Parameters Reference Firmware release 1.9 Doc. 10460-1-C-M

Transcription

Parameters Reference
Firmware release 1.9
Doc. 10460-1-C-M - ENG
Ax Drives Series Configurable Motion Control Platform
Doc. 10460-1-C-M
ENG
SUMMARY
1. Introduction .......................................................................................................................................... 5
1.1
Data type encoding ............................................................................................................. 5
2. Core ....................................................................................................................................................... 6
3. Motor ..................................................................................................................................................... 8
4. Encoder ............................................................................................................................................... 11
4.1
Main ................................................................................................................................ 11
4.1.1
Endat ........................................................................................................................... 14
4.1.2
Absolute Analogue Traces .............................................................................................. 15
4.1.3
Hall sensor Traces......................................................................................................... 18
4.1.4
Incremental Traces ....................................................................................................... 19
4.1.5
Sensorless .................................................................................................................... 23
4.1.6
Hiperface ..................................................................................................................... 27
4.1.7
Electrical Field Orientation ............................................................................................ 27
4.1.8
Monitor ........................................................................................................................ 29
4.2
Auxiliary ........................................................................................................................... 35
4.2.1
Endat ........................................................................................................................... 35
4.2.2
Incremental Traces ....................................................................................................... 36
4.3
Monitor ............................................................................................................................ 41
5. Torque Loop ....................................................................................................................................... 43
5.1
Filters .............................................................................................................................. 46
5.1.1
Principles ..................................................................................................................... 47
5.2
Field Weakening ............................................................................................................... 49
5.2.1
Monitor ........................................................................................................................ 50
5.3
Monitor ............................................................................................................................ 50
6. Power Stage ........................................................................................................................................ 53
6.1
6.2
Power-on Self Test ............................................................................................................ 54
Monitor ............................................................................................................................ 55
7. Speed Position Loop .......................................................................................................................... 55
7.1
7.2
7.3
Space Speed Control Loop ................................................................................................. 56
Positioner ......................................................................................................................... 57
Monitor ............................................................................................................................ 59
8. Device Control .................................................................................................................................... 60
8.1
8.2
8.3
8.4
Profile Position ................................................................................................................. 64
Profile Velocity ................................................................................................................. 65
Interpolation mode ............................................................................................................ 66
Homing Mode ................................................................................................................... 68
9. Fieldbus .............................................................................................................................................. 71
9.1
9.1.1
9.1.2
9.1.3
9.1.4
9.2
9.3
9.3.1
9.4
9.4.1
CANOpen ......................................................................................................................... 71
CANOpen RxPDO Communication Parameters ................................................................. 75
CANOpen RxPDO Mapping Parameters ........................................................................... 75
CANOpen TxPDO Communication Parameters ................................................................. 75
CANOpen TxPDO Mapping Parameters ........................................................................... 77
Serial Link ........................................................................................................................ 77
EtherCAT.......................................................................................................................... 79
Monitor ........................................................................................................................ 80
Sync Manager ................................................................................................................... 84
Monitor ........................................................................................................................ 84
Parameters Reference (firmware release 1.9)
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10. System ................................................................................................................................................ 85
10.1
Brake Unit ........................................................................................................................ 85
10.1.1 Monitor ........................................................................................................................ 88
10.2
Thermal Model ................................................................................................................. 90
10.2.1 Monitor ........................................................................................................................ 91
11. Additional Parameters ....................................................................................................................... 92
11.1
11.2
11.3
11.4
CANOpen additional parameters......................................................................................... 93
Position additional parameters ........................................................................................... 96
System additional parameter .............................................................................................. 97
Physical Digital/Analog Input/Output .................................................................................. 97
12. PLC Variables ..................................................................................................................................... 98
12.1
12.2
12.3
12.4
12.5
12.6
12.7
12.8
12.9
12.10
12.11
12.12
12.13
Globals Group ................................................................................................................... 99
PLC Group ........................................................................................................................ 99
Encoder Group ................................................................................................................100
Torque Loop Group .........................................................................................................103
Power Stage Group ..........................................................................................................105
Space Speed Control Loop Group .....................................................................................106
Positioner Group .............................................................................................................107
Device Control Group ......................................................................................................110
Thermal Model Group ......................................................................................................111
CANOpen Group .............................................................................................................111
CAN Group .....................................................................................................................112
EtherCAT Group ..............................................................................................................112
Sync Manager Group .......................................................................................................113
A. Encoder position format .................................................................................................................. 114
B. Physical units vs. Device units conversion ................................................................................... 114
C. Alarm List.......................................................................................................................................... 114
D. Default PDO parameters .................................................................................................................. 121
E. Space Speed control loop schema ................................................................................................. 123
F. Firmware diagram ............................................................................................................................ 124
G. IPA Parameters sorted index........................................................................................................... 125
H. Name Objects sorted index ............................................................................................................. 127
I.
