSet Bit0 - - - XLI1 ... XLI6




Function Inputs


Halt LI4


Halt LI4

Reference switch (REF) LI1

Negative limit switch (LIMP) LI3

Negative limit switch (LIMN) LI2


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IOfunct_LI1

I-O- - Li1

I-O- - Li1

Function Input LI1

1 / Free available / nonE: Available as required2 / Fault reset / FrES: Reset fault (local con-trol mode only)4 / Halt / hALt: Halt6 / Enable positive motor move / PoSM: Enable positive motor movement (local con-trol mode only)7 / Enable negative motor move / nEGM: Enable negative motor movement (local con-trol mode only)9 / Jog positive / JoGP: Jog positive10 / Jog negative / JoGn: Jog negative11 / Jog fast/slow / JoGF: Jog fast/slow13 / DataSet Start / dStA: Motion sequence: start request14 / DataSet Select / dSEL: Motion sequence: data set selection20 / Reference switch (REF) / rEF: Refer-ence switch (REF)21 / Positive limit switch (LIMP) / LiMP: Positive limit switch (LIMP)22 / Negative limit switch (LIMN) / LiMn: Negative limit switch (LIMN)

--0-



IOfunct_LI2

I-O- - Li2

I-O- - Li2

Function Input LI2


--0-



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IOfunct_LI4

I-O- - Li4

I-O- - Li4

Function Input LI4


--0-



IOfunct_XLI1

I-O- - oLi1

I-O- - oLi1

Function Module Input XLI1

1 / Free available / nonE: Available as required9 / Jog positive / JoGP: Jog positive10 / Jog negative / JoGn: Jog negative11 / Jog fast/slow / JoGF: Jog fast/slow13 / DataSet Start / dStA: Motion sequence: start request14 / DataSet Select / dSEL: Motion sequence: data set selection15 / DataSet Bit0 / dSb0: Motion sequence: data set selection Bit016 / DataSet Bit1 / dSb1: Motion sequence: data set selection Bit117 / DataSet Bit2 / dSb2: Motion sequence: data set selection Bit218 / DataSet Bit3 / dSb3: Motion sequence: data set selection Bit319 / Automatic/Manual / Auto: Automatic/manual mode

--0-








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IOfunct_XLI2

I-O- - oLi2

I-O- - oLi2



--0-


CANopen 3007:1AhModbus 1844

IOfunct_XLI3

I-O- - oLi3

I-O- - oLi3



--0-


CANopen 3007:1BhModbus 1846

IOfunct_XLI4

I-O- - oLi4

I-O- - oLi4



--0-


CANopen 3007:1ChModbus 1848





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IOfunct_XLI5

I-O- - oLi5

I-O- - oLi5



--0-


CANopen 3007:1DhModbus 1850

IOfunct_XLI6

I-O- - oLi6

I-O- - oLi6



--0-








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8.6.7.3 Description of functions of the signal outputs


No function / free available The function "No function / free available" lets you directly set an output via parameter IO_LO_set.

No fault The function indicates the operating state 9 Fault, see chapter 8.3.2 "In-dicating the operating states".

Active The function indicates the operating state 6 Operation Enabled, see chapter 8.3.2 "Indicating the operating states".

Motor move disable The function indicates whether a reference value is supplied for move-ment in a disabled direction of movement. The functions "Enable posi-tive motor move" or "Enable negative motor move" must be configured for this.

Halt acknowledge The function shows that the function "Halt" has been triggered and the motor is at a standstill.

Brake release The function offers the option of using the signal as a control signal for a holding brake.

The holding brake can be directly connected to signal output LO1_OUT. There is no voltage reduction.

DataSet start acknowledge The processing status is returned with the function "DataSet Start Ac-knowledge". This function is comparable to the x_end bit of parameter DCOMstatus. See Figure 8.25 "Handshake with sequential processing mode".

DataSet trigger output The corresponding signal output can be controlled directly by every data set. The behavior of the signal output at the start and the end of each data set can be defined for each data set. This function can be used to trigger or switch external actuators. This way, special handshake re-quests can be implemented. See chapter 8.5.6.2 "Structure of a data set".

This function is only available in the processing mode "Sequential Data Set Selection".

Motor standstill The function "Motor Standstill" provides information on whether the mo-tor is at a standstill; it can be used, for example as a feedback for a PLC.

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8.6.7.4 Configuration of the signal outputs

The parameters IOfunct_LO1, IOfunct_LO2, IOfunct_XLO1 and IOfunct_XLO2 are used to assign functions to the digital outputs.

The following table provides an overview of the functions in local control mode depending on the start-up operating mode.

The following table provides an overview of the functions in fieldbus con-trol mode.

The signal outputs XLO1_OUT and XLO2_OUT are only available in con-nection with the I/O expansion signal interface.

Function Jog Current Control Speed Control Motion Sequence

No function / free available LO1_OUT,LO2_OUT,XLO1_OUT,XLO2_OUT

LO1_OUT,LO2_OUT,XLO1_OUT,XLO2_OUT



No fault LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

Active LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

Motor move disable - - LO1_OUT,LO2_OUT

-

Halt acknowledge LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

Brake release LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

DataSet start acknowledge - - - LO1_OUT,LO2_OUT,XLO1_OUT,XLO2_OUT

DataSet trigger output - - - LO1_OUT,LO2_OUT,XLO1_OUT,XLO2_OUT

Motor standstill LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

LO1_OUT,LO2_OUT

Function outputs

No function / free available LO1_OUT, LO2_OUT, XLO1_OUT, XLO2_OUT

No fault LO1_OUT, LO2_OUT

Active LO1_OUT, LO2_OUT

Halt acknowledge LO1_OUT, LO2_OUT

Brake release LO1_OUT

Motor standstill LO1_OUT, LO2_OUT


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IOfunct_LO1

I-O- - Lo1

I-O- - Lo1

Function Output LO1_OUT

1 / Free available / nonE: Available as required2 / No fault / nFLt: No fault3 / Active / Acti: Ready4 / Motor move disable / MdiS: Direction of movement disabled9 / Halt acknowledge / hALt: Halt confirma-tion10 / Brake release / brAK: Holding brake control11 / DataSet start acknowledge / dSAc: Motion sequence: acknowledgement of start request12 / DataSet trigger output / trot: Motion sequence: trigger output13 / Motor standstill / MStd: Motor standstill

--0-



IOfunct_LO2

I-O- - Lo2

I-O- - Lo2

Function Output LO2_OUT


--0-


CANopen 3007:AhModbus 1812

IOfunct_XLO1

I-O- - oLo1

I-O- - oLo1

Function Module Output XLO1_OUT

1 / Free available / nonE: Available as required11 / DataSet start acknowledge / dSAc: Motion sequence: acknowledgement of start request12 / DataSet trigger output / trot: Motion sequence: trigger output

--0-



IOfunct_XLO2

I-O- - oLo2

I-O- - oLo2

Function Module Output XLO2_OUT


--0-



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8.6.8 Reversal of direction

The direction of movement of the motor can be inverted with the param-eter POSdirOfRotat. Note that changed settings do not become ac-tive until after the device is switched off and on again.

Connect the limit switch that limits the working range for positive direc-tion of movement to LIMP. Connect the limit switch that limits the work-ing range for negative direction of movement to LIMN.

If the direction of movement of the motor must be reversed, the param-eter values can be used unchanged.

Inverting the direction of movement changes the absolute position of the motor _p_absworkusr read from the encoder as well as the actual po-sition _p_actusr determined by the device.





POSdirOfRotat

DRC- - PRoT

DRC- - PRoT

Definition of direction of rotation

0 / Clockwise / CLW: Clockwise1 / Counter Clockwise / CCLW: Counter-clockwise

At positive reference values, the motor rotates clockwise (as you look at the end of the motor shaft at the flange).

NOTE: The limit switch which is reached with a movement in positive direction must be connected to the positive limit switch input and vice versa.

NOTE: Changed settings do not become active until the unit is switched on the next time.

-001




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Therefore, set the direction of movement during commissioning to the direction that will be used for later operation of this motor.

Figure 8.45 Position values without reversal of direction

Figure 8.46 Position values with reversal of direction

0 U0 U0 U

Mechanicalrevolutions

4096 U- 4096 U

_p_actusr _p_absworkusr

Positions values

4096 U

0 U0 U0 U

Mechanicalrevolutions

- 4096 U

_p_actusr _p_absworkusr

Position values

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BLP14A 8 Operation


8.6.9 Checksum read value

This function is available as of firmware version 1.20 and higher.

Function A checksum in the device can be read and compared to a value in the master controller. This allows for a detection of parameter changes or replacements of devices.

Notes Different CAN addresse and node IDs in the individual devices result in different checksums.

A different firmware version with a changed number of parameters re-sults in a changed checksum.





_PARchecksum

-

-

Read parameter checksum -0-65535

UINT16UINT16R/---



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8.6.10 Delay time for "Target Reached" and "Homing Attained"


Function For the bit "Target Reached" in the status word 6041h:0, a minimum de-lay time can be set by means of the parameter MinTimeAckBitLow.

In the operating mode Profile Position, the bit "Target Reached" is set to "0" when a movement is started. The bit remains "0" for the time set as the delay time even if the movement has already terminated.

In the operating mode Homing, the minimum delay time affects the "Homing Attained" bit.

Notes The delay time is only processed in the operating state Operation Ena-bled and in the case of HALT.

In the case of an error or when the power stage is disabled, the delay time is not considered.

Figure 8.47 Parameterizable delay time

(1) Without delay time(2) With delay time(A) Movement (shorter than cycle time of PLC)(B) Feedback via the bits of DCOMstatus (Target Reached, Hom-

ing Attained)(C) DCOMstatus (Target Reached, Homing Attained) from the

perspective of the PLC(D) PLC cycle

1

2

MinTimeAckBitLow

A

B

C

A

B

C

D

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BLP14A 8 Operation






MinTimeAckBit-Low

-

-

Minimum time for movement active acknowl-edge bit

Value 0: Inactive. Acknowledge is generated by actual movement time.Value >0: Minimum time for active movement acknowledge.

If the movement time is less than the set time value, the time for the active movement acknowledge will be increased. If the movement time is greater than the set time value, the acknowledge bit for the active movement will be processed only by the movement time.

Example: Actual movement time = 5 msValue for minimum time = 20 msAcknowledge bit for active movement will be set to Low for 20 ms.

The minimum time setting is also active dur-ing processing of the homing movement and when a specific reference position value is set. In these two cases, the feedback infor-mation for 'ref_ok' or 'homing_attained' will also be processed using the set time.

-0016383




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8.6.11 Storing user-specific values


Function 4 parameters (32 bits) allow you to store user-specific values in the de-vice (persistent). The values can be stored to the EEPROM.

The parameter PARfactorySet (reset to factory values) lets you re-store the default values.





_UserAppMem1

-

-

User application memory 1

This memory area can be used to save user-specific values persistently in the drive.The values can be reset to the factory set-tings.

--0-


CANopen 3001:1FhModbus 318

_UserAppMem2

-

-



--0-



_UserAppMem3

-

-



--0-



_UserAppMem4

-

-



--0-



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8.6.12 Restoring default values

The parameter values set by the user are lost in this process.The commissioning software allows you to save the parameter values set for a device as a configuration file.

8.6.12.1 Resetting user-defined parameters

Parameter PARuserReset is used to reset the parameter values to the default values, except for the communication parameters.

8.6.12.2 Restoring the factory settings

The parameter PARfactorySet is used to restore the factory settings. The parameter values are reset to the default values.

� Disconnect the product from the the fieldbus in order to avoid con-flicts by simultaneous access.

Factory settings via commissioningsoftware

The factory settings are loaded via the menu items Configuration => Factory Settings. The parameter values are reset to the default values.The new settings only become active until after the device is switched off and on again.





PARuserReset

-

-

Reset user parameters

Bit 0 = 1: Set persistent parameters to default values.All parameters are reset with the exception of:- Communication parameters- Device control- I/O functions- Type of encoder

NOTE: The new settings are not saved to the EEPROM!

-0-7

UINT16UINT16R/W--






PARfactorySet

DRC- - FCS

DRC- - FCS

Restore factory settings (default values)

0 / No / No: No1 / Yes / YES: Yes

All parameters are set to their default values, these are saved to the EEPROM.Restoring the factory settings is possible via the HMI or the commissioning software.The saving process is complete when the parameter is read and 0 is returned.

NOTE: The default becomes active only when the unit is switched on the next time.

-0-3

R/W--


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BLP14A 9 Examples


99 Examples

9.1 Wiring examples

The following illustration shows a wiring example with:

• Local control mode in the operating mode Jog

• Inputs and outputs with factory settings in the operating mode Jog

• Motor with Hall effect sensors

• Safety function STO is not used and bridged to 24Vdc

Figure 9.1 Local control mode in the operating mode Jog

VDC

0VDC

CN3.9

CN3.3

+

-24/48Vdc

~

+

-24Vdc

~+24VDC

CN1.1

CN1.2

CN3.6

CN3.5

CN3.11STO_A

STO_B

CN3.10

CN3.2"Active"

CN3.4

M3~

CN6.1

CN6.2

CN6.3

U

V

W

CN6.4 SHLD

CN3.8"No Fault"LO1_OUT

LO2_OUT

CN7.4 SHLD

CN7.1

CN7.2

CN7.3

HALL_U

HALL_V

HALL_W

CN7.5

CN7.6

HALL_0V

HALL_5VOUT

CN3.120VDC

E

CN1

CN3

CN7

CN6

+ "Jog fast/slow"

LI2

LI1

LI4

LI3"Enable"

"Jog positive"

"Jog negative"+

+

+


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• Fieldbus control mode

• Inputs and outputs with factory settings in Fieldbus control mode

• Safety function STO with EMERGENCY STOP button and EMER-GENCY STOP safety relay module

• Motor with Hall effect sensors and incremental encoder

• Braking Resistor Controller UBC60 (accessory)

Figure 9.2 Wiring example fieldbus control mode.


• Local control mode in operating mode Motion Sequence

• Inputs and outputs with factory settings in operating mode Motion Sequence

• Motor with Hall effect sensors

• Safety function STO is not used and bridged to 24Vdc

CANopenVDC

0VDC

CN3.9

CN3.3+

-

+

-

LIMN

+

-24/48Vdc

~

LI2

+

-24Vdc

~+24VDC

CN1.1

CN1.2

UBC60

CN3.6

CN3.5

CN3.11STO_A

STO_B

CN5.4

CN5.5

CN5.3

CN5.2 CAN_H

SHLD

CAN_L

CAN_0V

CN3.10

CN3.2"Active"

REF LI1

CN3.4+LI4

M3~

CN6.1

CN6.2

CN6.3

U

V

W

CN6.4 SHLD

+

-10V

CN3.7

CN3.1

ANA1+

ANA1-

CN3.8"No Fault"

+

-LIMP LI3

LO1_OUT

LO2_OUT

CN7.4 SHLD

CN7.1

CN7.2

CN7.3

HALL_U

HALL_V

HALL_W

CN7.5

CN7.6

HALL_0V

HALL_5VOUT

CN8.1

CN8.2

CN8.3

ENC_A

ENC_B

ENC_I

CN8.4

CN8.5

ENC_5V

CN8.6

CN8.7

CN8.8

ENC_A

ENC_B

ENC_I

ENC_0V

"Halt"

CN3.120VDC

E

CN1

CN3

CN5

CN3

CN8

CN7

CN6

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BLP14A 9 Examples


Figure 9.3 Local control mode in the operating mode Jog

(1) BLP14(2) PLC

VDC

0VDC

+

-24/48Vdc

~

+

-24Vdc

~+24VDC

CN1.1

CN1.2

CN3.6

CN3.5

CN3.11STO_A

STO_B

CN3.10

CN3.2"Active"

CN3.4

M3~

CN6.1

CN6.2

CN6.3

U

V

W

CN6.4 SHLD

CN3.8"No Fault"LO1_OUT

LO2_OUT

CN7.4 SHLD

CN7.1

CN7.2

CN7.3

HALL_U

HALL_V

HALL_W

CN7.5

CN7.6

HALL_0V

HALL_5VOUT

CN3.120VDC

E

CN1

CN3

CN7

CN6

+ "Jog fast/slow"

LI2

LI1

LI4

LI3"Enable"+

CN4.7

CN4.2

CN4.8

XLI1

XLI2

XLI3

CN4.3

CN4.9

XLI4

XLI5

CN4.4

CN4.6

XLI6

XLO1_OUT

CN4.1 XLO2_OUT

"DataSet Select"

"DataSet Bit0"

"DataSet Bit1"

"DataSet Bit2"

"DataSet Bit3"

"No function / free available"

"DataSet start acknowledge"

"DataSet trigger output"

CN3.9

CN3.3+

-

+

-

LIMN

REF

CN4

1

2


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9.2 Wiring STO

Using the safety functions integrated in this product requires careful planning. See chapter 5.4 "Safety function STO ("Safe Torque Off")", page 110 for additional information.

9.3 Sample settings

9.3.1 Standardized operating modes

9.3.1.1 Operating mode Profile Position

PDO2 must be activated for the operating mode Profile Position operat-ing mode. After the activation, movement parameters such as ramps and speeds can be set.

Example Node address 1Work stepCOB ID / data

ObjectValue

� Activate R_PDO2601 / 23 01 14 01 01 03 00 04

� 581 / 60 01 14 01 00 00 00 00

1401:1h 0400 0301h

� Activate T_PDO2601 / 23 01 18 01 81 02 00 04

� 581 / 60 01 18 01 00 00 00 00

1801:1h 0400 0281h

� Set acceleration ramp to 2000 min-1*s601 / 23 83 60 00 D0 07 00 00

� 581 / 60 83 60 00 00 00 00 00

6083h0000 07D0h

� Set deceleration ramp to 4000 min-1*s601 / 23 84 60 00 A0 0F 00 00

� 581 / 60 84 60 00 00 00 00 00

6084h0000 0FA0h

� Limit reference velocity to 6000 min-1

601 / 23 7F 60 00 70 17 00 00

� 581 / 60 7F 60 00 00 00 00 00

607Fh 0000 1770h

� Set reference velocity to 4000 min-1

601 / 23 81 60 00 A0 0F 00 00

� 581 / 60 81 60 00 00 00 00 00

6081h0000 0FA0h

� NMT Start remote node0 / 01 00

� T_PDO1 with status word181 / 31 66

� Enable power stage with PDO1201 / 00 00201 / 06 00201 / 0F 00

� T_PDO1 (state: Operation Enabled)181 / 37 46

� Starting the operating mode601 / 2F 60 60 00 01 00 00 00

� 581 / 60 60 60 00 00 00 00 00

6060h01h

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BLP14A 9 Examples


� Check operating state 1)

601 / 40 61 60 00 00 00 00 00

� Operating mode active581 / 4F 61 60 00 01 00 01 00

6061h

01h

� PDO2: Set relative position with NewSetpoint=1301 / 5F 00 30 75 00 00

� T_PDO2 with status word and position actual value281 / 37 56 00 00 00 00

� Position reached281 / 37 56 30 75 00 00

� PDO2: NewSetpoint=0301 / 4F 00 30 75 00 00

1) The operating state must be checked until the device has activated the specified operating mode.