CANOpen/COE Objects sorted index ............................................................................................. 129
REFERENCES
/
/
/
/
/
/
/
/
1:
2:
3:
4:
5:
6:
7:
8:
CiA DS301 V4.02
CiA DSP305 V1.1
CiA DSP402 V2.0
Phase Motion Control AxN Configurable Motion Control Platform
Phase Motion Control Cockpit II manual
EtherCAT Communication Specification.
LogicLab Enviroment User Manual Rev 3.0
Endat: VERSION 2.2 Bidirectional Synchronous-Serial Interface for Position Encoders (Heidenhain Gmbh)
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FIGURES
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
1 - Endat multi turn startup position ....................................................................................................... 15
2 - Direction count-mode ....................................................................................................................... 20
3 - Up/down count-mode ....................................................................................................................... 21
4 - Standard index capture .................................................................................................................... 22
5 - Hiperface multi turn startup position ................................................................................................. 27
6 - Electrical field orientation: IdRamp ................................................................................................... 28
7 - Standard index capture .................................................................................................................... 38
8 - Structure of controlword ................................................................................................................... 64
9 - Home Offset definition. .................................................................................................................... 69
10 - Structure of COB-ID Emergency Message ......................................................................................... 73
11 -ID ........................................................................................................... 76
12 - EtherCAT State Machine................................................................................................................. 83
13 - Structure of Device Type ................................................................................................................ 93
14 - Structure of revision number ........................................................................................................... 94
15 - Structure of COB-ID Sync Message .................................................................................................. 94
16 - Encoder Position ......................................................................................................................... 114
17 - Speed loop main schema .............................................................................................................. 123
18 - Speed loop output schema............................................................................................................ 123
19 - Drive firmware diagram. ............................................................................................................... 124
TABLES
Table
Table
Table
Table
Table
Table
Table
Table
1
2
3
4
5
6
7
8
-
System warning reference ................................................................................................................... 8
Encoder status flags .......................................................................................................................... 31
Structure of the statusword ................................................................................................................ 63
Statusword operating mode specific bits ............................................................................................. 63
Controlword operating mode specific bits ............................................................................................ 64
Homing commands ........................................................................................................................... 68
Errors detected by Auto-Forwarded and EtherCAT Processing Unit ......................................................... 80
Error register reference ...................................................................................................................... 93
4
1.
Doc. 10460-1-C-M
ENG
INTRODUCTION
The purpose of this document is to describe all Ax Drives Series parameters and their features, divided by the different
functionalities.
The system parameters are pre-defined parameters of the drive;

used in every application;

accessible from Cockpit configurator via the file SysApp.par;

organized in hierarchical menus

can be subdivided in read/write parameters (PAR) that could be saved in the drive, read-only variables (VAR)
and working variables (WKS) used to control drive behaviour.
configurator informs when
the modifications to some system parameters need a system reset to became active. Generally the parameters are
structured in hierarchic sub-groups that collect all parameters related to different firmware functionalities.
The sub-groups are divided in logic blocks: there are some principal sections that collect the more commonly used
parameters. The default values set by the manufacturer are appropriate in most cases: for particular applications it
could be necessary to tune the parameters in order to optimize the drive performances. The user must be aware that
the changes introduced assume a very deep knowledge of the drive firmware and functional control blocks
implementation.
In several section
on
-group that include all diagnostic parameters in order to allow the
monitoring the Ax Drives Series variables.
The complete drive dictionary objects are listed here below. For each object there is a set of attributes, as follow:
Object
Modbus IPA:
Modbus Data Type:
CANOpen/COE Index:
CANOpen/COE Data type:
Attributes:
Unit
Default value
Value Range:
Mnemonic name used for parameter identification and for parameter access in the PLC user
applications.
Parameter index, as defined by the Modbus protocol.
Data type of the parameter. (Refer to Data type Encoding section).
This is the object index and sub-index of the parameter.
CANOpen Data type of the parameter. (Refer to Data type Encoding section).
Read-only (ro), write-only (wo) or read-write (rw); could be limited to read-only depending on the
state of the drive.
Reset: specify if the change value of the object is affected to the reset command
Retain: the object will be permanently stored in non-volatile memory
Pdomap: PDO mappable: specify if the object could be mapped in a PDO
Measure unit of the object or if affected by the factor group (position, velocity and acceleration).
The value of the object has with the factory settings.
Value range of the parameters.
Each object is followed by a brief description for own features and characteristics.
1.1
Data type encoding
Basic data types used for accessing the object are:
 Signed8 (8 bit signed )
 Signed16(16 bit signed )
 Unsigned8 (8 bit unsigned)
 Unsigned16 (16 bit unsigned )
 Unsigned32 (32 bit unsigned )
 Real32: IEEE 754 floating point
The last part of the document deals drive topics: the control loop schema, the faults meaning and the conversion unit
for position, velocity and acceleration.
5
2.
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ENG
CORE
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPlcExeDisable
13800
5710h.0h
rw, reset, retain
n/a
0 (False) 1 (True)
PLC program execution
Modbus Data Type:
CANopen/COE Data Type:
Unsigned16
Signed8
Default value:
0(False)
These parameter let users choose if Plc code downloaded in the drive has to be executed at start-up or not. Such
option is to be intended as debugging purpose, like having drive frozen by buggy Plc code.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSysDriveMode
Drive mode configuration
22000
Modbus Data Type:
5711h.0h
rw, reset, retain
n/a
Default value:
45 (Motor Controller), 114 (Parallel Bridge Motor Control)
Unsigned16
Unsigned8
45 (Motor Controller)
Drive working mode. The Parallel Bridge option is only available on double power bridge hardware and is useful to
double power output. Refer to specific user manual for more information.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksSysRestoreParameters
18016
-rw, reset, retain
n/a
0 (False) 1 (True)
PLC program execution
Modbus Data Type:
Unsigned16
--
Default value:
0(False)
These parameter let users choose if Plc code downloaded in the drive has to be executed at start-up or not. Such
option is to be intended as debugging purpose, like having drive frozen by buggy Plc code.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSysBootErrorCode
18098
5701h.0h
ro
n/a
See table above.
Boot error code
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0000h
System boot error code.
Please contact the technical support for all errors code, except errors code: 0003h, 0005h and 0018h that should be
solve individually by the user.
Error code
0001h
0002h
0003h
0004h
0005h
0010h
0018h
0019h
0100h + NT
Description
Invalid hardware configuration.
Invalid flash parameters.
Start with power failed. The auxiliary power supply voltage is under 24 Vdc voltage. Drive
enable the power stage.
Watchdog task install failed.
Parameters error. Please check the parameters varSysWrongParCode. This parameter shows
the IPA parameter value responsible for the wrong value configuration.
Fpga program failed.
Fpga program is incompatible with the DSP firmware. Try to load firmware in the drive, if
error persist contact the technical support
Fpga test failed.
Init task configuration failed: composed by default number (0100h) plus task number that
failed own configuration.