Work stepCOB ID / data

ObjectValue


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9.3.1.2 Operating mode Profile Velocity

PDO3 must be activated for the operating mode Profile Velocity.


ObjectValue

� Activate R_PDO3601 / 23 02 14 01 01 04 00 04

� 581 / 60 02 14 01 00 00 00 00

1402:1h 0400 0401h

� Activate T_PDO3601 / 23 02 18 01 81 03 00 04

� 581 / 60 02 18 01 00 00 00 00

1802:1h 0400 0381h

� Set acceleration ramp to 2000 min-1*s601 / 23 83 60 00 D0 07 00 00

� 581 / 60 83 60 00 00 00 00 00

6083h0000 07D0h

� Set deceleration ramp to 10000 min-1*s601 / 23 84 60 00 10 27 00 00

� 581 / 60 84 60 00 00 00 00 00

6084h 0000 2710h

� Limit reference velocity to 10000 min-1

601 / 23 7F 60 00 10 27 00 00

� 581 / 60 7F 60 00 00 00 00 00

607Fh 0000 2710h






� 581 / 60 60 60 00 00 00 00 00

6060h03h


601 / 40 61 60 00 00 00 00 00



6061h

03h

� PDO3: Transmit reference velocity 1000 min-1

401 / 0F 00 E8 03 00 00

� T_PDO2 with status word and velocity actual value381 / 37 02 00 00 00 00

� Reference velocity reached381 / 37 06 E8 03 00 00

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BLP14A 9 Examples


9.3.1.3 Operating mode Homing

The operating mode Homing is parameterized with SDOs and activated with PDO1.


ObjectValue

� Reference velocity for movement to limit switch 100 min-1

601 / 23 99 60 01 64 00 00 00

� 581 / 60 99 60 01 00 00 00 00

6099:1h 0000 0064h

� Reference velocity for movement 10 min-1

601 / 23 99 60 02 0A 00 00 00

� 581 / 60 99 60 02 00 00 00 00

6099:2h0000 000Ah






� 581 / 60 60 60 00 00 00 00 00

6060h06h


601 / 40 61 60 00 00 00 00 00



6061h

06h

� Select method for reference movement, LimN (17)601 / 2F 98 60 00 11 00 00 00

� 581 / 60 98 60 00 00 00 00 00

6098h11h

� Reference movement with PDO1 (Homing operation start)201 / 1F 00

� TPDO1 Reference movement active181 / 37 02

� TPDO1 reference movement terminated181 / 37 D6


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9.3.2 Vendor-specific operating modes

9.3.2.1 Operating mode Current Control


ObjectValue

� R_PDO4 Mapping: Number of mapped objects = 0601 / 2F 03 16 00 00 00 00 00

� 581 / 60 03 16 00 00 00 00 00

1603:0h00h

� R_PDO4 First parameter = CUR_I_target (3020:4h)601 / 23 03 16 01 10 04 20 30

� 581 / 60 03 16 01 00 00 00 00

1603:1h 3020 0410h

� R_PDO4 Number of mapped objects = 1601 / 2F 03 16 00 01 00 00 00

� 581 / 60 03 16 00 00 00 00 00

1603:0h01h

� T_PDO4 Mapping: Number of mapped objects = 0601 / 2F 03 1A 00 00 00 00 00

� 581 / 60 03 1A 00 00 00 00 00

1A03:0h00h

� T_PDO4 First parameter = _p_actusr (6064:0)601 / 23 03 1A 01 20 00 64 60

� 581 / 60 03 1A 01 00 00 00 00

1A03:1h 6064 0020h

� T_PDO4 Number of mapped objects = 1601 / 2F 03 1A 00 01 00 00 00

� 581 / 60 03 1A 00 00 00 00 00

1A03:0h01h

� Activate R_PDO4 (COB ID)601 / 23 03 14 01 01 05 00 04

� 581 / 60 03 14 01 00 00 00 00

1403:1h 0400 0501h

� Activate T_PDO4 (COB ID)601 / 23 03 18 01 81 04 00 04

� 581 / 60 03 18 01 00 00 00 00

1803:1h 0400 0481h

� Reference value via parameter601 / 2B 1B 30 10 02 00 00 00

� 581 / 60 1B 30 10 00 00 00 00

301B:10h02h





� Starting the operating mode601 / 2F 60 60 00 FD 00 00 00

� 581 / 60 60 60 00 00 00 00 00

6060h-03h

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BLP14A 9 Examples



601 / 40 61 60 00 00 00 00 00

� Operating mode active581 / 4F 61 60 00 FD 00 01 00

6061h

-03h

� PDO4 transmit reference current 1000 (10A)501 / E8 03

� T_PDO4 with current position481 / 00 CE 09 00



ObjectValue


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9.3.2.2 Operating mode Speed Control


ObjectValue

� R_PDO4 Mapping: Number of mapped objects = 0601 / 2F 03 16 00 00 00 00 00

� 581 / 60 03 16 00 00 00 00 00

1603:0h00h

� R_PDO4 First parameter = SPEEDn_target (3021:4h)601 / 23 03 16 01 10 04 21 30

� 581 / 60 03 16 01 00 00 00 00

1603:1h 3021 0410h

� R_PDO4 Number of mapped objects = 1601 / 2F 03 16 00 01 00 00 00

� 581 / 60 03 16 00 00 00 00 00

1603:0h01h

� T_PDO4 Mapping: Number of mapped objects = 0601 / 2F 03 1A 00 00 00 00 00

� 581 / 60 03 1A 00 00 00 00 00

1A03:0h00h

� T_PDO4 First parameter = _p_actusr (6064:0)601 / 23 03 1A 01 20 00 64 60

� 581 / 60 03 1A 01 00 00 00 00

1A03:1h 6064 0020h

� T_PDO4 Number of mapped objects = 1601 / 2F 03 1A 00 01 00 00 00

� 581 / 60 03 1A 00 00 00 00 00

1A03:0h01h

� Activate R_PDO4 (COB ID)601 / 23 03 14 01 01 05 00 04

� 581 / 60 03 14 01 00 00 00 00

1403:1h 0400 0501h

� Activate T_PDO4 (COB ID)601 / 23 03 18 01 81 04 00 04

� 581 / 60 03 18 01 00 00 00 00

1803:1h 0400 0481h





� Starting the operating mode601 / 2F 60 60 00 FC 00 00 00

� 581 / 60 60 60 00 00 00 00 00

6060h-04h


601 / 40 61 60 00 00 00 00 00

� Operating mode active581 / 4F 61 60 00 FC 00 01 00

6061h

-04h

� Reference value via parameter601 / 2B 1B 30 11 02 00 00 00

� 581 / 60 1B 30 11 00 00 00 00

301B:11h02h

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BLP14A 9 Examples


� PDO4 transmit reference velocity 1000 min-1

501 / E8 03

� T_PDO4 with current position481 / 6E 97 04 00



ObjectValue


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9.3.2.3 Operating mode Jog


ObjectValue

� Speed of rotation slow movement to 100 min-1

601 / 2B 29 30 04 64 00 00 00

� 581 / 60 29 30 04 00 00 00 00

3029:4h0064h

� Speed of rotation fast movement to 250 min-1

601 / 2B 29 30 05 FA 00 00 00

� 581 / 60 29 30 05 00 00 00 00

3029:5h00FAh





� Starting the operating mode601 / 2F 60 60 00 FF 00 00 00

� 581 / 60 60 60 00 00 00 00 00

6060h-01h


601 / 40 61 60 00 00 00 00 00

� Operating mode active581 / 4F 61 60 00 FF 00 01 00


6061h

-01h

� Jog movement (direction of movement clockwise, slow)601 / 2B 1B 30 09 01 00 00 00

� 581 / 60 1B 30 09 00 00 00 00


301B:9h01h

� Jog movement (direction of movement clockwise, fast)601 / 2B 1B 30 09 05 00 00 00

� 581 / 60 1B 30 09 00 00 00 00


301B:9h05h

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BLP14A 10 Diagnostics and troubleshooting


1010 Diagnostics and troubleshooting

10.1 Error indication

The last cause of error and the last 10 error messages are stored. You can display the last 10 error messages using the commissioning soft-ware and the fieldbus.

See chapter 10.3 "Table of error numbers" for a description of the error numbers.

Asynchronous errors Asynchronous errors are triggered by internal monitoring (for example, temperature) or by external monitoring (for example, limit switch). An er-ror response is initiated if an asynchronous error occurs.

Asynchronous errors are indicated in the following way:

• Transition to operating state "Quick Stop" or to operating state "Fault".

• Error number is written to parameter StopFault

Synchronous errors Synchronous errors occur as direct errors in response to a fieldbus com-mand. They comprise, for instance:

• Error during execution of an action command or control command

• Parameter value outside the permissible value range

• Invalid action command or control command during processing

• Access to unknown parameter

For a detailed description of the synchronous errors, see chapter 10 "Di-agnostics and troubleshooting".


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10.1.1 State diagram

After switching on and when an operating mode is started, the product goes through a number of operating states.

The state diagram (state machine) shows the relationships between the operating states and the state transitions.

The operating states are monitored and influenced by internal monitor-ing functions and system functions such as temperature monitoring or current monitoring.

Graphical representation The state diagram is represented as a flow chart.

Figure 10.1 State diagram

T10

T12

T15

3

4

5

Ready To Switch On

Switched On

Switch On Disabled

T11

T16

T9 T2 T7

T1

Not Ready To Switch On

1

2T0

T13

Fault

Fault Reaction Active

8

9

T14

Quick Stop ActiveOperation Enabled

RUN/HALT6 7

T4

T3

T5

T6T8

Start

Switching on

Error Class 2, 3, (4)Error Class 1

Operating state State transition Error

Motor under current

Motor without current

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Operating states

State transitions State transitions are triggered by an input signal, a fieldbus command or as a response to a monitoring signal.

Operating state Description

1 Start Controller supply voltage switched onElectronics are initialized

2 Not Ready To Switch On The power stage is not ready to switch on

3 Switch On Disabled Impossible to enable the power stage

4 Ready To Switch On The power stage is ready to switch on.

5 Switched On Power stage is switched on

6 Operation Enabled Power stage is enabledSelected operating mode is active

7 Quick Stop Active "Quick Stop" is being executed

8 Fault Reaction Active Error response is active

9 Fault Error response terminatedPower stage is disabled

Transi-tion

Operating state


T0 1-> 2 • Device electronics successfully initialized

T1 2-> 3 • Parameter successfully initialized

T2 3 -> 4 • No undervoltage

Encoder successfully checked

Actual velocity: <1000 min-1

STO signals = +24V

Fieldbus command: Shutdown 3)

T3 4 -> 5 • Request for enabling the power stage

• Fieldbus command: Switch On or Enable Operation

T4 5 -> 6 • Automatic transition

• Fieldbus command: Enable Operation

Power stage is enabledUser-defined parameters are checkedHolding brake is released (if available)

T5 6 -> 5 • Fieldbus command: Disable Operation Motion command is canceled with "Halt"Holding brake is appliedPower stage disabled

T6 5 -> 4 • Fieldbus command: Shutdown

T7 4 -> 3 • Undervoltage

• STO signals = 0V

• Actual velocity: >1000 min-1

(for example by external driving force)


-

T8 6 -> 4 • Fieldbus command: Shutdown Power stage is immediately disabled.



Power stage is immediately disabled.





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Error class The product triggers an error response if an error occurs. Depending upon the severity of the error, the device responds in accordance with one of the following error classes:

T11 6 -> 7 • Error of error class 1

• Fieldbus command: Quick Stop

Motion command is canceled with "Quick Stop".



Power stage is disabled immediately, even if "Quick Stop" is still active.

T13 x -> 8 • Error of error classes 2, 3 or 4 Error response is carried out, see "Error Response"

T14 8 -> 9 • Error response terminated (error class 2)

• Error of error classes 3 or 4

T15 9-> 3 • Function: "Fault Reset" Error is reset (cause of error must be corrected).

T16 7 -> 6 • Function: "Fault reset"

• Fieldbus command: Enable Operation 4)

1) In order to trigger a state transition it is sufficient if one condition is met2) Fieldbus commands only with fieldbus control mode3) Only required with fieldbus control mode, fieldbus CANopen and parameter DCOMcompatib= 14) Possible only if operating state was triggered via the fieldbus

Transi-tion

Operating state


Error class

Response Meaning

0 Warning A monitoring function has detected a problem. No interruption of the movement.

1 "Quick Stop" Motor stops with "Quick Stop", the power stage remains enabled.

2 "Quick Stop" with switch-off

Motor stops with "Quick Stop", the power stage is disabled after standstill has been achieved.

3 Fatal error The power stage is immediately disabled without stopping the motor first.

4 Uncontrolled operation

The power stage is immediately disabled without stopping the motor first. The error can only be reset by switching off the product.

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Error response The state transition T13 (error class 2, 3 or 4) initiates an error response as soon as an internal occurrence signals an error to which the device must react.

An error can be triggered by a temperature sensor, for example. The de-vice cancels the motion command and starts the error response, for ex-ample deceleration and stopping with "Quick Stop" or disabling the power stage. Subsequently, the operating state changes to 9 Fault.

To exit the 9 Fault operating state, the cause of the error must be reme-died and a Fault Reset must be executed.

Error class Statefrom -> to

Response

2 x -> 8 Stop movement with "Quick Stop"Holding brake is appliedPower stage disabled

3, 4 or Safety func-tion STO

x -> 8 -> 9 Power stage is disabled immediately, even if "Quick Stop" is still active.



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10.1.2 Error indication with LEDs

Overview The illustration below shows an overview of the status LEDs.

Figure 10.2 Overview of status LEDs

Operating states The LEDs "OK" (green) and "ERR" (red) indicate error messages and warnings. They show the operating states in coded form.

Figure 10.3 Operating states via LEDs

Operating states

(A) 1 Start2 Not Ready To Switch On

(B) 3 Switch On Disabled(C) 4 Ready To Switch On

5 Switched On(D) 6 Operation Enabled(E) 7 Quick Stop Active

8 Fault Reaction Active(F) 9 Fault(G) Firmware not available(H) Internal error

OK ERR

BUS_RUN BUS_ERR

1s

OK ERR

A

B

C

D

E

F

G

H

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Fieldbus communication The LEDs "BUS_RUN" (green) and "BUS_ERR" (red) show the NMT states of the fieldbus communication.

Figure 10.4 Fieldbus communication via LEDs

LED "BUS_RUN"

(A) Device is in the NMT state OPERATIONAL(B) Device is in the NMT state STOPPED(C) Device is in the NMT state Pre-Operational

LED "BUS_ERR"

(D) CAN is BUS-OFF, for example after 32 incorrect transmission attempts.

(E) Warning limit reached, for example after 16 incorrect trans-mission attempts

(F) Monitoring event (Node Guarding)(G) SYNC message was not received within the configured period(H) Incorrect settings, for example, invalid node address

BUS_RUN BUS_ERR

A

B

C

D

E

F

G

H



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10.1.3 Error indication using the commissioning software

� You need a PC with the commissioning software and a working con-nection to the product.

� Select "Diagnostics - Error memory". A dialog box which shows the error messages is displayed.

The commissioning software shows a 4 digit error number in the list of the error memory with a prefixed "E".

The error messages are displayed along with the status, error class, time when the error occurred and a short description. The "Additional in-formation " lets you verify the exact conditions when the error occurred.

� Correct the error and reset the current error message with the "Reset" button on the command bar of the program.

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10.1.4 Error indication via the fieldbus

Last cause of error The parameter _StopFault allows you to read the error number of the last error. If there is no error, the value of the parameter is 0. If an error occurs, the error is written to the error memory along with other status information. In the case of subsequent errors, only the number of the triggering error is stored.

Error memory The error memory is an error history of the last 10 errors; it is not cleared even if the device is switched off. The following parameters allow you to manage the error memory:

The error memory can only be read sequentially. The parameter FLT_MemReset must be used to reset the read pointer. Then the first error entry can be read. The read pointer is automatically set to the next entry. A new read access delivers the next error entry. If the error number 0 is returned, there is no additional error entry.





FLT_del_err

-

-

Clear error memory

1: Delete all entries in the error memory

The clearing process is completed if a 0 is returned after a read access.

-0-1

UINT16UINT16R/W--


FLT_MemReset

-

-

Reset error memory read pointer

1: Set error memory read pointer to oldest error entry.

-0-1

UINT16UINT16R/W--


Position of the entry Meaning

1 1st error entry, oldest message

2 2nd error entry, later message

... ...

10 10th error entry. In the case of 10 error entries, the most recent message is contained here.



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An error entry consists of several pieces of information which can be read using different parameters. When you read an error entry, the error number must be read first with the parameter FLT_err_num.

10.1.4.1 Message objects

A number of objects provide information on the operating state and on errors:

• Object Statusword (6041h)Operating states, see product manual

• Object EMCY (80h+ Node-ID)Error message from a device with error and error code, see chapter

• Object Error register (1001h)Error

• Object Error code (603Fh)Error code of the most recent error

• Devices use the special SDO error message ABORT to signal errors in exchanging messages via SDO.





FLT_err_num

-

-

Error number

Reading this parameter copies the entire error entry (error class, time of occurrence of error, ...) to an intermediate memory from which all elements of the error can then be read.

In addition, the read pointer of the error memory is automatically set to the next error entry.

-0-65535

UINT16UINT16R/---


FLT_class

-

-

Error class

Value 0: Warning (no response)Value 1: Error (Quick Stop -> state 7)Value 2: Error (Quick Stop -> state 8, 9)Value 3: Fatal error (state 9, can be acknowl-edged)Value 4: Fatal error (state 9, cannot be acknowledged)

-0-4

UINT16UINT16R/---


FLT_Time

-

-

Error time

With reference to operating hours counter

s0-536870911

UINT32UINT32R/---


FLT_Qual

-

-

Error additional information

This entry contains additional information on the error, depending on the error number. Example: a parameter address

-0-65535

UINT16UINT16R/---


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10.1.4.2 Messages on the device status

Synchronous and asynchronous errors are distinguished in terms of evaluation and handling of errors.

Synchronous errors The device signals a synchronous error directly as a response to a mes-sage that cannot be evaluated. Possible causes comprise transmission errors or invalid data. See chapter 10.1.4.3 "Error register" for a list of synchronous errors.

Asynchronous errors Asynchronous errors are signaled by the monitoring units in the device as soon as a device error occurs. An asynchronous error is signaled via bit 3, Fault, of the object statusword (6041h). In the case of errors that cause an interruption of the movement, the device transmits an EMCY message.

Asynchronous errors are also signaled via bits 5 ... 7 of the object driveStat (2041h).

10.1.4.3 Error register

The object Error register(1001h) indicates the error of a device in bit-coded form. The exact cause of error can be determined with the er-ror code table. Bit 0 is set as soon as an error occurs.

10.1.4.4 Error code table

The error code is evaluated with the object error code (603Fh), an object of the DSP402 device profile, and output as a four-digit hexadec-imal value. The error code indicates the cause of the last interruption of movement. See the Troubleshooting chapter of the product manual for the meaning of the error code.

Bit Message Meaning

0 Generic error An error has occurred

1 - Reserved

2 - Reserved

3 - Reserved

4 Communication Network communication error

5 Device profile-specific Error during execution as per device profile

6 - Reserved

7 Manufacturer-specific Vendor-specific error message



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10.1.4.5 SDO error message ABORT

An SDO error message is generated as a response to an SDO trans-mission error. The cause of error is contained in error code, bytes 4 to byte 7.

Figure 10.5 SDO error message as a response to an SDO message

The table below lists the error messages that may occur during data ex-change with the product.

Client Server

1 2 3 4 5 6 70


Error response

80ccd: Byte 4...7Error code

IdxLSB

IdxMSB

Error code Meaning

0503 0000h Toggle bit not toggled

0504 0000h Time-out during SDO transfer

0504 0001h Command specifier CS incorrect or unknown

0504 0005h No memory available

0601 0000h Access to object not possible

0601 0001h No read access, because write-only object (wo)

0601 0002h No write access, because read object (ro)

0602 0000h Object does not exist in object dictionary

0604 0041h Object does not support PDO mapping

0604 0042h PDO mapping: Number or length of objects exceed the byte length of the PDO

0604 0043h Parameters are incompatible

0604 0047h Device detects internal incompatibility

0606 0000h Hardware error, access denied

0607 0010h Data type and parameter length do not match

0607 0012h Data type does not match, parameter too long

0607 0013h Data type does not match, parameter too short

0609 0011h Subindex not supported

0609 0030h Value range of parameter too large (relevant only for write access)

0609 0031h Parameter values too great

0609 0032h Parameter values too small

0609 0036h Upper value is less than lower value

0800 0000h General error

0800 0020h Data can neither be transmitted to the application nor saved.

0800 0021h Local control mode, data can neither be transmitted nor saved.

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0800 0022h Data can neither be transmitted nor saved in this device state.

0800 0023h Object dictionary does not exist or cannot be generated (for example, if data error occurs during generation from file)

0800 xxxxh Manufacturer-specific error, xxxx corresponds to the error number of the device. See error code table.

Error code Meaning



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10.2 Troubleshooting

10.2.1 Fieldbus communication

A properly operating fieldbus is essential for evaluating operating and er-ror messages.

Checking connections If the product cannot be addressed via the fieldbus, first check the con-nections.

Check the following connections:

� System power supply

� Supply connections

� Fieldbus cables and wiring

� Fieldbus connection

Also verify correct wiring of the limit switches and the terminating resis-tors.

Fieldbus function test If the connections are correct, check the settings for the fieldbus ad-dresses. After correct configuration of the transmission data, test field-bus mode.

� In addition to the master, activate a bus monitor that, as a passive device, displays messages.

� Switch the supply voltage off and on.

� Observe the network messages that are generated briefly after the supply voltage is switched on. A bus monitor can be used to record the elapsed time between messages and the relevant information in the messages.

Addressing, parameterization If it is impossible to connect to a device, check the following:

� Addressing

Each network device must have a unique address.

� Parameterization

"Vendor ID" and "Product Code" must match the values stored in the EDS file.

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10.2.2 Troubleshooting of errors sorted by error bit

To facilitate troubleshooting, the error numbers are categorized by so-called error bits. The error bits can be read using the parameter _SigLatched. Signal state "1" indicates an error or warning message.

Error bit

Meaning Error class

Cause Troubleshooting

0 General error 0

1 Limit switch (LIMP/LIMN/REF)

1 Limit switch is or was activated, line interrupted

Move drive into movement range, match positioning data to axis range. Check special message in error memory, check cable to limit switch

2 Movement range exceeded (software limit switch, tun-ing)

1 Motor not in movement range Check the movement range, home the drive again

3 "Quick Stop" via fieldbus 1 Fieldbus command

4 Inputs STO_A and STO_B are "0"

3 STO safety function was trig-gered

Check guard door, cabling

5 Reserved

6 RS485 fieldbus error, Mod-bus

Interruption of fieldbus communi-cation, RS485 only, for example Modbus

Check the fieldbus cables, check the fieldbus, check the communication parameters.

8 Reserved

9 Incorrect reference signals (frequency too high)

Frequency too high, interference EMC requirements, do not exceed maxi-mum frequency (technical data)

10 Error processing the cur-rent operating mode

2 Processing error For detailed information see additional information in the error memory

11 Reserved

13 Reserved

14 DC bus undervoltage 2

3

DC bus voltage below threshold value for "Quick Stop"

DC bus voltage below threshold value for switching off the drive

Check / increase supply voltage

15 DC bus overvoltage 3 DC bus overvoltage, deceleration too fast

Extend braking process, use external braking resistor

16 Power stage supply incor-rect

par. 1) Sort circuit

Supply voltage not correctly con-nected

Check fuse and installation

17 Connection to motor (motor phase interrupted, commu-tation)

3 Short circuit in motor phase or encoder cableMotor damaged.External torque exceeds the motor torque (motor current too low).

Check connections, replace motor cable or encoder cable.

Replace motor.Reduce external torque or increase the motor current.

18 Motor overload (phase cur-rent too high)

3 I2t monitoring for motor Reduce load, use a motor with a greater nominal power

19 Motor encoder signals error or encoder connec-tion inoperative

3-4 No signal from motor encoder, encoder damaged

Check encoder cable, check encoder, replace cable

20 Undervoltage controller supply voltage

Controller supply voltage has fallen below the minimum value

Check controller supply voltage. Check for short-term voltage dips during load changes



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21 Temperature too high (power stage, braking resistor or motor)

3 Power stage overheated

Motor overheated Temperature sensor not con-nected

Reduce duty cycle for peak current, reduce load or peak torque

Allow motor to cool down, reduce load, use motor with greater nominal power, check/replace motor encoder cables

22 Following error par. 1)

1-3Following error Reduce external load or acceleration,

error response is adjustable via Flt_pDiff

24 Inputs STO_A and STO_B are different

4 Interruption of the signal wires Check signal cable and signal connec-tion, check signal source, replace

25..28 Reserved

29 EEPROM error 3-4 Checksum in EEPROM incorrect Run a "First Setup", save the user-defined parameters to the EEPROM, contact your local sales office

30 System start-up error (hardware or parameter error)

3-4 Cause of error as indicated Resolution depends on indicated cause of error

31 Internal system error (for example watchdog)

4 Internal system error

System error, for example, divi-sion by 0 or timeout checks, inadequate EMC

Switch device off and on, replace device

Comply with EMC measures, switch device off and on, contact your local sales office

1) par. = can be parameterized

Error bit

Meaning Error class

Cause Troubleshooting

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10.3 Table of error numbers

The cause of the error for each error message is contained in the pa-rameter FLT_err_num in the form of a code. The table below shows the the error numbers and their meanings. If "par." is shown along with the error class, the error class can be parameterized.

Error number categories:

Information on error bits and troubleshooting can be found on page 303.

Error number Range

E 1xxx General

E 2xxx Overcurrent

E 3xxx Voltage

E 4xxx Temperature

E 5xxx Hardware

E 6xxx Software

E 7xxx Interface, wiring

E Axxx Motor movement

E Bxxx Communication

Error number Class Bit Description, cause and correctives

E 1100 - - Parameter out of permissible range

The value entered was outside of the permissible value range for this parameter.

The entered value must be within the permissible value range.

E 1101 - - Parameter does not exist

Error signaled by parameter management: Parameter (index) does not exist.

Select a different parameter (index).

E 1102 - - Parameter does not exist

Error signaled by parameter management: Parameter (subindex) does not exist.

Select a different parameter (subindex).

E 1103 - - Parameter write not permissible (READ only)

Write access to read only parameter.

Write only to parameters that are not read-only.

E 1104 - - Write access denied (no access authorization)

Parameter only accessible at expert level.

The write access level expert is required.

E 1106 - - Command not allowed while power stage is active

Command not allowed while the power stage is enabled (operating state Operation Enabled or Quick Stop Active).

Disable the power stage and repeat the command.

E 1107 - - Access via other interface blocked

Access occupied by another channel (for example: Commissioning software is active and fieldbus access was tried at the same time).

Check the channel that blocks the access.



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E 110B 3 30 Configuration error (additional info=Modbus register address)

Error detected during parameter check (for example, reference velocity value for operating mode Profile Position is greater than maximum allowed velocity of drive).

Value in additional error information shows the Modbus register address of the parameter where the initialization error was detected.

E 110D 1 0 Basic configuration of drive required after factory setting

The First Setup (FSU) was not run at all or not completed.

Perform a First Setup.

E 110E - - Parameter changed that requires a restart of the drive

Only displayed by the commissioning software.A parameter modification requires the drive to be switched off and on.

Restart the drive to activate the parameter functionality.Check the chapter Parameters for the parameter that requires a restart of the drive.

E 1300 3 4 Safety function STO activated (STO_A, STO_B)

The safety function STO was activated in the operating state Operation Enabled.

Check the wiring of the inputs of the STO safety function and reset the error.

E 1301 4 24 STO_A and STO_B different level

The levels of the inputs STO_A and STO_B were different for more than 1 second.

The drive has to be switched off and the reason fixed (for example, check whether EMERGENCY STOP is active) before it is switched on.

E 1311 - - The selected signal input function or signal output function cannot be configured

The selected signal input function or signal output function cannot be used in the selected operating mode.

Select another function or change the operating mode.

E 1312 - - Limit switch or reference switch signal not defined for signal input function

Reference movements require limit switches. These limit switches are not assigned to inputs.

Assign the signal input functions Positive Limit Switch, Negative Limit Switch and Reference Switch.

E 1B03 4 30 Encoder is not supported by current firmware or damaged

E 2300 3 18 Power stage overcurrent

Motor short circuit and disabling of the power stage.Motor phases are inverted.

Check the motor power connection.

E 3200 3 15 DC bus overvoltage

Excessive regeneration during braking.

Check deceleration ramp, check rating of drive and braking resistor.

E 3201 3 14 DC bus undervoltage (shutdown threshold)

Power supply loss, poor power supply.

Check mains supply.

E 3202 2 14 DC bus undervoltage (Quick Stop threshold)

Power supply loss, poor power supply.

Check mains supply.


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E 3206 0 11 DC bus undervoltage (warning)

Power supply loss, poor/incorrect power supply.

Check mains supply.

E 4100 3 21 Power stage overtemperature

Transistors overtemperature: Ambient temperature is too high, fan is inoperative, dust.

Check the fan, improve the heat dissipation in the cabinet.

E 4101 0 1 Warning power stage overtemperature

Transistors overtemperature: Ambient temperature is too high, fan is inoperative, dust.

Check the fan, improve the heat dissipation in the cabinet.

E 4102 0 4 Power stage overload (I2t) warning

The current has exceeded the nominal value for an extended period of time.

Check rating, reduce cycle time.

E 4200 3 21 Device overtemperature

Board overtemperature: Ambient temperature is too high.

Check fan, improve the heat dissipation in the cabinet.

E 4302 0 5 Motor overload (I2t) warning

The current has exceeded the nominal value for an extended period of time.

E 5600 3 17 Motor connection phase error

Missing motor phase.

Check connection of motor phases.

E 610D - - Error in selection parameter

Wrong parameter value selected.

Check the value to be written.

E 7100 4 30 System error: invalid power stage data

Power stage data stored in device is corrupt (wrong CRC), error in internal memory data.

Contact technical support or replace the device.

E 7122 4 30 Invalid motor data

Motor data stored in motor encoder is corrupt, error in internal memory data.

Contact technical support or replace the motor.

E 7123 4 30 Motor current offset outside permissible range

Motor current measurement circuit is inoperative.

Contact technical support or replace the device.

E 7340 4 19 Initialization error incremental encoder.

Incremental encoder connector not plugged in properly.Incremental encoder signals not properly connected.Incremental encoder inoperative.

E 733C 4 19 Hall sensor initialization error.

Hall sensor connector not plugged in properly.Hall signals not connected properly.Incorrect settings for 'M_hallpos' or 'M_shift'.

Check hall signal connection and hall parameter settings.




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E 733D 4 19 Incremental encoder initialization error.

Incorrect setting in parameter 'M_SensorLines'

E 733E 4 19 Incorrect interpretation of the Hall signals.

Hall sensor connector not plugged in properly.Hall signals not connected properly.Incorrect settings for 'M_hallpos' or 'M_shift'.

Check hall signal connection and hall parameter settings.

E 7500 0 9 RS485/Modbus: overrun error

EMC; cabling problem.

Check cables.

E 7501 0 9 RS485/Modbus: framing error


Check cables.

E 7502 0 9 RS485/Modbus: parity error


Check cables.

E 7503 0 9 RS485/Modbus: receive error


Check cables.

E 8120 0 7 CANopen: CAN Controller in Error Passive

Too many error frames have been detected.

Check CAN bus installation.

E 8130 2 7 CANopen: Heartbeat or Life Guard error

The bus cycle time of the CANopen master is higher than the programmed heartbeat or node guard time.

Check the CANopen configuration, increase the heartbeat or node guard time.

E 8140 - - CANopen: CAN controller was in 'bus-off', communication is possible again

E 8141 2 7 CANopen: CAN controller is in 'bus-off'

Too many error frames have been detected, CAN devices with different baud rates.

Check CAN bus installation.

E 8201 0 7 CANopen: RxPDO1 could not be processed

Error while processing Receive PDO1: PDO1 contains invalid value.

Check RxPDO1 content (application).









Check RxPDO4 content (application)

E A067 3 0 Invalid entry in data set table (additional info = data set number)


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E A300 - - Braking procedure after HALT request still active

HALT was removed too soon.New command was sent before motor standstill was reached after a HALT request.

Wait for complete stop before removing HALT signal.Wait until motor has come to a complete standstill.

E A301 - - Drive in operating state Quick Stop Active

Error with error class 1 occurred.Drive stopped with Quick Stop command.

E A302 1 1 Stop by positive limit switch

The positive limit switch was activated because movement range was exceeded, mis-operation of limit switch or signal disturbance.

Check application.Check limit switch function and connection.

E A303 1 1 Stop by negative limit switch

The negative limit switch was activated because movement range was exceeded, misoperation of limit switch or signal disturbance.

Check application.Check limit switch function and connection.

E A305 - - Power stage cannot be enabled in the current operating state

Fieldbus: An attempt was made to enable the power stage in the operating state Not Ready To Switch On.

Refer to the state diagram.

E A306 1 3 Stop by user-initiated software stop

Drive is in operating state Quick Stop Active due to a software stop request. The acti-vation of a new operating mode is not possible, the error code is sent as the response to the activation command.

Clear break condition with command Fault Reset.

E A307 - - Stop by internal software stop

In the operating mode Homing and Jog, the movement is internally interrupted by an internal software stop. The activation of a new operating mode is not possible, the error code is sent as the response to the activation command.

Clear break condition with command Fault Reset.

E A308 - - Drive is in operating state Fault or Fault Reaction Active

Error with error class 2 or higher occurred.

Check error code (HMI or commissioning software), remove error condition and clear error with command Fault Reset.

E A309 - - Drive not in operating state Operation Enabled

A command was sent that requires the drive to be in the operating state Operation Enabled (for example, a command to change the operating mode).

Set drive to operating state Operation Enabled and repeat the command.

E A310 - - Power stage not enabled

Command cannot be used because the power stage is not enabled (operating state Operation Enabled or Quick Stop Active).

Set drive to an operating state in which the power stage is enabled, refer to the state diagram.




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E A313 - - Position overtraveled, reference point is therefore no longer defined (ref_ok=0)

The movement range limits were exceeded which resulted in a loss of the reference point. An absolute movement cannot be made before a new reference point is defined.

Define a new reference point by means of the operating mode Homing.

E A314 - - No reference point

Command needs a defined reference point (ref_ok=1).

Define a new reference point by means of the operating mode Homing.

E A315 - - Homing active

Command cannot be used while the operating mode Homing is active.

Wait until reference movement is finished.

E A317 - - Motor is not at a standstill

Command sent which is not allowed when the motor is not at a standstill. For exam-ple:- Change of software limit switches- Change of handling of monitoring signals- Setting of reference point- Teach in of data set

Wait until the motor has come to a standstill (x_end = 1).

E A318 - - Operating mode active (x_end=0)

Activation of a new operating mode is not possible while the current operating mode is still active.

Wait until the command in the operating mode has finished (x_end=1)or terminate current operating mode with HALT command.

E A31B - - HALT requested

Command not allowed while a HALT is requested.

Clear HALT request and repeat command.

E A31C - - Invalid position setting with software limit switch

Value for negative (positive) software limit switch is greater (less) than value for posi-tive (negative) software limit switch.

Set correct position values.

E A31D - - Velocity range overflow (CTRL_n_max)

The velocity was set to a value greater than the maximum permissible velocity in parameter CTRL_n_max.

Increase the value of parameter CTRL_n_max or reduce the velocity value.

E A31E 1 2 Stop by positive software limit switch

Impossible to execute command because positive software limit switch was over-traveled.

Return to the permissible range.

E A31F 1 2 Stop by negative software limit switch

Impossible to execute command because negative software limit switch was over-traveled.

Return to the permissible range.


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E A320 par. 22 Following error

External load or acceleration are too high.

Reduce external load or acceleration.Use a differently rated drive, if necessary.Error response can be adjusted via parameter Flt_pDiff.

E A324 1 10 Error during homing (additional info = detailed error number)

Homing movement was stopped by an error, the detailed reason is indicated by the additional info in the error memory.

Possible sub error codes:E A325, E A326, E A327, E A328 or E A329.

E A325 1 10 Limit switch to be approached not enabled

Homing to positive limit switch or negative limit switch is disabled.

Enable limit switch via 'IOsigLimP' or 'IOsigLimN'.

E A326 1 10 Reference switch not found between positive limit switch and negative limit switch

Reference switch inoperative or not correctly connected.

Check the function and wiring of the reference switch.

E A327 1 10 Reference movement to reference switch without reversal of direction results in acti-vation of limit switch

Search of reference switch without reversal of direction in positive (negative) direction with positive limit switch (negative limit switch) activated.

Check the function and wiring of the positive limit switch (negative limit switch).

E A328 1 10 Reference movement to reference switch without reversal of direction results over-travel of limit switch or reference switch

Search of reference switch without reversal of direction with limit switch or reference switch overtraveld.

Reduce velocity for reference movement (parameter HMn) or increase deceleration (parameter RAMPdecel).Check the function and wiring of positive limit switch, negative limit switch and refer-ence switch.