6
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSysLifeTime
19000
5209h.0h
ro
sec
Full scale.
Doc. 10460-1-C-M
Life Time
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
ENG
Overall drive life time in seconds unit from the first configuration done in Phase Motion Control production
department.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSysMaxRTExecTime
19004
5709h.0h
ro, pdomap
100 nsec
Full scale.
Real Time Task execution
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
n/a
This is the maximum value of real-time task execution time from the last reset command.
The task execution time is intend as the sum of cycle time machine and the Plc code time, that must not exceed an
average of 110µsec, with allowed peak of 124µsec for a maximum of 4 consecutive time.
This parameters should help user to avoid the overtime error writing its own Plc code.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSysWrongParCode
19005
5703h.h
ro, pdomap
n/a
n/a
Wrong code parameter
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0 (no error detected)
This parameter show the wrong IPA value parameter code that has a wrong configuration/value.
Special error codes (only 3 number codes) are shown in table below.
Option code
1545
1546
1700
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Description
Invalid sensorless back on the fly functionality (Refer to parameters
parEncBEmf.BackTheFlySpd and parEncBEmf.SensorlessSpd).
Invalid estimated sensorless speed constant (Refer to variable
varEncBEmfSpeedKConversion ).
Invalid cooling threshold. (Refer to parameters parThermalModel.CoolingTemp and
parThermalModel.CoolingTempOff ).
varSysAvgRTExecTime
19006
570Ah.0h
ro,pdomap
100 nsec
Full scale.
Average task real time
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
n/a
Average real-time task execution time from the last reset command.
Average is executed on 1024 samples.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSysStat*
18089
5700.0h
ro
n/a
See table above.
System Status
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
0
This parameter shows the system status flags. The table below details all code.
When the user write its own PLC program the knowledge of the system status flags should be more useful.
7
Bit number
0
1
2
3
4
5
6
7
8
10
13
16
17
18
19
20
21
24
25
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
ENG
Name
varSysStatBooting
varSysStatResetting
varSysStatPowerSoftStarting
varSysStatPowerZeroElFldSeek
Description
Booting.
Resetting.
Power Ready: drive is ready to execute operation.
Research electrical field orientation procedure is
active.
Power Enabled: voltage enabled on bridge output.
varSysStatPowerEnabled
Fault.
varSysStatFault
Fault reaction.
varSysStatFaultReaction
Program flash writing.
varSysStatProgramFlashWriting
Parameters saving.
varSysStatParametersSaving
varSysStatLockedByBootError
Locked by boot error. Refer to varSysBootErrorCode
parameter.
When the Sync message is received (trough CANOpen
varSysStatFieldbusSyncing
or EtherCAT protocol) this bit is set for one real time
cycle (125 µsec).
Plc running.
varSysStatPlcRunning
Slow task to copy image data input is running.
varSysStatPlcImgSlowIn
Slow task to copy image data output is running.
varSysStatPlcImgSlowOut
Background task to copy image data input is running.
varSysStatPlcImgBackgroundIn
varSysStatPlcImgBackgroundOut Background task to copy image data output is
running.
Alarms reset: reset system alarm for one real time
varSysStatAlarmsReset
cycle.
Plc run slow task.
varSysStatPlcRunSlow
Plc run background task.
varSysStatPlcRunBackground
varSysWarnings
18088
5702.0h
ro
n/a
See table above.
System Warnings.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
0000 0000h
This parameter shows the system active warnings flag. Each bit refers to a specific warning, as shown in the following
table:
Bit mask
0000 0001h
0000 0004h
0000 0008h
0000 0010h
0000 0020h
0000 0040h
0000 0080h
0000 0100h
0000 0200h
0000 0400h
0000 0800h
0000 1000h
0001 0000h
Description
Locked by boot error.
Access to forbidden area: memory address not valid.