E A329 1 10 More than one signal positive limit switch/negative limit switch/reference switch signal active

Reference switch or limit switch not connected correctly or supply voltage for switches too low.

Check the wiring and 24VDC supply voltage.

E A32A 1 10 Positive limit switch triggered with negative direction of movement

Start reference movement with negative direction (for example reference movement to negative limit switch) and activate the positive limit switch (switch in opposite direc-tion of movement).

Check correct connection and function of limit switch.Activate a jog movement with negative movement (target limit switch must be con-nected to the negative limit switch).

E A32B 1 10 Negative limit switch triggered with positive direction of movement

Start reference movement with positive direction (for example reference movement to positive limit switch) and activate the negative limit switch (switch in opposite direction of movement).

Check correct connection and function of limit switch.Activate a jog movement with positive movement (target limit switch must be con-nected to the positive limit switch).




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E A32C 1 10 Reference switch error (switch signal briefly enabled or switch overtraveled)

Switch signal disturbance.Motor subjected to vibration or shock when stopped after activation of the switch sig-nal.

Check supply voltage, cabling and function of switch.Check motor reaction after stopping and optimize controller settings.

E A32D 1 10 Positive limit switch error (switch signal briefly enabled or switch overtraveled)



E A32E 1 10 Negative limit switch error (switch signal briefly enabled or switch overtraveled)



E A330 - - Reference movement to index pulse cannot be reproduced. Index pulse is too close to the switch

The position difference between the index pulse and the switching point is insuffi-cient.

Increase the distance between the index pulse and the switching point. If possible, the distance between the index pulse and the switching point should be a half motor revolution.

E A332 1 10 Jog error (additional info = detailed error number)

Jog movement was stopped by error.

For additional info, check the detailed error number in the error memory.

E A334 2 0 Timeout Standstill Window monitoring

Position deviation after movement greater than standstill window. This may have been caused by an external load.

Check load.Check settings for standstill window (parameters STANDp_win, STANDpwinTime and STANDpwinTout).Optimize controller settings.

E A335 1 10 Processing only possible in fieldbus control mode

Reference movement started in local control mode(homing not possible if 'DEVcmdinterf' is not set to a fieldbus device, no limit switches).

DEVcmdinterf' must be set to a fieldbus device.

E A337 0 10 Operating mode cannot be continued

Continuation of interrupted movement in operating mode Profile Position is impossi-ble because another operating mode had been active in the meantime.In the operating mode Motion Sequence, continuation is impossible if a motion blend was interrupted.

E A33A - - Reference point is not defined (ref_ok=0)

No homing done and no motor with absolute encoder connected.Homing position lost because the working position range was left.

Start homing.Use motor with multiturn encoder if no homing is to be done.


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E A33B 3 22 Motor is blocked or external load is too high.

Brushless DC motor: Blocking detection with parameter SPV_t_block.Stepper motor: Stall detection with index pulse detected a deviation of magnetic field and rotor angle.

Reduce acceleration/deceleration values.Reduce load.Increase current settings.

E A33C - - Function not available in current operating mode

Activation of a function which is not available in the current operating mode.

E A33D - - Motion blend is already active

Change of motion blend during the current motion blend (end position of motion blend not yet reached)

Wait for the motion blend to complete before setting the next position.

E A33E - - No movement activated

Activation of a motion blend without movement.

Start a movement before the motion blend is activated.

E A33F - - Position of motion blend movement not in the range of the active movement

The position of the motion blend is outside of the current movement range.

Check the position of the motion blend and the current movement range.

E A340 1 10 Error in operating mode Motion Sequence (additional info = detailed error number)

The operating mode Motion Sequence was stopped by an error. Check the error memory for details on the error.

Verify the error by checking the additional error information.

E A341 - - Position of motion blend has already been passed

The current movement has passed beyond the position of the motion blend.

E A342 1 0 Target velocity was not reached at motion blend position.

The position of the motion blend was overtraveled, the target velocity was not reached.

Reduce the ramp velocity so that the target velocity is reached at the position of the motion blend.

E B100 0 9 RS485/Modbus: unknown service

Unsupported Modbus service was received.

Check application on the Modbus master.

E B200 0 9 RS485/Modbus: Protocol error

Logical protocol error: Wrong length or unsupported subfunction.

Check application on the Modbus master.

E B201 2 6 RS485/Modbus: Nodeguard error

Connection monitoring (parameter MBnode_guard) is <>0ms and a nodeguard event was detected.

Check application on the Modbus master or change value (set to 0ms or increase the parameter MBnode_guard monitoring time).

E B202 0 9 RS485/Modbus: Nodeguard warning

Connection monitoring (parameter MBnode_guard) is <>0ms and a nodeguard event was detected.

Check application on the Modbus master or change value (set to 0ms or increase the parameter MBnode_guard monitoring time).




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E B400 2 7 CANopen: NMT reset with power stage enabled

NMT Reset command is received while drive is in operating state Operation Enabled.

Disable the power stage before sending a NMT reset command.

E B401 2 7 CANopen: NMT reset with power stage enabled

NMT Stop command is received while drive is in operating state Operation Enabled.

Disable the power stage before sending a NMT Stop command.


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BLP14A 11 Parameters


1111 Parameters

This chapter provides an overview of the parameters which can be used for operating the product.

11.1 Representation of the parameters

The way parameters are shown provides information required for unique identification, the default values and the properties of a parameter.

Entering values Please note that parameter values are entered via the fieldbus without a decimal point. All decimal places must be entered.

Input examples:

@ WARNINGUNINTENDED BEHAVIOR CAUSED BY PARAMETERS

The behavior of the drive system is governed by numerous parame-ters. Unsuitable parameter values can trigger unintended movements or signals or deactivate monitoring functions.

• Never change a parameter unless you understand its meaning.


• When commissioning, carefully run tests for all operating states and potential fault situations.


Value Commissioning software Fieldbus

20 20 20

5.0 5.0 50

23.57 23.57 2357

1.000 1.000 1000


11 Parameters BLP14A

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11.1.1 Explanation of the parameter representation

Structure of the parameter representation:

Parameter name The parameter name uniquely identifies a parameter.

Description Short description (cross reference)The short description contains information on the parameter and a cross reference to the page that describes the use of the parameter.

Selection valuesIn the case of parameters which offer a selection of settings, the value to be entered via the fieldbus and the designation of the value for input via the commissioning software and the HMI are specified.1 = Value via fieldbusSelection value1 = Selection value via commissioning software

Further description and detailsProvides further information on the parameter.

Unit The unit of the value.

Minimum value The minimum value which can be entered.


Maximum value The maximum value which can be entered.

Data type If the minimum and the maximum values are not explicitly indicated, the valid range of values is determined by the data type.





Example_Name Brief description (cross-reference)

Selection values1 / Selection value1: Explanation 12 / Selection value2: Explanation 2

Further description and details

Apk0.003.00300.00

UINT32R/Wper.-

Fieldbus 1234

Data type Byte Minumum value Maximum value

INT8 1 Byte / 8 Bit -128 127

UINT8 1 Byte / 8 Bit 0 255

INT16 2 Byte / 16 Bit -32768 32767

UINT16 2 Byte / 16 Bit 0 65535

INT32 4 Byte / 32 Bit -2147483648 2147483647

UINT32 4 Byte / 32 Bit 0 4294967295

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R/W Indicates read and/or write values

"R/" values can only be read"R/W" values can be read and written.

Persistent "per." indicates whether the value of the parameter is persistent, i.e. whether it remains in the memory after the device is switched off .

Parameter address Each parameter has a unique parameter address. The parameter ad-dress is used to access the parameter via the fieldbus.

The address consists of:

• Class.Instance.Attribute



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11.2 List of parameters





_acc_pref

-

-

Acceleration of reference value for profile generator

Sign according to the changed speed value:

Increased speed: Positive signReduced speed: Negative sign

min-1/s-0-

INT32INT32R/---


_AccessInfo

-

-

Current access channel for action objects

Low byte : Value 0 : Used by channel in high byteValue 1 : Exclusively used by channel in high byte

High byte: Current assignment of access channelValue 0: reservedValue 1: IOValue 2: HMIValue 3: Modbus RS485Value 4: CANopenValue 5: CANopen via second SDO channelValue 6: ProfibusValue 7: DeviceNetValue 8: reservedValue 9: EthernetValues 10 ... 15: Modbus TCP

--0-

UINT16UINT16R/---


_acc_pref

-

-

Acceleration of reference value for profile generator

Sign according to the changed speed value:

Increased speed: Positive signReduced speed: Negative sign

min-1/s-0-

INT32INT32R/---


_AccessInfo

-

-

Current access channel for action objects

Low byte : Value 0 : Used by channel in high byteValue 1 : Exclusively used by channel in high byte

High byte: Current assignment of access channelValue 0: reservedValue 1: IOValue 2: HMIValue 3: Modbus RS485Value 4: CANopenValue 5: CANopen via second SDO channelValue 6: ProfibusValue 7: DeviceNetValue 8: reservedValue 9: EthernetValues 10 ... 15: Modbus TCP

--0-

UINT16UINT16R/---


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_actionStatus

-

-

Action word (244)

Signal status:0: not activated1: activated

Bit 0: WarningBit 1: Error class 1Bit 2: Error class 2Bit 3: Error class 3Bit 4: Error class 4Bit 5: ReservedBit 6: Drive is at standstill (<9 [1/min])Bit 7: Drive rotates clockwiseBit 8: Drive rotates counter-clockwiseBit 9: ReservedBit 10: ReservedBit 11: Profile generator idle (reference speed is 0)Bit 12: Profile generator deceleratesBit 13: Profile generator acceleratesBit 14: Profile generator moves at constant speedBit 15: Reserved

--0-

UINT16UINT16R/---


_DCOMopmd_act

-

-

Active operating mode (195)

See DCOMopmode for coding

--6-6

INT8INT16R/---


_I2t_act_M

-

-

Current overload of motor (241) %-0-

INT16INT16R/---


_I2t_mean_M

STA- - i2TM

STA- - i2TM

Current load of motor (241) %-0-

INT16INT16R/---

CANopen 301C:1AhModbus 7220

_Id_act

-

-

Actual motor current d-component


Apk-0.00-

INT16INT16R/---

CANopen 301E:2hModbus 7684

_Id_ref

-

-

Reference motor current (d component, field weakening)


Apk-0.00-

INT16INT16R/---


_Idq_act

STA- - iACT

STA- - iACT

Total motor current (vector sum d-compo-nents and q-components)


Apk-0.00-

INT16INT16R/---








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_IO_LI_act

-

-

Status of digital inputs (257)

Bit assignments:Bit 0: LI1Bit 1: LI2...Bit 8:XLI1Bit 9:XLI2...

--0-

UINT16UINT16R/---


_IO_LO_act

-

-

Status of digital outputs (257)

Bit assignments:Bit 0: LO1_OUTBit 1: LO2_OUT...Bit 8: XLO1_OUTBit 9: XLO2_OUT...

--0-

UINT16UINT16R/---


_Iq_act

-

-

Actual motor current q-component


Apk-0.00-

INT16INT16R/---


_Iq_ref

STA- - iQRF

STA- - iQRF

Reference motor current (q component, gen-erating torque)


Apk-0.00-

INT16INT16R/---


_LastWarning

-

-

Number of last warning

Number of the most recent warning.If the warning becomes inactive again, the number is memorized until the next Fault Reset.Value 0: No warning occurred

--0-

UINT16UINT16R/---


_n_act

STA- - NACT

STA- - NACT

Actual speed of rotation (207) min-1

-0-

INT32INT16R/---


_n_actRAMP

-

-

Actual velocity of profile generator (207) min-1

-0-

INT32INT32R/---


_n_pref

-

-

Velocity of reference value for profile genera-tor

min-1

-0-

INT32INT32R/---


_n_ref

-

-

Reference speed of rotation min-1

-0-

INT16INT16R/---






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_n_targetRAMP

-

-

Target velocity of profile generator min-1

-0-

INT32INT32R/---


_OpHours

STA- - oPh

STA- - oPh

Operating hours counter s-0-

UINT32UINT32R/---

CANopen 301C:AhModbus 7188

_p_act

-

-

Actual position in internal units Inc-0-

INT32INT32R/---


_p_actRAMPusr

-

-

Actual position of profile generator (204)

In user-defined units

usr-0-

INT32INT32R/---


_p_actusr

STA- - PACu

STA- - PACu

Actual position in user-defined units (204) usr-0-

INT32INT32R/---


_p_dif

STA- - PDiF

STA- - PDiF

Current deviation between reference and actual position (242)

Corresponds to the current control deviation of the position controller without considera-tion of any dynamic components.Please note the difference in terms of SPV_p_maxDiff.

revolution-214748.3648-214748.3647

INT32INT32R/---


_p_DifPeak

-

-

Value of the maximum tracking error of the position controller (242)

The tracking error is the current position con-trol deviation minus the position control devi-ation caused by the speed.See SPV_p_maxDiff for more information.A write access resets this value.

revolution0.0000-429496.7295

UINT32UINT32R/W--


_p_ref

-

-

Reference position in internal units Inc-0-

INT32INT32R/---


_p_refusr

-

-

Reference position in user-defined units (236)

usr-0-

INT32INT32R/---

CANopen 301E:ChModbus 7704

_p_tarRAMPusr

-

-

Target position of profile generator

Absolute position value of the profile genera-tor, calculated on the basis of the relative and absolute position values received.

In user units

usr-0-

INT32INT32R/---








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_PARchecksum

-

-

Read parameter checksum -0-65535

UINT16UINT16R/---


_prgNoDEV

INF- - _PNR

INF- - _PNR

Firmware program number

Example: PR840.1The value is provided as a decimal value: 8401

--0.0-

UINT16UINT16R/---


_prgVerDEV

INF- - _PVR

INF- - _PVR

Firmware version number

Example: V4.201The value is provided as a decimal value: 4201

--0.000-

UINT16UINT16R/---


_serialNoDEV

-

-

Device serial number

Serial number: Unique number for identifica-tion of the product

-0-4294967295

UINT32UINT32R/-per.-


_SigActive

-

-

Current status of monitoring signals (243)

See _SigLatched for more details on the bit codes.

--0-

UINT32UINT32R/---






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_SigLatched

STA- - SiGS

STA- - SiGS

Saved status of monitoring signals (243)


Bit assignments:Bit 0: General errorBit 1: Limit switches (LIMP/LIMN/REF)Bit 2: Out of range (SW limit switches, tun-ing)Bit 3: Quick Stop via fieldbusBit 4: Inputs STO are 0Bit 5: ReservedBit 6: RS485 errorBit 7: CAN errorBit 8: Ethernet errorBit 9: Frequency of reference signal too highBit 10: Error current operating modeBit 11: ReservedBit 12: Profibus errorBit 13: ReservedBit 14: Undervoltage DC busBit 15: Overvoltage DC busBit 16: Mains phase missingBit 17: Motor connection errorBit 18: Motor overcurrent/short circuitBit 19: Motor encoder errorBit 20: Undervoltage 24VDCBit 21: Overtemperature (power stage, motor)Bit 22: Following errorBit 23: Maximum velocity exceededBit 24: Inputs STO differentBit 25: ReservedBit 26: ReservedBit 27: ReservedBit 28: ReservedBit 29: EEPROM errorBit 30: System booting (hardware error or parameter error)Bit 31: System error (for example, watchdog)


--0-

UINT32UINT32R/---


_StopFault

FLT- - STPF

FLT- - STPF

Number of last error causing a stop (244)

Number of the most recent error.

--0-

UINT16UINT16R/---


_Temp_act_PA

STA- - TPA

STA- - TPA

Current power stage temperature (241) °C-0-

INT16INT16R/---


_Ud_ref

-

-

Reference motor voltage d-component

In increments of 0.1V

V-0.0-

INT16INT16R/---








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_UDC_act

STA- - uDCA

STA- - uDCA

Voltage at DC bus

DC bus voltage in increments of 0.1 V

V-0.0-

UINT16UINT16R/---

CANopen 301C:FhModbus 7198

_Udq_ref

-

-

Total motor voltage (vector sum d-compo-nents and q-components)

Square root of ( _Uq_ref2 + _Ud_ref2)


V-0.0-

INT16INT16R/---


_Uq_ref

-

-

Reference motor voltage q-component


V-0.0-

INT16INT16R/---


_UserAppMem1

-

-



--0-


CANopen 3001:1FhModbus 318

_UserAppMem2

-

-



--0-



_UserAppMem3

-

-



--0-



_UserAppMem4

-

-



--0-



_VoltUtil

-

-

Degree of utilization of DC bus voltage

With a value of 100%, the drive operates at the voltage limit.

%-0-

INT16INT16R/---


_WarnActive

-

-

Active warnings, bit-coded (243)

See _WarnLatched for more details on the bit codes.

--0-

UINT16UINT16R/---






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_WarnLatched

STA- - WRNS

STA- - WRNS

Saved warnings, bit-coded (244)

Saved warning bits are deleted in the case of a FaultReset.Bits 10, 11, 13 are deleted automatically.


Bit assignments:Bit 0: General warning (see _LastWarning)Bit 1: Temperature of power stage highBit 2: Temperature of motor highBit 3: ReservedBit 4: Power stage overload (I2t)Bit 5: Motor overload (I2t)Bit 6: Braking resistor overload (I2t)Bit 7: CAN warningBit 8: Motor encoder warningBit 9: RS485 protocol warningBit 10: STO_A (PWRR_A) and/or STO_B (PWRR_B)Bit 11: DC bus undervoltage/missing mains phaseBit 12: Profibus warningBit 13: Position not yet valid (position capture still running)Bit 14: Ethernet warningBit 15: Reserved


--0-

UINT16UINT16R/---

CANopen 301C:ChModbus 7192

AbsHomeRequest

-

-

Absolute positioning only after homing (205)

0 / No: No1 / Yes: Yes

-001



AccessLock

-

-

Locking other access channels (183)

0: Release other access channels1: Lock other access channels

The fieldbus can lock active access to the device via the following access channels with this parameter:- Commissioning software- HMI- A second fieldbus

Processing of the input signals (such as HALT) cannot be locked.

-0-1

UINT16UINT16R/W--


ANA1_act

STA- - A1AC

STA- - A1AC

Analog 1: Value of input voltage mV-10000-10000

INT16INT16R/---


ANA1_I_scale

SET- - A1iS

SET- - A1iS

Reference value in op. mode Current Control at 10V at ANA1


Apk-300.003.00300.00

INT16INT16R/Wper.-








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ANA1_n_scale

SET- - A1NS

SET- - A1NS

Reference value in operating mode speed control at 10V at ANA1



min-1

-30000300030000

INT16INT16R/Wper.-


ANA1_offset

SET- - A1oF

SET- - A1oF

Analog 1: Offset voltage

The analog input ANA1 is corrected/offset by the offset value. If you have defined a zero voltage window, this window is effective in the zero pass range of the corrected analog input ANA1.

mV-500005000

INT16INT16R/Wper.-


ANA1_win

SET- - A1WN

SET- - A1WN

Analog 1: Zero voltage window

Threshold value up to which an input voltage value is treated as 0 V.Example: Value 20, this means a range from -20 ... +20 mV is treated as 0 mV.

mV001000



ANA2_I_max

DRC- - A2iM

DRC- - A2iM

Current limitation at 10V at ANA2

The maximum limit is ImaxM and ImaxPA, whichever is smaller.

Apk0.003.00300.00



ANA2_n_max

DRC- - A2NM

DRC- - A2NM

Velocity limitation at 10V at ANA2

The minimum velocity limitation value is set to 100 min-1. Lower values have no effect.The maximum velocity is also limited by the adjustable value in CTRL_n_max.

min-1

500300030000



ANA2LimMode

DRC- - A2Mo

DRC- - A2Mo

Selection of limitation via ANA2

0 / None / NoNE: No limitation1 / Current Limitation / CuRR: Limitation of reference current value of current controller2 / Speed Limitation / SPED: Limitation of reference speed value of speed controller

(limitation value at 10V in ANA2_n_max)

-002



ANAX1_act

STA- - A3AC

STA- - A3AC

Voltage value analog input XANA1 mV-10000-10000

INT16INT16R/---


BRK_status

-

-

Status of holding brake

Value 0: AppliedValue 1: ReleasedValue 2: Not available

-002

UINT16UINT16R/---


BRK_tclose

DRC- - BTCL

DRC- - BTCL

Time delay for applying the holding brake ms001000







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BRK_trelease

DRC- - BTRE

DRC- - BTRE

Time delay for releasing the holding brake ms001000



CANadr

COM- - CoAD

COM- - CoAD

CANopen address (node number) (162)

Valid addresses (node numbers): 1 to 127

Read access:Rotary switch (NodeID) = 0: NodeID = Parameter valueRotary switch (NodeID) = >0: NodeID = Value from rotary switch

NOTE: Changed settings do not become active until the unit is switched on the next time or until after an NMT reset.

-1127127



CANbaud

COM- - CoBD

COM- - CoBD

CANopen Baud rate (162)

50 / 50 kB / 50: 50 kBaud125 / 125 kB / 125: 125 kBaud250 / 250 kB / 250: 250 kBaud500 / 500 kB / 500: 500 kBaud1000 / 1 MB / 1000: 1 MBaud

Read access:Rotary switch (Baud) = 0 -> Baud rate = value of user parameterRotary switch (Baud) >0 -> Baud rate = value selected via rotary switch


-501251000



CanDiag

-

-

CANopen diagnostic word

0x0001 pms read error for TxPDO0x0002 pms write error for RxPDO10x0004 pms write error for RxPDO20x0008 pms write error for RxPDO30x0010 pms write error for RxPDO40x0020 heartbeat or lifeguard error (timer expired)0x0040 heartbeat msg with wrong state received0x0080 CAN warning level set0x0100 CAN message lost0x0200 CAN in bus-off0x0400 software queue rx/tx overrun0x0800 CPD error indication from error causing stop

--0-

UINT16UINT16R/---


CANpdo4Event

-

-

PDO4 event mask

Changes of values in the object trigger an event:Bit 0 = 1: first PDO4 objectBit 1 = 1: second PDO4 objectBit 2 = 1: third PDO4 objectBit 3 = 1: fourth PDO4 objectBit 4..15 : reserved

-01515

UINT16UINT16R/W--








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CANrestore

COM- - CoRS

COM- - CoRS

CANopen Restore

0 / On / on: CANopen Restore Default Parameter supported1 / Off / off: CANopen Restore Default Parameter not supported

Defines the behavior of the CANopen object 1011 (Restore Default parameter).This value must be set to 'Off' for Telemeca-nique PLCs 'Twido' and 'Mirano'.

-001



CTRL_I_max

SET- - iMAX

SET- - iMAX

Current limitation (164)

The value must not exceed the maximum permissible current of the motor or the power stage.

Default: M_I_max or PA_I_max, whichever is lowest

Apk0.00-299.99



CTRL_KFPp

-

-

Velocity feed-forward position controller

Overshoot of up to 110% is possible.

%0.0100.0110.0



CTRL_KPid

-

-

Current controller d component P gain

This value is calculated on the basis of the motor parameters.

In increments of 0.1V/A

V/A0.5-1270.0



CTRL_KPiq

-

-

Current controller q component P gain


In increments of 0.1V/A

V/A0.5-1270.0



CTRL_KPn

-

-

Velocity controller P gain (174)

The default value is calculated on the basis of the motor parameters.

A/min-1

0.0001-1.2700



CTRL_KPp

-

-

Position controller P gain (179)

The default value is calculated.

1/s2.0-495.0



CTRL_n_max

SET- - NMAX

SET- - NMAX

Speed limitation (165)

The set value must not exceed the maximum motor speed.

Default: maximum motor speed (see M_n_max)

min-1

0-13200



CTRL_Pcdamp

-

-

Posicast filter: Damping

The filter is switched off at a value of 1000.

%50.0100.0100.0

UINT16UINT16R/Wper.expert






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CTRL_Pcdelay

-

-

Posicast filter: Time delay

The filter is switched off at a value of 0.

ms0.000.0025.00

UINT16UINT16R/Wper.expert


CTRL_TAUnref

-

-

Filter time constant of reference velocity value filter (175)

ms0.009.00327.67



CTRL_TNid

-

-

Current controller d component integral action time


In increments of 0.01ms

ms0.13-327.67



CTRL_TNiq

-

-

Current controller q component integral action time


In increments of 0.01ms

ms0.13-327.67



CTRL_TNn

-

-

Velocity controller integral action time (174) ms0.009.00327.67



CUR_I_target

-

-

Reference current in operating mode current control (194)

Apk-300.000.00300.00

INT16INT16R/W--


CURreference

-

-

Reference value source for operating mode Current Control (194)


-002

UINT16UINT16R/W--


DCOMcompatib

-

-

DriveCom state machine: state transition from 3 to 4

0 / Automatic: Automatic (state transition is performed automatically)1 / Drivecom-conform: Standard-compliant (state transition must be controlled via the fieldbus)

Determines the state transition between the states SwitchOnDisabled (3) and Ready-ToSwitchOn (4) for CANopen devices.If the device is not CANopen, this value is ignored!

-001









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DCOMcontrol

-

-

Drivecom control word (191)

Refer to chapter Operation, Operating States, for bit coding information.Bit 0: Switch onBit 1: Enable Voltage Bit 2: Quick StopBit 3: Enable OperationBit 4..6: Operating mode specificBit 7: Fault ResetBit 8: HaltBit 9..15: Reserved (must be 0)

--0-

UINT16UINT16R/W--


DCOMopmode

-

-

Operating mode (194)



--8-6

INT8INT16R/W--


DCOMstatus

-

-

Drivecom status word (189)

Refer to chapter Operation, State Machine for bit coding information.Bit 0-3,5,6: Status bitsBit 4: Voltage enabledBit 7: WarningBit 8: HALT request activeBit 9: RemoteBit 10: Target reachedBit 11: ReservedBit 12: Operating mode specificBit 13: x_errBit 14: x_endBit 15: ref_ok

--0-

UINT16UINT16R/---


DEVcmdinterf

- - DEVC

- - DEVC

Specification of the control mode (159)

0 / None / NoNE: Undefined1 / IODevice / io: Local control mode2 / CANopen / CANo: CANopen3 / Modbus / MoDB: Modbus

NOTE: Changed settings do not become active until the unit is switched on the next time (exception: change of value 0, for "First Setup").

-003



DEVSafetyReact

-

-

Specific safety function response

0 / Standard: Standard response1 / Specific: Specific response: Error response in all states

-001







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FLT_class

-

-

Error class (298)

Value 0: Warning (no response)Value 1: Error (Quick Stop -> state 7)Value 2: Error (Quick Stop -> state 8, 9)Value 3: Fatal error (state 9, can be acknowl-edged)Value 4: Fatal error (state 9, cannot be acknowledged)

-0-4

UINT16UINT16R/---


FLT_del_err

-

-

Clear error memory (297)

1: Delete all entries in the error memory

The clearing process is completed if a 0 is returned after a read access.

-0-1

UINT16UINT16R/W--


FLT_err_num

-

-

Error number (298)

Reading this parameter copies the entire error entry (error class, time of occurrence of error, ...) to an intermediate memory from which all elements of the error can then be read.

In addition, the read pointer of the error memory is automatically set to the next error entry.

-0-65535

UINT16UINT16R/---


FLT_Idq

-

-

Motor current at error time

In increments of10mA

A-0.00-

UINT16UINT16R/---


FLT_MemReset

-

-

Reset error memory read pointer (297)

1: Set error memory read pointer to oldest error entry.

-0-1

UINT16UINT16R/W--


FLT_n

-

-

Motor velocity at error time min-1

-0-

INT16INT16R/---


FLT_powerOn

INF- - PoWo

INF- - PoWo

Number of power on cycles -0-4294967295

UINT32UINT32R/---


FLT_Qual

-

-

Error additional information (298)

This entry contains additional information on the error, depending on the error number. Example: a parameter address

-0-65535

UINT16UINT16R/---


FLT_Temp_DEV

-

-

Temperature of device at error time °C-0-

INT16INT16R/---








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FLT_Temp_PA

-

-

Temperature of power stage at error time °C-0-

INT16INT16R/---

CANopen 303C:AhModbus 15380

FLT_Time

-

-

Error time (298)

With reference to operating hours counter

s0-536870911

UINT32UINT32R/---


FLT_UDC

-

-

DC bus voltage at error time

In increments of 100mV

V-0.0-

UINT16UINT16R/---


FLTAmpOnCyc

-

-

Number of cycles of enabling the power stage at error time

Number of cycles of enabling the power stage from the time the power supply (con-trol voltage) was switched on to the time the error occurred.

--0-

UINT16UINT16R/---


FLTAmpOnTime

-

-

Time between enabling of power stage and occurrence of error

s-0-

UINT16UINT16R/---


HMdisREFtoIDX

-

-

Distance from switching point to index pulse (232)

It allows to check the distance between the index pulse and the switching point and serves as a criterion for determining whether the reference movement with index pulse can be reproduced.In increments of 1/10000 revolutions

revolution-0.0000-

INT32INT32R/---


HMdisusr

-

-

Distance from switching point (229)

The distance from the switching point is defined as the reference point.

The parameter is only effective during a ref-erence movement without index pulse.

usr12002147483647

INT32INT32R/Wper.-


HMIDispPara

DRC- - SuPV

DRC- - SuPV

HMI display when motor rotates

0 / DeviceStatus / STAT: Device status (default)1 / n_act / NACT: Current speed (n_act)2 / I_act / iACT: Current motor current

-002



HMIlocked

-

-

Lock HMI

0 / Not Locked: HMI not locked1 / Locked: HMI locked

The following functions can no longer be started when the HMI is locked:- Parameter change- Jog- Fault reset

-001







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HMmethod

-

-

Homing method (226)

1: LIMN with index pulse2: LIMP with index pulse7: REF+ with index pulse, inv., outside8: REF+ with index pulse, inv., inside9: REF+ with index pulse, not inv., inside10: REF+ with index pulse, not inv., outside11: REF- with index pulse, inv., outside12: REF- with index pulse, inv., inside13: REF- with index pulse, not inv., inside14: REF- with index pulse, not inv., outside17: LIMN18: LIMP23: REF+, inv., outside24: REF+, inv., inside25: REF+, not inv., inside26: REF+, not inv., outside 27: REF-, inv., outside28: REF-, inv., inside29: REF-, not inv., inside30: REF-, not inv., outside 33: Index pulse neg. direction34: Index pulse pos. direction35: Position setting

Abbreviations:REF+: Search movement in pos. directionREF-: Search movement in pos. directioninv.: Invert direction in switchnot inv.: Direction not inverted in switchoutside: Index pulse / distance outside switchinside: Index pulse / distance inside switch

-11835

INT8INT16R/W--


HMn_out

-

-

Target velocity for moving away from switch (227)


min-1

163000



HMn

-

-

Target velocity for searching the switch (227)


min-1

16013200



HMoutdisusr

-

-

Maximum distance for search for switching point (228)

0: Monitoring of distance inactive>0: Maximum distance in user-defined units

After detection of the switch, the drive starts to search for the defined switching point. If the defined switching point is not found within the distance defined here, the refer-ence movement is canceled with an error.

usr002147483647

INT32INT32R/Wper.-


HMp_homeusr

-

-

Position at reference point (228)

After a successful reference movement, this position is automatically set at the reference point.

usr-214748364802147483647

INT32INT32R/Wper.-








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HMp_setpusr

-

-

Position for position setting (236)

Position setting position for homing method 35

usr-0-

INT32INT32R/W--


HMsrchdisusr

-

-

Maximum search distance after overtravel of switch (228)

0: Search distance monitoring disabled>0: Search distance in user units

The switch must be activated again within this search distance, otherwise the reference movement is canceled.

usr002147483647

INT32INT32R/Wper.-


IO_AutoEnable

DRC- - ioAE

DRC- - ioAE

Enabling the power stage at PowerOn

0 / Off / off: Active Enable during power on does not activate the power stage.1 / On / on: Active Enable during power on activates the power stage.2 / AutoOn / Auto: Power stage is automati-cally activated at power on.

-002



IO_LO_set

-

-

Setting the digital outputs directly

Write access to output bits is only active if the signal pin is available as an output and if the function of the output was set to 'Availa-ble as required'.

Coding of the individual signals: Bit 0: LO1_OUTBit 1: LO2_OUT...Bit 7: XLO1_OUTBit 8: XLO2_OUT...

--0-

UINT16UINT16R/W--


IOdefaultMode

DRC- - io-M

DRC- - io-M

Start-up operating mode for 'Local control mode' (161)

0 / None / NoNE: None1 / CurrentControl / CuRR: Current control (reference value from ANA1)2 / SpeedControl / SPED: Speed control (ref-erence value from ANA1)5 / Jog / Jog: Jog6 / MotionSequence / MotS: Motion sequence

NOTE: The operating mode is automatically activated as soon as the drive switches to the operating state Operation Enabled and 'IODevice / IO' is set in the parameter DEVc-mdinterf.

-006







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IOfunct_LI1

I-O- - Li1

I-O- - Li1

Function Input LI1 (262)


--0-



IOfunct_LI2

I-O- - Li2

I-O- - Li2



--0-









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IOfunct_LI4

I-O- - Li4

I-O- - Li4



--0-



IOfunct_LO1

I-O- - Lo1

I-O- - Lo1

Function Output LO1_OUT (268)


--0-



IOfunct_LO2

I-O- - Lo2

I-O- - Lo2

Function Output LO2_OUT (268)


--0-







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IOfunct_XLI1

I-O- - oLi1

I-O- - oLi1

Function Module Input XLI1 (263)


--0-



IOfunct_XLI2

I-O- - oLi2

I-O- - oLi2



--0-


CANopen 3007:1AhModbus 1844

IOfunct_XLI3

I-O- - oLi3

I-O- - oLi3



--0-


CANopen 3007:1BhModbus 1846







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IOfunct_XLI4

I-O- - oLi4

I-O- - oLi4



--0-


CANopen 3007:1ChModbus 1848

IOfunct_XLI5

I-O- - oLi5

I-O- - oLi5



--0-


CANopen 3007:1DhModbus 1850

IOfunct_XLI6

I-O- - oLi6

I-O- - oLi6



--0-







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IOfunct_XLO1

I-O- - oLo1

I-O- - oLo1

Function Module Output XLO1_OUT (268)


--0-



IOfunct_XLO2

I-O- - oLo2

I-O- - oLo2

Function Module Output XLO2_OUT (268)


--0-



IOsigLimN

-

-

Signal evaluation for negative limit switch (227)


-012



IOsigLimP

-

-

Signal evaluation for positive limit switch (227)


-012



IOsigRef

-

-

Signal evaluation for reference switch (227)



-112



JOGactivate

-

-

Activation of operating mode Jog (198)

Bit 0: positive direction of rotationBit 1: negative direction of rotationBit 2: 0=slow 1=fast

-007

UINT16UINT16R/W--


JOGn_fast

JOG- - NFST

JOG- - NFST

Speed for fast jog (198)


min-1

118013200



JOGn_slow

JOG- - NSLW

JOG- - NSLW

Speed for slow jog (198)


min-1

16013200



JOGstepusr

-

-

Jog distance prior to continuous movement (198)

0: Direct activation of continuous movement>0: Positioning distance per jog cycle

usr0202147483647

INT32INT32R/Wper.-








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JOGtime

-

-

Wait time prior to continuous movement (198)

This time is only effective if you have set a jog distance not equal to 0, otherwise the drive immediately starts a continuous move-ment.

ms150032767



LIM_I_maxHalt

SET- - LihA

SET- - LihA

Current limitation for Halt (253)




Apk---



LIM_I_maxQSTP

SET- - LiQS

SET- - LiQS

Current limitation for Quick Stop (252)




Apk---



M_currcomp

DRC- - COMP

DRC- - COMP

Current for cogging torque compensation A0.000.006.00


CANopen 300D:1FhModbus 3390

M_hallpos

DRC- - HALL

DRC- - HALL

Hall sensor position

0 / 120° / 120: Position 120°1 / 60° / 60: Position 60°

-001


CANopen 300D:1EhModbus 3388

M_hallshift

DRC- - SSHI

DRC- - SSHI

Hall sensor shift

0 / Direct / off: Without shift1 / Shifted / on: With shift

----


CANopen 300D:1DhModbus 3386

M_I_0

-

-

Continuous stall current of motor


Apk---

UINT16UINT16R/---


M_I_max

INF- - MiMA

INF- - MiMA

Maximum current of motor


Apk---

UINT16UINT16R/---


M_I_nom

INF- - MiNo

INF- - MiNo

Nominal current of motor


Apk---

UINT16UINT16R/---






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M_I2t

-

-

Maximum permissible time for M_I_max ms---

UINT16UINT16R/---


M_kE_EC

-

-

Voltage constant kE of motor

Voltage constant in Vpk at 1000 1/min

----

UINT16UINT16R/W-expert


M_L_q_EC

-

-

Motor connection inductance

In increments of 0.01 mH

mH---

UINT16UINT16R/---


M_n_max

-

-

Maximum permissible speed of rotation of motor

min-1

---

UINT16UINT16R/---


M_n_nom

-

-

Nominal speed of rotation of motor min-1

---

UINT16UINT16R/---


M_Polepair

-

-

Number of pole pairs of motor ----

UINT16UINT16R/---


M_R_UV

-

-

Motor connection resistance

In increments of 10mOhm

Ω---

UINT16UINT16R/---

CANopen 300D:DhModbus 3354

M_Sensor

DRC- - SENS

DRC- - SENS

Encoder type of motor (161)

0 / Unknown / none: Unknown16 / Hallsensor / hall: Hall signals17 / Hall And Incremental / hinc: Hall and increment signals

--0-

UINT16UINT16R/---


M_SensorLines

-

-

Number of lines of motor encoder ----

UINT16UINT16R/---

CANopen 300D:1BhModbus 3382







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M_Type

DRC- - MTYP

DRC- - MTYP

Motor type (160)

0 / None / none: No motor selected4334 / BDM4332 (RECM343/3 24V) / 4334: BDM4332 (RECM343/3 24V)4338 / BDM4334 (RECM343/3 48V) / 4338: BDM4334 (RECM343/3 48V)4344 / BDM4342 (RECM343/4 24V) / 4344: BDM4342 (RECM343/4 24V)4348 / BDM4344 (RECM343/4 48V) / 4348: BDM4344 (RECM343/4 48V)4534 / BDM4532 (RECM345/3 24V) / 4534: BDM4532 (RECM345/3 24V)4538 / BDM4534 (RECM345/3 48V) / 4538: BDM4534 (RECM345/3 48V)4544 / BDM4542 (RECM345/4 24V) / 4544: BDM4542 (RECM345/4 24V)4548 / BDM4544 (RECM345/4 48V) / 4548: BDM4544 (RECM345/4 48V)7224 / BDM7222 (RECM372/2 24V) / 7224: BDM7222 (RECM372/2 24V)7228 / BDM7224 (RECM372/2 48V) / 7228: BDM7224 (RECM372/2 48V)7244 / BDM7242 (RECM372/4 24V) / 7244: BDM7242 (RECM372/4 24V)7248 / BDM7244 (RECM372/4 48V) / 7248: BDM7244 (RECM372/4 48V)7424 / BDM7422 (RECM374/2 24V) / 7424: BDM7422 (RECM374/2 24V)7428 / BDM7424 (RECM374/2 48V) / 7428: BDM7424 (RECM374/2 48V)7444 / BDM7442 (RECM374/4 24V) / 7444: BDM7442 (RECM374/4 24V)7448 / BDM7444 (RECM374/4 48V) / 7448: BDM7444 (RECM374/4 48V)7528 / BDM7524 (RECM375/2 48V) / 7528: BDM7524 (RECM375/2 48V)7548 / BDM7544 (RECM375/4 48V) / 7548: BDM7544 (RECM375/4 48V)7728 / BDM7724 (RECM377/2 48V) / 7728: BDM7724 (RECM377/2 48V)7748 / BDM7744 (RECM377/4 48V) / 7748: BDM7744 (RECM377/4 48V)99999999 / User-defined Motor / uSEr: User-defined motor

After selection of a motor type from the list, the motor-specific parameters are automati-cally set.When you select 'user-defined', you must set the motor-specific parameters via the com-missioning software or the fieldbus.