Safe mode start-up requested. The drive enters in this status by pressing simultaneously the command
push buttons (Symbol Arrow IN) and (Symbol Arrow OUT) on the drive. In this status drive has limited
functiona
nable the power stage. This status is useful since allow the user to
startup the drive by ignoring all the parameters and the plc application stored into the drive.
Start with power supply voltage under 24V allowed tolerance.
Undervoltage: warning if the power stage is disabled, otherwise fatal fault is generated if the power
stage is enabled.
Estimated sensorless module Kt value is out of range. (Refer to varEncBEmfValueKt).
Estimated sensorless module speed constant is out of range. (Refer to varEncBEmfSpeedKConversion).
Invalid parameters..
Safe Torque Off (STO) active.
Invalid filter parameters, requested filter cannot be achieved (Refer to 5.1)
AC Input phase line missing (Refer to parPStage_DisableACMgm)
Field weakening maximum speed unreachable (Refer to 5.2)
Save and reset request pending.
Table 1
3.
System warning reference
MOTOR
These values describe the electrical and mechanical characteristics of the motor; usually they are found on the
motor's namemeplate or on
You can obtain the data sets for all Phase standard motors from the website: http://www.phase.eu
8
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parMotorData.Resistance
27803
3F00h.0h
rw,reset, retain
Doc. 10460-1-C-M
Motor resistance.
Modbus Data Type:
Real32
Real32
Default value:
3.100
Motor inductance.
Modbus Data Type:
Real32
Real32
Default value:
~0.01432
Motor torque constant.
Modbus Data Type:
Real32
Real32
Default value:
1.01
ENG
0.001 to 32.767
Motor winding resistance value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parMotorData.Inductance
27804
3F01h.0h
rw,reset, retain
H
0.00001 to 0.32767
Motor winding inductance value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parMotorData.KT
27805
3F02h.0h
rw,reset, retain
Nm/A
0.0001 to 10450
Motor torque constant (Kt) value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parMotorData.CurrentNominalZeroSpe
ed
27806
-rw,reset, retain
Arms
0 to 214748.3647
Motor nominal current at Zero Speed.
Modbus Data Type:
Real32
--
Default value:
3.82
Motor nominal current.
Modbus Data Type:
Real32
--
Default value:
2.20
Motor current value at locked rotor.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parMotorData.CurrentNominal
27807
-rw,reset, retain
Arms
0 to 214748.3647
Motor nominal current value: is the current actually absorbed by a motor, at nominal power, supplied with nominal
voltage and frequency.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parMotorData.CurrentPeak
27808
3F03h.0h
rw,reset, retain
Arms
0 to 214748.3647
Motor current peak.
Modbus Data Type:
Real32
Real32
Default value:
7.0
Motor current peak value.
9
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
parMotorData.SpeedNominal
27809
3F04h.0h
rw,reset, retain
rad/s
Full scale.
Motor speed nominal.
Modbus Data Type:
Real32
Real32
Default value:
523.0
parMotorData.ThermalConstant
27810
-rw,reset, retain
sec
Full scale.
Motor thermal constant
Modbus Data Type:
Unsigned16
--
Default value:
2000
parMotorData.StatorInertia
27811
-rw,reset, retain
mKg*m2
Full scale.
Motor stator inertia
Modbus Data Type:
Real
--
Default value:
0.10
parMotorData.PoleNumbers
27814
3F06h.0h
rw,reset, retain
-2 to Full scale, only even numbers
Motor poles number.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
8
parMotorData.MaximumTemp
27817
-rw,reset, retain
°C
Full scale.
Motor Maximum Temp
Modbus Data Type:
Real32
--
Default value:
0.0
Direct-axis Inductance.
Modbus Data Type:
Real32
Real32
Default value:
0.0
ENG
Motor nominal speed.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Motor thermal constant.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Motor stator inertia.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Motor poles number.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Motor coil maximum temperature.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parMotorData.DirectInductance
27818
3F07h.0h
rw, retain
H
Full scale
The direct-axis current con
magnet machine.
This parameter sets the stator direct-axis inductance of the motor used during the field-weakening algorithm
execution.