----

UINT32UINT32R/---


M_U_nom

-

-

Nominal voltage of motor

Voltage in increments of 100mV

V---

UINT16UINT16R/---

CANopen 300D:AhModbus 3348

MBadr

COM- - MBAD

COM- - MBAD

Modbus address (163)

Valid addresses: 1 to 247

-11247







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MBbaud

COM- - MBBD

COM- - MBBD

Modbus Baud rate (163)

9600 / 9600 / 9.6: 9600 Baud19200 / 19200 / 19.2: 19200 Baud38400 / 38400 / 38.4: 38400 Baud


-96001920038400



MBdword_order

COM- - MBWo

COM- - MBWo

Modbus word order for double words (32 bit values)

0 / HighLow / hiLo: HighWord-LowWord1 / LowHigh / Lohi: LowWord-HighWord

High word first or low word first

High word first -> Modicon QuantumLow word first -> Premium, HMI (Telemeca-nique)

-001



MBformat

COM- - MBFo

COM- - MBFo

Modbus data format

1 / 8Bit NoParity 1Stop / 8N1: 8 bits, no par-ity bit, 1 stop bit2 / 8Bit EvenParity 1Stop / 8E1: 8 bits, even parity bit, 1 stop bit3 / 8Bit OddParity 1Stop / 8o1: 8 bits, odd parity bit, 1 stop bit4 / 8Bit NoParity 2Stop / 8N2: 8 bits, no par-ity bit, 2 stop bits


-124



MBnode_guard

-

-

Modbus node guard

Node guard0: Inactive (default)>0: Monitoring time

ms0010000

UINT16UINT16R/W--








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MinTimeAckBit-Low

-

-

Minimum time for movement active acknowl-edge bit

Value 0: Inactive. Acknowledge is generated by actual movement time.Value >0: Minimum time for active movement acknowledge.

If the movement time is less than the set time value, the time for the active movement acknowledge will be increased. If the movement time is greater than the set time value, the acknowledge bit for the active movement will be processed only by the movement time.

Example: Actual movement time = 5 msValue for minimum time = 20 msAcknowledge bit for active movement will be set to Low for 20 ms.

The minimum time setting is also active dur-ing processing of the homing movement and when a specific reference position value is set. In these two cases, the feedback infor-mation for 'ref_ok' or 'homing_attained' will also be processed using the set time.

-0016383



MSMactNum

-

-

Current data set number

-1: Operating mode inactive or no data set triggered yet>0: Number of the currently started data set

--1-115

INT16INT16R/---


MSMavailCnt

-

-

Number of available data sets

Number of data sets that are available.

-161616

UINT16UINT16R/---

CANopen 302D:FhModbus 11550

MSMcurNextCond

-

-

Current transition condition


Shows the transition condition which must be met for the next data set to be triggered.Coding corresponds to the definition in the parameter 'MSMdataNextCond'

-047

UINT16UINT16R/---


MSMdataAcc

-

-

Acceleration (212)

0: Use of current acceleration, no change>0: Special acceleration value, see parame-ter RAMPacc for adjustment range

min-1/s003000000







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MSMdataDec

-

-

Deceleration (212)

0: Use of current deceleration, no change>0: Special deceleration value, see parame-ter RAMPdecel for adjustment range

min-1/s003000000



MSMdataDelay

-

-

Wait time (212)

Additional wait time in ms after termination of the movement.


ms0030000



MSMdataNext

-

-

Number of subsequent data set (212)


-0015



MSMdataNextCond

-

-

Transition condition (214)



-047



MSMdataOutEnd

-

-

Output processing when processing of a data set is finished

0 / Unchanged Level: Unchanged level1 / 1-level: 1 level2 / 0-level: 0 level3 / Inverted Level: Inverted level


-003


CANopen 302D:1AhModbus 11572

MSMdataOutStrt

-

-

Output processing when a data set is started

0 / Unchanged Level: Unchanged level1 / 1-level: 1 level2 / 0-level: 0 level3 / Inverted Level: Inverted level


-003



MSMdataSpeed

-

-

Speed (212)

In the case of relative or absolute move-ments, this value corresponds to the refer-ence speed, in the case of homing to the search speed.

min-1

0013200









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MSMdataTarget

-

-

Target value of movement type (211)

The value depends on the selected process-ing type (see MSMdataType for settings):- None: no meaning- Absolute positioning: absolute position in usr- Relative positioning: relative distance in usr- Reference movement: type of reference movement (see HMmethod)- Position setting: position setting position in usr

--214748364802147483647

INT32INT32R/Wper.-


MSMdataType

-

-

Selection of movement type (211)

0 / None: None1 / Absolute Positioning: Absolute position-ing2 / Relative Positioning: Relative position-ing3 / Homing: Homing4 / Set Position: Position setting

Sequential selection:Processing of wait time and transition condi-tion only.Direct selection:Triggering of a data set without movement, but compliance with handshake mechanism.

-004



MSMfeature

-

-

Special setting

Value 1:Only sequential selection:No automatic transition. When a data set is started, this value is used. The subsequent data set is triggered by a rising edge. If the movement is of type "Blended Movement", the complete blended movement is proc-essed. After processing of the data set or in the case of a fault, the value is reset to 0.

-001

UINT16UINT16R/W--

CANopen 302D:BhModbus 11542

MSMglobalCond

-

-

Global transition condition (210)

0 / Rising Edge: Rising edge1 / Falling Edge: Falling edge2 / 1-level: 1 level3 / 0-level: 0 level

The global transition condition defines the way the start request is to be processed. This setting is used for the first start after activation of the operating mode. In addition, this setting can be used as transition condi-tion in the individual data sets (default assignment).

-003



MSMnextNum

-

-

Next data set to be triggered

-1: Operating mode inactive or no data set selected yet>0: Number of the next data set to be trig-gered

--1-115

INT16INT16R/---






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MSMprocMode

-

-

Processing mode (209)

0 / Direct: Direct selection1 / Sequential: Sequential selection

-011



MSMselEntry

-

-

Selection of data set number in data set table

Before an entry in the data set table can be read or written, the corresponding data set number must be selected.

-0015

UINT16UINT16R/W--


MSMsetNum

-

-

Selection of a data set to be started

Number of the next data set to be triggered. This setting can only be made if no data set is active and if processing of the current data set is complete (x_end = 1).A write access changes MSNnextNum.

Special case for read access to parameter:-1: Operating mode inactive or no data set has yet been set via this parameter

--1-115

INT16INT16R/W--


MSMstartReq

-

-

Start request for processing of a data set (215)

Direct selection: The data set is triggered by a rising edge. The number of the data set to be triggered must first adjusted via MSMsetNum.Sequential selection: Triggering of a data set with start or transi-tion condition. The start condition is defined with MSMglobalCond. The transition condi-tion can be specially adjusted for each data set.

-001

UINT16UINT16R/W--


MSMstartType

-

-

Activation of operating mode motion sequence

0 / Deactivate: Deactivate1 / Activate: Activate2 / Continue halted movement: Continue a movement interrupted with HALT

-002

UINT16UINT16R/W--

CANopen 301B:1AhModbus 6964

MSMteachIn

-

-

Take over current position (TeachIn)

Writes the current user position to the data set table. The parameter specifies the row in the table into which the position is to be written.TeachIn is only allowed at standstill and if the drive is referenced (ref_ok=1). In addi-tion, the data set type 'Absolute Positioning' must be entered in the selected table row.In the operating state 'OperationEnable', the parameter '_p_refusr' is used as position value. Otherwise, '_p_actusr' is used.

-0015

UINT16UINT16R/W--

CANopen 302D:AhModbus 11540

MT_dismax

-

-

Max. permissible distance

If the reference value is active and the maxi-mum permissible distance is exceeded, an error of class 1 is generated.

The value 0 switches off monitoring.

revolution0.01.0999.9

UINT16UINT16R/W--








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PA_I_max

INF- - PiMA

INF- - PiMA

Maximum current of power stage

Current in increments of 10mA

Apk-0.00-



PA_I_nom

INF- - PiNo

INF- - PiNo

Nominal current of power stage

Current in increments of 10mA

Apk-0.00-



PA_T_max

-

-

Maximum permissible temperature of power stage (241)

°C-0-

INT16INT16R/-per.-


PA_T_warn

-

-

Temperature warning threshold of power stage (241)

°C-0-

INT16INT16R/-per.-


PA_U_maxDC

-

-

Maximum permissible DC bus voltage


V---



PA_U_minDC

-

-

DC bus voltage low threshold for switching off the drive


V---



PA_U_minStopDC

-

-

DC bus voltage low threshold for Quick Stop

If this threshold is reached, the drive per-forms a Quick Stop.Voltage in increments of 100mV

V---



PAR_CTRLreset

TUN- - RES

TUN- - RES

Reset controller parameters

0 / no: No1 / yes: Yes

The controller parameters of the velocity controller and the position controller are reset.The current controller is automatically adjusted under consideration of the con-nected motor.

-0-1

UINT16UINT16R/W--


PAReeprSave

-

-

Save parameter values to EEPROM

Value 1: Save all persistent parameters

The currently set parameters are saved to the non-volatile memory (EEPROM).The saving process is complete when the parameter is read and 0 is returned.

----

UINT16UINT16R/W--






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PARfactorySet

DRC- - FCS

DRC- - FCS

Restore factory settings (default values) (275)

0 / No / No: No1 / Yes / YES: Yes

All parameters are set to their default values, these are saved to the EEPROM.Restoring the factory settings is possible via the HMI or the commissioning software.The saving process is complete when the parameter is read and 0 is returned.

NOTE: The default becomes active only when the unit is switched on the next time.

-0-3

R/W--

PARuserReset

-

-

Reset user parameters (275)

Bit 0 = 1: Set persistent parameters to default values.All parameters are reset with the exception of:- Communication parameters- Device control- I/O functions- Type of encoder

NOTE: The new settings are not saved to the EEPROM!

-0-7

UINT16UINT16R/W--


POSdirOfRotat

DRC- - PRoT

DRC- - PRoT

Definition of direction of rotation (269)

0 / Clockwise / CLW: Clockwise1 / Counter Clockwise / CCLW: Counter-clockwise

At positive reference values, the motor rotates clockwise (as you look at the end of the motor shaft at the flange).

NOTE: The limit switch which is reached with a movement in positive direction must be connected to the positive limit switch input and vice versa.

NOTE: Changed settings do not become active until the unit is switched on the next time.

-001



POSscaleDenom

-

-

Position scaling: Denominator (247)

Refer to numerator (POSscaleNum) for a description.


usr1163842147483647

INT32INT32R/Wper.-








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POSscaleNum

-

-

Position scaling: Numerator (247)

Specification of the scaling factor:

Motor revolutions [U]-------------------------------------------User-defined units [usr]


User-defined limit values may be reduced due to the calculation of an internal factor.

revolution112147483647

INT32INT32R/Wper.-


PPn_target

-

-

Target velocity for operating mode Profile Position (205)


min-1

160-

UINT32UINT32R/W--


PPoption

-

-

Options for operating mode profile position (205)

Determines the reference position for rela-tive positioning:0: Relative with reference to the previous tar-get position of the motion profile generator1: Not supported2: Relative with reference to the actual posi-tion of the motor

-002

UINT16UINT16R/W--


PPp_targetusr

-

-

Target position for operating mode Profile Position (205)

Min./max values depend on:- Scaling factor- Software limit switches (if they are acti-vated)

usr-0-

INT32INT32R/W--


ProfileType

-

-

Motion profile

0: Linear

-000

INT16INT16R/W--


PVn_target

-

-

Target velocity for operating mode Profile Velocity (207)


min-1

-0-

INT32INT32R/W--

CANopen 60FF:0hModbus 6938





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RAMP_TAUjerk

-

-

Jerk limitation (251)

0 / Off: Off1 / 1: 1 ms2 / 2: 2 ms4 / 4: 4 ms8 / 8: 8 ms16 / 16: 16 ms32 / 32: 32 ms64 / 64: 64 ms128 / 128: 128 ms

Limits the acceleration change (jerk) of the reference position generation during the fol-lowing transitions: Standstill - acceleration Acceleration - constant speed Constant speed - deceleration Deceleration - standstill

Processing in the following operating modes: - Profile Velocity- Profile Position- Jog- Homing

Adjustments can only be made if the operat-ing mode is inactive (x_end=1).

ms00128



RAMPacc

-

-

Acceleration of profile generator (249) min-1/s306003000000



RAMPdecel

-

-

Deceleration of profile generator (249) min-1/s7507503000000



RAMPn_max

-

-

Ref. velocity limitation for op. modes with profile generation (250)

The parameter is active in the following oper-ating modes:- Profile Position- Profile Velocity- Homing- Jog

If a greater reference velocity is set in one of these operating modes, it is automatically limited to RAMPn_max.This way, commissioning at limited velocity is easier to perform.

min-1

601320013200









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RAMPsym

-

-

Symmetrical ramp

Acceleration and deceleration of the profile generator. The values are internally multi-plied by 10 (example: 1 = 10 min-1/s).

Write access changes the values under RAMPacc and RAMPdecel. The limit values are checked on the basis of the values indi-cated for these parameters.

Read access returns the greater value from RAMPacc/RAMPdecel.If the value cannot be represented as a 16 bit value, the value is set to 65535 (maxi-mum UINT16 value).

usr-0-

UINT16UINT16R/W--


SPEEDn_target

-

-

Reference velocity in operating mode Speed Control (202)


min-1

-30000030000

INT16INT16R/W--


SPEEDreference

-

-

Reference value source for operating mode Speed Control (202)

0 / None: None1 / Analog Input: Reference value via +/-10V interface ANA12 / Parameter 'speedTarg': Reference value via parameter SPEEDn_target

-002

UINT16UINT16R/W--


SPV_Flt_pDiff

-

-

Error response to following error (245)

1 / Error Class 1: Error class 12 / Error Class 2: Error class 23 / Error Class 3: Error class 3

-133



SPV_p_maxDiff

-

-

Max. permissible tracking error of the posi-tion controller (242)

The tracking error is the current position con-trol deviation minus the position control devi-ation caused by the speed. Actually, only the position control deviation caused by the torque request is used for tracking error monitoring.

revolution0.00011.0000200.0000



SPV_SW_Limits

-

-

Monitoring of software limit switches (239)

0 / None: None1 / SWLIMP: Activation of software limit switches positive direction2 / SWLIMN: Activation of software limit switches negative direction3 / SWLIMP+SWLIMN: Activation of soft-ware limit switches both directions

Monitoring of software limit switches only works in case of successful homing (ref_ok = 1).

-003







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SPV_t_block

-

-

Response time of blocking monitoring

If, in spite of maximum current, the motor shaft does not move for the time set with this parameter, the monitoring system signals a blocking error.

A value of 0 deactivated blocking monitoring.

ms010010000



SPVswLimNusr

-

-

Negative position limit for software limit switch (239)

Refer to description of parameter SPVswLimPusr.

usr--2147483648-

INT32INT32R/Wper.-


SPVswLimPusr

-

-

Positive position limit for software limit switch (239)

If a user-defined value entered is outside of the permissible range, the limit switch limits are automatically set to the maximum user-defined value.

usr-2147483647-

INT32INT32R/Wper.-


STANDp_win

-

-

Standstill window, permissible control deviation (254)

The control deviation for the standstill win-dow time must be within this range for a standstill of the drive to be detected.

Processing of the standstill window must be activated via the parameter 'STANDpwin-Time.

revolution0.00000.00103.2767



STANDpwinTime

-

-

Standstill window, time (254)

0: Monitoring of standstill window deacti-vated>0: Time in ms during which the control devi-ation must be in the standstill window

ms0032767



STANDpwinTout

-

-

Timeout time for standstill window monitoring (255)

0 : Timeout monitoring deactivated>0 : Timeout time in ms

Standstill window processing values are set via STANDp_win and STANDpwinTime.

Time monitoring starts when the target posi-tion (reference position of position controller) is reached or when the profile generator has finished processing.

ms0016000









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SuppDriveModes

-

-

Supported operating modes as per DSP402

Coding:Bit 0: Profile positionBit 2: Profile velocityBit 5: Homing

Bit 16: JogBit 17: Electronic gearBit 18: Current controlBit 19: Speed controlBit 20: Position controlBit 21: Manual tuningBit 22: Oscillator mode

The availability of the individual bits is prod-uct-dependent.

--0-

UINT32UINT32R/---






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11.3 Objects for PDO mapping

The table below shows an overview of objects that can be used for PDO mapping.

Index:Subindex Object PDO Data type

3006:1h RAMPsym R_PDO UINT16

3008:Fh _IO_LI_act

3008:10h _IO_LO_act

3009:1h ANA1_act T_PDO INT16

301B:9h JOGactivate R_PDO UINT16

301C:4h _actionStatus T_PDO UINT16

301E:3h _Idq_act T_PDO INT16

301F:2h _p_actRAMPusr T_PDO INT32

3020:4h CUR_I_target R_PDO INT16

3021:4h SPEEDn_target R_PDO INT16

6040h DCOMcontrol R_PDO UINT16

6041h DCOMstatus T_PDO UINT16

6060h DCOMopmode R_PDO INT16

6061h _DCOMopomd_act T_PDO INT16

6063h _p_act T_PDO INT32

6064h _p_actusr T_PDO INT32

606Ch _n_act T_PDO INT32

607Ah PPp_targetusr R_PDO INT32

6081h PPn_target R_PDO UINT32

6083h RAMPacc R_PDO UINT32

6084h RAMPdecel R_PDO UINT32

60FFh PVn_target R_PDO INT32



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11.4 Assignment object group 6000h

The product provides corresponding parameters for CANopen object groups 3000h and 6000h. The names of the parameters and the data type of the parameters may be different from the DS402 definition for object group 6000h. In this case, enter the data type according to the DS 402.

Index DSP 402 object name DSP 402 data type Parameter name

603F:0h Error code UINT16 _StopFault

6040:0h Control word UINT16 DCOMcontrol

6041:0h Status word UINT16 DCOMstatus

6060:0h Operating modes INT8 DCOMopmode

6061:0h Modes of Operation Display INT8 _DCOMopmd_act

6063:0h Position actual value int INT32 _p_act

6064:0h Position actual value INT32 _p_actusr

6065:0h Following error window UINT32 SPV_p_maxDiff

6067:0h Position window UINT32 STANDp_win

6068:0h Position window time UINT16 STANDpwinTime

606B:0h Velocity demand value INT32 _n_actRAMP

606C:0h Velocity actual value INT32 _n_act

607A:0h Target position INT32 PPp_targetusr

607D:1h Min position limit INT32 SPVswLimNusr

607D:2h Max position limit INT32 SPVswLimPusr

607F:0h Max profile velocity UINT32 RAMPn_max

6081:0h Profile Velocity UINT32 PPn_target

6083:0h Profile acceleration UINT32 RAMPacc

6084:0h Profile deceleration UINT32 RAMPdecel

6086:0h Motion profile type INT16 ProfileType

6098:0h Homing method INT8 HMmethod

6099:1h Homing speed during search for switch UINT32 HMn

6099:2h Homing speed during search for zero UINT32 HMn_out

60F2:0h Position Option Code UINT16 PPoption

60F4:0h Following error actual value INT32 _p_dif

60FF:0h Target velocity INT32 PVn_target

6502:0h Supported drive modes UINT32 SuppDriveModes

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BLP14A 12 Accessories and spare parts


1212 Accessories and spare parts

Source of commissioning software The latest version of the commissioning software is available for down-load from the internet.


12.1 Accessories

12.2 Connector

Description Order no.

Adapter plate for mounting on DIN rail MNA3MFDINR1

Braking Resistor Controller UBC60 ACC3EA001

Remote terminal (HMI) VW3A31101

EMC kit MNA3CS013

Holding brake controller HBC VW3M3103

PC connection kit, bidirectional converter RS232 to RS485 VW3A8106

Connector kit BLP, CANopen/DeviceNet MNA3CS111

Connector kit BLP, CANopen/DeviceNet + I/O expansion MNA3CS114


Power stage supply Female header 2 pins 5.08, GOLD black

BLZF 5.08/02/180F AU BK

Modbus RJ45 tyco/AMP


B2L 3.5/12 SN BK

CAN Female header, BL, 5.08 mm, 5 pins gray, printed, GOLD, flange

BLDZ DN5.08/5/180F GR BED

Motor Female header 4 pins 5.08, GOLD black

BLZF 5.08/04/180F AU BK

Hall effect sensors Female connector B2L, 6 pins, black, with tension clamp

B2L 3.5/6 SN BK

Encoder Female connector B2L, 8 pins, black, with tension clamp

B2L 3.5/8 SN BK

I/O expansion Female connector B2L, 10 pins, black, with tension clamp

B2L 3.5/10 SN BK


12 Accessories and spare parts BLP14A

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BLP14A 13 Service, maintenance and disposal


1313 Service, maintenance and disposal

The product may only be repaired by a Schneider Electric customer service center. No warranty or liability is accepted for repairs made by unauthorized persons.

13.1 Service address

If you cannot resolve an error yourself please contact your sales office. Have the following details available:

• Nameplate (type, identification number, serial number, DOM, ...)

• Type of error (with LED flash code or error number)

• Previous and concomitant circumstances

• Your own assumptions concerning the cause of the error

Also include this information if you return the product for inspection or re-pair.

If you have any questions please contact your sales office. Your sales office staff will be happy to give you the name of a customer service office in your area.


@ WARNINGDAMAGE TO SYSTEM COMPONENTS AND LOSS OF CONTROL

Interruptions of the negative connection of the controller supply volt-age can cause excessively high voltages at the signal connections.

• Do not interrupt the negative connection between the power sup-ply unit and load with a fuse or switch.

• Verify correct connection before switching on.

• Do not connect the controller supply voltage or change its wiring while the supply voltage is present.



13 Service, maintenance and disposal BLP14A

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13.2 Maintenance

Check the product for pollution or damage at regular intervals.

13.2.1 Lifetime STO safety function

The STO safety function is designed for a lifetime of 20 years. After this period, the data of the safety function are no longer valid. The expiry date is determined by adding 20 years to the DOM shown on the name-plate of the product.

� This date must be included in the maintenance plan of the system.

Do not use the safety function after this date.

Example The DOM on the nameplate of the product is shown in the format DD.MM.YY, for example 31.12.08. (31 December 2008). This means: Do not use the safety function after December 31, 2028.

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BLP14A 13 Service, maintenance and disposal


13.3 Replacing devices

Prepare a list with the parameters required for the functions used.

Observe the following procedure when replacing devices.

� Save the parameter settings to your PC using the commissioning software, see chapter 7.2.2 "Lexium CT commissioning software".


� Label all connections and uninstall the product.

� Note the identification number and the serial number shown on the product nameplate for later identification.

� Install the new product as per chapter 6 "Installation".

� Commission the product as per chapter 7 "Commissioning".










13 Service, maintenance and disposal BLP14A

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13.4 Changing the motor


� Label all connections and uninstall the product.

� Note the identification number and the serial number shown on the product nameplate for later identification.

� Install the new product as per chapter 6 "Installation".

� Commission the product as per chapter 7 "Commissioning".

13.5 Shipping, storage, disposal

Note the ambient conditions in chapter 3.2 "Ambient conditions".

Shipping The product must be protected against shocks during transportation. If possible, use the original packaging for shipping.

Storage The product may only be stored in spaces where the specified permis-sible ambient conditions are met.Protect the product from dust and dirt.

Disposal The product consists of various materials that can be recycled. Dispose of the product in accordance with local regulations.

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BLP14A 14 Extract


1414 Extract

14.1 Extract for installation

The chapter Engineering contains basic information that you should know before starting the installation.

@ DANGERUNEXPECTED HAZARDS

This chapter Extract does not replace the product manual. Unex-pected hazards occur during installation, commissioning and mainte-nance.

• You may only perform install, commission and maintain the prod-uct if you are a qualified and trained technician.

• Carefully read and understand the entire product manual.



14 Extract BLP14A

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Figure 14.1 Overview of the connections

4321

8765

4

321

65

1

2

3

4

CN7

CN8

CN6

12345

109876

4321

5

4321

10987

65

1211

14

32

CN3

CN4

CN58

1

1

2

CN2

CN1









CN8 Motor encoder

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BLP14A 14 Extract


Connection Pin Signal Meaning I/O

CN1 1 VDC Power stage supply 1) -

CN1 2 0VDC Reference potential to VDC -

CN2 4 MOD_D1 Bidirectional transmit/receive signal RS485 level

CN2 5 MOD_D0 Bidirectional transmit/receive signal, inverted RS485 level

CN2 7 MOD+10V_OUT 12 V supply, maximum 200 mA O

CN2 8 MOD_0V Reference potential to MOD+10V_OUT O

CN3 1 ANA1- Reference potential to ANA1+ I

CN3 2 LO2_OUT Digital output 2 O

CN3 3 LI2 Digital input 2 I


CN3 5 STO_B Safety function STO I

CN3 6 +24VDC 2) 24 VDC supply voltage for the signal outputs I

CN3 7 ANA1+ Analog input 1 I

CN3 8 LO1_OUT Digital output 1 O



CN3 11 STO_A Safety function STO I

CN3 12 0VDC Reference potential to +24VDC I

CN4 1 XLO2_OUT Digital output XLO2_OUT O

CN4 2 XLI2 Digital input XLI2 I



CN4 5 XANA1- Reference potential to XANA1+ I

CN4 6 XLO1_OUT Digital output XLO1_OUT O




CN4 10 XANA1+ Analog input XANA1 I

CN5 1 Reserved Reserved -

CN5 2 CAN_H Data CAN level

CN5 3 SHLD Shield connection -

CN5 4 CAN_L Data, inverted CAN level

CN5 5 CAN_0V Reference potential CAN -

CN6 1 U Motor phase O

CN6 2 V Motor phase V O

CN6 3 W Motor phase W O


CN7 1 HALL_U Hall signal I

CN7 2 HALL_V Hall signal I

CN7 3 HALL_W Hall signal I


CN7 5 HALL_0V Reference potential to HALL_5VOUT O


14 Extract BLP14A

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CN7 6 HALL_5VOUT 5VDC supply for Hall effect sensors O

CN8 1 ENC_A Encoder signal channel A I

CN8 2 ENC_B Encoder signal channel B I

CN8 3 ENC_I Encoder signal channel I I

CN8 4 ENC_5V Encoder supply 5Vdc O

CN8 5 ENC_A Channel A, inverted I

CN8 6 ENC_B Channel B, inverted I

CN8 7 ENC_I Channel I, inverted I

CN8 8 ENC_0V Reference potential to ENC_5V -

1) Note the special requirements in terms of the power supply units. See 5.3 "External power supply units"(regeneration condition).2) Do not bridge with supply voltage (regeneration). See 5.3.2 "Signal power supply".

Connection Pin Signal Meaning I/O

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BLP14A 14 Extract


14.1.2 Wiring example


• Fieldbus control mode

• Inputs and outputs with factory settings in Fieldbus control mode

• Safety function STO with EMERGENCY STOP button and EMER-GENCY STOP safety relay module

• Motor with Hall effect sensors and incremental encoder

• Braking Resistor Controller UBC60 (accessory)

Figure 14.2 Wiring example fieldbus control mode.

CANopenVDC

0VDC

CN3.9

CN3.3+

-

+

-

LIMN

+

-24/48Vdc

~

LI2

+

-24Vdc

~+24VDC

CN1.1

CN1.2

UBC60

CN3.6

CN3.5

CN3.11STO_A

STO_B

CN5.4

CN5.5

CN5.3

CN5.2 CAN_H

SHLD

CAN_L

CAN_0V

CN3.10

CN3.2"Active"

REF LI1

CN3.4+LI4

M3~

CN6.1

CN6.2

CN6.3

U

V

W

CN6.4 SHLD

+

-10V

CN3.7

CN3.1

ANA1+

ANA1-

CN3.8"No Fault"

+

-LIMP LI3

LO1_OUT

LO2_OUT

CN7.4 SHLD

CN7.1

CN7.2

CN7.3

HALL_U

HALL_V

HALL_W

CN7.5

CN7.6

HALL_0V

HALL_5VOUT

CN8.1

CN8.2

CN8.3

ENC_A

ENC_B

ENC_I

CN8.4

CN8.5

ENC_5V

CN8.6

CN8.7

CN8.8

ENC_A

ENC_B

ENC_I

ENC_0V

"Halt"

CN3.120VDC

E

CN1

CN3

CN5

CN3

CN8

CN7

CN6


14 Extract BLP14A

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14.2 Extract for commissioning

14.2.1 Setting the device address and baud rate

Setting the baud rate Parameter switch S1 allows you to set the baud rate.


� Use parameter switches S1.1 to S1.3 to set the baud rate.

Figure 14.3 Parameter switch S1

In the case of switch settings 01 ... 06, the selected switch setting cor-responds to the baud rate.

If the switch setting is 0, the baud rate is set via the commissioning soft-ware.

Setting the address Each device on the network is identified by a unique, adjustable node address.

The illustration below shows the factory setting of the device address.


� Use parameter switches S2 and S3 to set the address.

Figure 14.4 Settings of the rotary switches

(S2) MSD (most significant digit)Determines the tens digit of the node address

(S3) LSD (least significant digit)Determines the ones digit of the node address

S1

ONOFF

1 432

OFFOFFOFF

1 432

1 432OFF

1 432

1 432

1 432

1 432ON

CANbaud 50 kBaud

1000 kBaud500 kBaud250 kBaud

125 kBaud

S3

LSD

S2

MSD

0 1

23

456

78

90 1 2

34

56

789A

BC

D

EF

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BLP14A 14 Extract


Example Parameter switch S2 = BParameter switch S3 = 8Results in an address setting of 118.

In the case of switch settings 01 ... 127, the selected switch setting cor-responds to the address.

If the switch setting is 0, the address is set via the parameter CANadr.

Factory setting The factory setting for the device address is 0 in the parameter CANadr. Switch setting 0 reads the parameter CANadr. To operate the device, ei-ther the switch setting or the parameter CANadr must be changed. This helps to avoid that 2 devices on the network have the same address.

14.2.2 "First Setup"

A "First Setup" is required when the controller supply voltage is switched on for the first time or after the factory settings have been restored.

Preparation � If the device is not to be commissioned exclusively via the HMI, a PC with the commissioning software must be connected.

� Switch on the controller supply voltage.

"First Setup" via HMI The following diagram shows the sequence via the HMI.


14 Extract BLP14A

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Figure 14.5 "First Setup" via HMI

(1) The next menu item can only be selected if the previous menu item has a valid value (≠none).

Device control � Use the parameter DEVcmdinterf (DEVC) to specify the control mode for the device.

ENT

COAD 127

COBD 125

mbad 1

mbbd 9600

SaVe

ENT

FSU-

ENT

ESC

sens None

hinc

hall

ENT

DEVC = CANO DEVC = MoDBDEVC = IO

ENT

ENTENT

ENT

ENT

ESC

ENT

ESC

ENT

ESC

ENT

ESC

ENT

ESC

MTYP

IO-M

sped

none

ENTENT

ESC

curr

ENT

ENT

ESC

DevC None

CANO

MoDB

IO

ENT

1

1

1

1

None

4344

7748

4334

4338

USER

...

jog

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BLP14A 14 Extract


Motor type � Use the parameter M_Type (MTYP) to specify the motor connected to the device.

When you select a defined motor type, the motor-specific data is auto-matically set.

In the case of a user-specific motor, the appropriate motor-specific data must be set via the commissioning software or the fieldbus. The follow-ing parameters must be checked and adjusted:

M_Sensor, M_n_max, M_n_nom, M_I_max, M_I_nom, M_U_nom, M_R_UV, M_I2t, M_I_0, M_Polepair, M_SenssLine, M_hallshift, M_hallpos, M_currcomp, M_kE_EC and M_L_q_EC.

Hall effect sensors/motor encoder � Use the parameter M_Sensor (SENS) to specify whether or not a motor encoder is connected to the device and to indicate its func-tion.

If no motor encoder is connected, nonE is selected. If hall or hinc are selected, an encoder must be connected for operation.

Start-up operating mode � DEVcmdinerf = IODevice(DEVC = IO)

� Use the IOdefaultMode parameter (IO-M) to set the operating mode the device is to activate whenever it is switched on.

The operating modes are described in chapter 8.4 "Displaying, starting and changing operating modes".

Baud rate and address viaparameters

� DEVcmdinerf = CANopenDeviceParameter switch S1 = 0Parameter switch S2 and S3 = 0

� Use the parameter CANadr to specify the node address and the parameter CANbaud to specify the baud rate.

Each device must have its own unique node address, which may only be assigned once in the network.

Fieldbus Modbus � DEVcmdinerf = ModbusDevice(DEVC = MoDB)

� Specify the node address with the MBadr parameter (MBAD) and the baud rate with the MBbaud parameter (MBBD).


14 Extract BLP14A

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Storing the data

� Store the entries when you are done.Commissioning software: Save your settings via "Configuration - Save to EEPROM"

� The device saves the settings to the EEPROM.

A restart of the device is required for the changes to become effective.

Further steps � Attach a label to the device that contains information for servicing the device such as fieldbus type, fieldbus address and fieldbus baud rate.

� Make the settings described below for commissioning.

Note that you can only return to the "First Setup" by restoring the factory settings, see chapter 8.6.12.2 "Restoring the factory settings", page 275.

CAUTIONDAMAGE TO THE PRODUCT CAUSED BY POWER OUTAGE

If the supply voltage becomes unavailable during an update, the prod-uct will be damaged and must be sent in for repair.

• Do not switch off the supply voltage during the update.

• Update the firmware only with a reliable supply voltage.


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BLP14A 14 Extract


14.2.3 Duplicating existing device settings

Application and advantage • Multiple devices are to have the same settings, for example, when devices are replaced.

• The "First Setup" does not have to be run via the HMI.

Prerequisites Device type, motor type and device firmware must be identical. The tool to be used is the Windows-based commissioning software. The control-ler supply voltage must be switched on at the device.

Export device settings The commissioning software installed on a PC can save the settings of a device in the form of a configuration file.

� Load the configuration from the device into the commissioning soft-ware.

� Choose the menu items "File - Export".

Import device settings You can copy a stored configuration to a device of the same type. Note that the fieldbus address is copied along with this information.

� In the commissioning software, select "File - Import" and load the desired configuration.

� Load the configuration to the device.


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1515 Glossary

15.1 Units and conversion tables

The value in the specified unit (left column) is calculated for the desired unit (top row) with the formula (in the field).

Example: conversion of 5 meters [m] to yards [yd]5 m / 0.9144 = 5.468 yd

15.1.1 Length

15.1.2 Mass

15.1.3 Force

15.1.4 Power

in ft yd m cm mm

in - / 12 / 36 * 0.0254 * 2.54 * 25.4

ft * 12 - / 3 * 0.30479 * 30.479 * 304.79

yd * 36 * 3 - * 0.9144 * 91.44 * 914.4

m / 0.0254 / 0.30479 / 0.9144 - * 100 * 1000

cm / 2.54 / 30.479 / 91.44 / 100 - * 10

mm / 25.4 / 304.79 / 914.4 / 1000 / 10 -

lb oz slug kg g

lb - * 16 * 0.03108095 * 0.4535924 * 453.5924

oz / 16 - * 1.942559*10-3 * 0.02834952 * 28.34952

slug / 0.03108095 / 1.942559*10-3 - * 14.5939 * 14593.9

kg / 0.45359237 / 0.02834952 / 14.5939 - * 1000

g / 453.59237 / 28.34952 / 14593.9 / 1000 -

lb oz p dyne N

lb - * 16 * 453.55358 * 444822.2 * 4.448222

oz / 16 - * 28.349524 * 27801 * 0.27801

p / 453.55358 / 28.349524 - * 980.7 * 9.807*10-3

dyne / 444822.2 / 27801 / 980.7 - / 100*103

N / 4.448222 / 0.27801 / 9.807*10-3 * 100*103 -

HP W

HP - * 746

W / 746 -


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15.1.5 Rotation

15.1.6 Torque

15.1.7 Moment of inertia

15.1.8 Temperature

15.1.9 Conductor cross section

min-1 (RPM) rad/s deg./s

min-1 (RPM) - * π / 30 * 6

rad/s * 30 / π - * 57.295

deg./s / 6 / 57.295 -

lb·in lb·ft oz·in Nm kp·m kp·cm dyne·cm

lb·in - / 12 * 16 * 0.112985 * 0.011521 * 1.1521 * 1.129*106

lb·ft * 12 - * 192 * 1.355822 * 0.138255 * 13.8255 * 13.558*106

oz·in / 16 / 192 - * 7.0616*10-3 * 720.07*10-6 * 72.007*10-3 * 70615.5

Nm / 0.112985 / 1.355822 / 7.0616*10-3 - * 0.101972 * 10.1972 * 10*106

kp·m / 0.011521 / 0.138255 / 720.07*10-6 / 0.101972 - * 100 * 98.066*106

kp·cm / 1.1521 / 13.8255 / 72.007*10-3 / 10.1972 / 100 - * 0.9806*106

dyne·cm / 1.129*106 / 13.558*106 / 70615.5 / 10*106 / 98.066*106 / 0.9806*106 -

lb·in2 lb·ft2 kg·m2 kg·cm2 kp·cm·s2 oz·in2

lb·in2 - / 144 / 3417.16 / 0.341716 / 335.109 * 16

lb·ft2 * 144 - * 0.04214 * 421.4 * 0.429711 * 2304

kg·m2 * 3417.16 / 0.04214 - * 10*103 * 10.1972 * 54674

kg·cm2 * 0.341716 / 421.4 / 10*103 - / 980.665 * 5.46

kp·cm·s2 * 335.109 / 0.429711 / 10.1972 * 980.665 - * 5361.74

oz·in2 / 16 / 2304 / 54674 / 5.46 / 5361.74 -

°F °C K

°F - (°F - 32) * 5/9 (°F - 32) * 5/9 + 273.15

°C °C * 9/5 + 32 - °C + 273.15

K (K - 273.15) * 9/5 + 32 K - 273.15 -

AWG 1 2 3 4 5 6 7 8 9 10 11 12 13

mm2 42.4 33.6 26.7 21.2 16.8 13.3 10.5 8.4 6.6 5.3 4.2 3.3 2.6

AWG 14 15 16 17 18 19 20 21 22 23 24 25 26

mm2 2.1 1.7 1.3 1.0 0.82 0.65 0.52 0.41 0.33 0.26 0.20 0.16 0.13

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BLP14A 15 Glossary


15.2 Terms and Abbreviations

See chapter 2.6 "Standards and terminology" for information on the per-tinent standards on which many terms are based. Some terms and ab-breviations may have specific meanings with regard to the standards.

Actual position Current position of moving components in the drive system.

CAN (Controller Area Network), standardized open fieldbus as per ISO 11898, allows drives and other devices from different manufacturers to communicate.

Client First transmitter, then recipient of fieldbus messages in the client-server relationship. Starts transmission with a transmission to the server; the reference point is the server object dictionary.

DOM Date of manufacturing: The nameplate of the product shows the date of manufacture in the format DD.MM.YY or in the format DD.MM.YYYY. Example::31.12.09 corresponds to December 31, 200931.12.2009 corresponds to December 31, 2009

Degree of protection The degree of protection is a standardized specification for electrical equipment that describes the protection against the ingress of foreign objects and water (for example: IP 20).

Direction of movement Rotation of the motor shaft in a positive or negative direction of rotation. Positive positive direction of movement is when the motor shaft rotates clockwise as you look at the end of the protruding motor shaft.

Direction of rotation Rotation of the motor shaft in a positive or negative direction of rotation. Positive direction of rotation is when the motor shaft rotates clockwise as you look at the end of the protruding motor shaft.

Drive system System consisting of controller, power stage and motor.

EDS (Electronic Data Sheet); contains the specific properties of a product.

EMC Electromagnetic compatibility

ESD (electrostatic discharge) is the electrostatic discharge and describes processes and effects occurring during the discharge of electric charges.

Encoder Sensor for detection of the angular position of a rotating component. In-stalled in a motor, the encoder shows the angular position of the rotor.

Error Discrepancy between a computed, observed or measured value or con-dition and the specified or theoretically correct value or condition.

Error class Classification of errors into groups. The different error classes allow for specific responses to errors, for example by severity.


Fatal error In the case of fatal error, the product is no longer able to control the mo-tor so that the power stage must be immediately disabled.

Fault Fault is a state that can be caused by an error. Further information can be found in the pertinent standards such as IEC 61800-7, ODVA Com-mon Industrial Protocol (CIP).

Fault reset A function used to restore the drive to an operational state after a de-tected error is cleared by removing the cause of the error so that the er-ror is no longer active.


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Holding brake The holding brake in the motor has the task of holding the current motor position when the power stage is disabled, even if external forces act (for example, in the case of a vertical axis). The holding brake is not a safety function.

The signals of the holding brake meet the PELV requirements.

I/O Inputs/outputs

I2t monitoring Anticipatory temperature monitoring. The expected temperature rise of components is calculated in advance on the basis of the motor current. If a limit value is exceeded, the drive reduces the motor current.

Inc Increments

Index pulse Signal of an encoder to reference the rotor position in the motor. The en-coder returns one index pulse per revolution.

Internal units Resolution of the power stage at which the motor can be positioned. In-ternal units are specified in increments.

LED Light Emitting Diode

Limit switch Switches that signal overtravel of the permissible range of travel.

Master Active bus device that controls the data traffic on the network.

NMT Network Management (NMT), part of the CANopen communication pro-file; tasks include initialization of the network and devices, starting, stop-ping and monitoring of devices

Node guarding Monitoring of the connection to the slave at an interface for cyclic data traffic.

PELV Protective Extra Low Voltage, low voltage with isolation. For more infor-mation: IEC 60364-4-41

PLC Programmable logic controller

Parameter Device data and values that can be read and set (to a certain extent) by the user.

Persistent Indicates whether the value of the parameter remains in the memory af-ter the device is switched off.

Power Removal, PWRR see STO

Power stage The power stage controls the motor. The power stage generates current for controlling the motor on the basis of the positioning signals from the controller.

Quick Stop Function which can be used for fast deceleration of the motor via a com-mand or in the event of an error.

RCD Residual Current Device

rms "Root Mean Square" value of a voltage (Vrms) or a current (Arms)

RO , RW Read Only = Parameter can only be readRead/Write = Parameter can be read and written

STO Safety Function "STO (Safe Torque Off)" as per IEC 61800-5-2.

Scaling factor This factor is the ratio between an internal unit and a user-defined unit.

Server First the transmitter, then the recipient of fieldbus messages in the client-server relationship; responds to the request of a client; the reference point is the server object dictionary

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BLP14A 15 Glossary


Slave Passive bus device that receives control commands and provides data to the master.

Slave address Communication between master and slave is only possible after the as-signment of unique addresses.

User-defined unit Unit whose reference to motor movement can be determined by the user via parameters.

Warning If the term is used outside the context of safety instructions, a warning alerts to a potential problem that was detected by a monitoring function. A warning is not an error and does not cause a transition of the operating state.


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1616 Index

AAbbreviations 377ABORT 298, 300Absolute movement in operating mode Profile Positioning 203Access channels 183Accessories 357Accessories and spare parts 357Activating

PDO 51Actual velocity 207Acyclic data transmission 58Address setting

With parameters 129Ambient conditions 21

Connection 22Installation site 22

Analog inputs, testing 166Analog module

Analog input 166Assembling cables

Motor phases 128, 130, 132, 134, 136, 139, 140, 142Asynchronous errors 299

BBaud rate

Fieldbus 129baud rate 156Baud rate setting

With parameters 129Before you begin

Safety information 17Bit field data 41Bit field identifier 41Bit fields

Data 41Identifier 41

Boot UpMessage 62, 66

Boot-upMessage 59

Braking ramp, see deceleration rampBus arbitration 41

CCable shield 118Cable specifications

Modbus 129Protected cable installation 111


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Cables 31CAN

message 41CAN 3.0A 41CANopen

Communication profile, NMT 61Function 135Message 41Standards 10State machine 59terminating resistors 135

Category 0 stop 110Category 1 stop 110Cause of last error 297ccd

see Command codeCertifications 21Change

Operating mode 195Changing the motor 362Changing the operating state 191Client-Server 44Client-server

SDO data exchange 45COB ID 41

EMCY object 60For Node Guarding 64of communication objects 42SDO 46SYNC object 58

COB Idbus arbitration 41Identification of communication objects 41tasks 41

CodingCommand code 47, 48

Command codeRead value 48SDO 46Write value 47

Command specifier 63Commissioning 145

Analog inputs, testing 166Controller structure 172Default settings and optimization 178device address 156Direction of movement, test 171Limit switches, testing 169optimizing controller 172Optimizing speed controller 174Optimizing velocity controller 174Safety function STO, test 170Setting basic parameters 164steps 156Tools 149

commissioningbaud rate 156

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Commissioning software 150, 357Error indication 296Online help 150Prerequisites 150Setting reference value signal 173Step function 174

Commissioning software Lexium CT 150Communication objects

COB IDs 42Controlling 41for PDO 51Identification 41Overview 40

Communication profileDS301 38

Communication relationshipClient - server 43Master - slave 43Producer - consumer 43

Components and interfaces 13Connection

Ambient conditions 22Hall effect sensors(CN6) 140Motor (CN5) 138Signal interface (CN3) 131

Connection errorNode Guarding 65

Connection monitoringHeartbeat 66NMT services 63

Connection overview 24, 126, 364Control cabinet 122Controller

optimizing 172Structure 172Values 174

Controller parameter values, determination ofController parameter values for less rigid mechanical systems 176

CurrentPosition 204

Current control 199, 284Current controller

Function 172Cyclic data transmission 58

DData

Persistent data 63Reading 48SDO 46Writing 47

Data frame 43of the NMT device service 63SDO 46

Data lengthFlexible 50

Data transmission


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Acyclic 58Cyclic 58Synchronous 57

Deceleration ramp, setting 249Declaration of conformity 15Default values

Restoring 275Definition

STO 110Degree of protection 22Determining controller parameter values

Controller parameter values for rigid mechanical systems 176Device

Mounting 122, 123device address 156Device error

Internal 59Device overview 11Device profile

DS402 38Devices

Address 368Diagnostics 289Diagram

A/B signals 141dimensional drawing, see dimensionsDimensions 23Direction of movement, test 171Direction of rotation ->Direction of movement 171Disposal 359, 362DS301

communication profile 38DS402

Device profile 38

EElectrical installation 124EMC 118EMCY

COB ID of the object 60Message 59Object 59object 40

Emergency objectSee EMCY object

Emergency service 59Encoder

Motor encoder 141EPLAN Macros 9Equipotential bonding conductors 119Error

Evaluation 59Response with SDO 48

Error class 186, 292Error code 60

Table 299Error handling 59

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Error indication 289Commissioning software 296Fieldbus 297LEDs 294

Error memory 60Error register 60, 299Error response 187, 293

Meaning 186, 292Error, last 297Example

Index and subindex entries 39SDO message 46Selection of a COB ID 42Setting for R_PDO3 51

Examples 277External power supply unit 108

FFieldbus

Error indication 297First Setup

Preparation 157, 369Via HMI 158, 369

Following errorMonitoring function 242

FunctionReversal of direction 269

Function code 42function code

See Function codeFunctional safety 20, 33Functions 237, 249

Halt 253monitoring functions 237Motion profile 249Quick Stop 252Restoring default values 275scaling 246Standstill window 254

Further reading 10

GGlossary 375

HHalt 253Hazard categories 18Heartbeat 63, 66

Mutual monitoring 66NMT state evaluation 66Start of monitoring 66

HMIFirst Setup 158, 369function 151Menu structure 151, 152Remote terminal 151


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Homing 224, 283Homing by position setting

Position setting 236

II2t 241Identification

of communication objects 41Index

SDO 46Installation

electrical 124mechanical 120

Installation siteAmbient conditions 22

Intended use 17Interface signal

FAULT_RESET 252Interruption of movement

Cause 299Introduction 11IP degree of protection 22

JJerk limitation 250Jog 196, 288

LLayer model

Application Layer 36Data Link Layer 36Physical Layer 36

LEDsError indication 294

Lexium CT commissioning software 150Life guarding 63Limit switch

Limit switch 240Moving the drive away from the switch 240Reference movement without index pulse 229

Limit switches, testing 169Limit values

Setting 164

MMacros EPLAN 9Maintenance 359Manuals

Source 9Master - Slave 43Mechanical installation 120Mechanical system, design for control system 175Message 41

Boot-up 59CANopen 41EMCY 59

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NMT 63, 64PDO 51SDO 46

Message objects 298EMCY(80h+ node ID) 298Error code (603Fh) 298Error register (1001h) 298Status word (6041h) 298

Message-oriented communication 35Messages

Asynchronous errors 299Error code (603Fh) 299Error register (1001h) 299On the device status 299Synchronous errors 299

ModbusConnection 130Function 129

MonitoringMotor phases 138Parameters 243

Monitoring functions 115, 237Motion profile 249Motion Sequence 208Motor cable

Connection 138Motor encoder

Encoder type 141Function 141

Mounting distances 122Mounting, mechanical 122Multimaster capability 35

NNetwork management

See NMTNMT

Message 63Network services 61Recipient of a message 63Services 61

For connection monitoring 63For device control 62Initialization 62

services 40State machine 62State of slave 64Structure of a message 64

Node address 41, 42, 63Node Guarding

COB ID 64Connection error 65

Node guarding 63Node ID 41


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OObject groups

Overview 37Objects

Standardized 39Operating Mode

Speed Control 201, 286Operating mode

Change 195Current control 199, 284Homing 224, 283Jog 196, 288Motion Sequence 208Profile Position 203, 280Profile Velocity 206, 282Start 194

Operating modes 196Starting and monitoring 58Vendor-specific 284

Operating states 184Operation 181Optimization of default settings 178Overview 148, 149

Communication objects 40Connections 24, 126, 364Object groups 37Procedure for electrical installation 125

PParameter

Display via HMI 152representation 315

Parameters 315PDO 40, 50

Activating 51Communication objects 51Message 51Producer-consumer 50Receive PDOs 52Settings 51Start PDO 58Time intervals 52Transmit PDOs 53

PDO mapping 55Static 55Structure of entries 56

PELV power supply UL 31Pollution degree 22Pollution degree for UL 31Position

Current 204Target 205

Position controllerFunction 173optimizing 179

Position setting 236

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PositioningTriggering 203

Positioning limits 238Prerequisites

For setting the operating mode 193Prioritization of messages 35Process Data Object

see PDOprocess data objects

see PDOProducer-Consumer 44Producer-consumer

EMCY 59Heartbeat 66PDO 50SYNC 57

Profile generator 249Profile Position 203, 280Profile Velocity 206, 282Profiles

standardized 38Vendor-specific 38

Protected cable installation 111

QQualification of personnel 17Quick Stop 252

RR_PDO

R_PDO1 52R_PDO2 52R_PDO3 52R_PDO4 53

Rampshape 249Steepness 249

Realtime data exchange 50Receive PDOs 52Recipient

of an NMT message 63REF, see reference switchReference movement with index pulse 232Reference movement without index pulse 229Reference switch

Reference movement with index pulse 233Reference movement without index pulse 230

Reference value filter 175Reference value signal

Setting 173Relative movement in operating mode Profile Position 203Remote terminal

HMI 151Residual error probability 35Response

to SDO error 48


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Reversal of direction 269

SSafe Torque Off 110

Definition 110Safety disconnect moment 110Safety function 110

Application examples 112Category 0 stop 110Category 1 stop 110Definition 110Definitions 110Requirements 110

Safety function STO, test 170Scaling 246Scope of supply 12SDO 40, 45

COB ID 46Command code 46Data 46Data frame 46Error message 298, 300Error response 48Index, Subindex 46Message 46Message types 45Response 48Transmission error 300

Service 359Service address 359Service Data Object

See SDOService data objects 40

See SDOServices

EMCY 59For connection monitoring 61For device control 61NMT 40, 61

Shield 118Shipping 362Signal interface

Connection 132, 134Software limit switch 239Source

Commissioning software 150, 357EPLAN Macros 9Manuals 9

SpecificationCAN 3.0A 41

Speed Control 201, 286Speed controller

Setting 174Standstill window 254Start

Operating mode 194Start-up operating mode 161, 371

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State diagram 184State machine

CANopen 59NMT 62

State transitions 185, 291Status monitoring during operation 237Step function 174STO 110

Application examples 112Definitions 110Requirements 110

Storage 362Subindex

SDO 46Surrounding air temperature UL 31SYNC object 40, 57

COB ID 58With PDO 50

Synchronization 57Time values 57

Synchronization objectSee SYNC object

SynchronousData transmission 57Errors 299

TT_PDO

T_PDO1 53T_PDO2 53T_PDO3 53T_PDO4 54

Target position 205Target velocity 207Tasks

of the COB Id 41Technical data 21Temperature 241Terminating resistors

CANopen 135Terms 377Time interval

Event timer 52Heartbeat 66Inhibit time 52PDO 52

Time valuesFor synchronization 57

Tools for commissioning 149Transmit PDOs 53Troubleshooting 289, 302

Errors by bit class 303Type code 14

UUL


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Surrounding air temperature 31UL, conditions for

PELV power supply 31Wiring 31

Units and conversion tables 375

VVelocity controller

Function 172Setting 174

Vendor-specificOperating modes 284Profiles 38

Ventilation 122

WWiring diagram

Modbus 129Motor phases 138Power stage supply (CN1) 128Signal interface 131, 133

Wiring UL 31

Documents

Brushless DC drive Product manual - Bosch Rexroth