If this parameter is set to zero, the value of the direct-axis inductance is set equal to the motor winding inductance
value.
10
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.MaxSpeed
26104
380Eh.0h
rw,retain,pdomap
Velocity factor unit
Full scale.
Doc. 10460-1-C-M
ENG
Maximum allowed motor speed.
Modbus Data Type:
Signed32
Signed32
Default value:
0
Motor maximum speed above which the Motor Overspeed fault is triggered; zeroes to disable. This parameter is
continuosly compared against varEncFbMechFilteredSpeed to detect the fault condition.
4.
ENCODER
The feedback source for the control loop is configured through these four flags.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.Flags.CntrlLoopPosMain
26003
3803h.0h
rw,reset, retain
-0(Aux) 1(Main)
Feedback position for the control loop.
Modbus Data Type:
Unsigned16
Signed8
Default value:
1(Main)
The position feedback to the control loop is caught or from the main encoder or from the auxiliary encoder.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.Flags.CntrlLoopSpeedMain
26004
3804h.0h
rw,reset, retain
-0(Aux) 1(Main)
Feedback speed for the control loop.
Modbus Data Type:
Unsigned16
Signed8
Default value:
1(Main)
The speed feedback to the control loop is caught or from the main encoder or from the auxiliary encoder.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.Flags.CntrlLoopAccelMain
26005
3805h.0h
rw,reset, retain
-0(Aux) 1(Main)
Feedback acceleration for the control loop.
Modbus Data Type:
Unsigned16
Signed8
Default value:
1(Main)
The acceleration feedback to the control loop is caught from the main encoder or from the auxiliary encoder.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.Flags.CntrlLoopElecAngle
Main
26006
3806h.0h
rw,reset, retain
-0(Aux) 1(Main)
Feedback Electrical Angle for the control loop.
Modbus Data Type:
Unsigned16
Signed8
Default value:
1(Main)
The motor electrical angle used by current control loops is caught from the main encoder or from the auxiliary encoder.
4.1
Main
The distinguishing feature of the absolute encoder is that it reports the absolute position of the encoder to the
electronics immediately upon power-up with no need for indexing.
In single-turn encoders the absolute position information repeats itself with every revolution. Multiturn encoders can also
distinguish between revolutions.
Relative encoders can only report change on the position, but has no native capability to report an absolute position,
that is needed for FOC current control loop. To overcome the lack, usually some electrical field angle seeking
11
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ENG
procedure is needed on the drive to provide an initial electrical angle feedback with enough accuracy to let motor turn.
Typically incremental encoders have also an index track to make an accurate electrical angle zeroing: the index track
generate one pulse when encoder rotation reach a specific position.
In order to get best performances frequently encoders are made of one absolute encoder track (to feed initial electrical
angle position) plus one incremental track (to get high angular resolution).
The Endat interface from Heidenhain is a digital, bidirectional interface for encoders: it is capable both of transmitting
position values from incremental and absolute encoders as well as transmitting or updating information stored in the
encoder, or saving new information. The data are transmitted in synchronism with the clock signal from the
subsequent electronics.
Hall effect devices are digital on/off sensors constructed of semiconductor material used to sense the presence of
magnetic fields. In brushless servo motors, the halls are usually imbedded within the motor windings and sense the
position of the rotor magnets. There is one sensor for each motor phase, aligned with the stator winding.
Sin/cos encoder, also called sinusoidal encoder, supply two sinusoidal signals, offset by 90°. The number and progress
of the sine waves (interpolation and arctangent) is evaluated. Using these values, the speed and position can be
determined with a very high resolution.
Usually sin/cos encoder has 2 tracks and one index signal track. Inverting the signals results in a total of six tracks.
The 90° offset signal are on tracks A and B. e sine half-wawe per revolution is provided at channel track C. The track
A,B,C are inverted in the encoder and provided inverted as signals on tracks A, B and C.
An incremental rotary encoder, also known as a quadrature encoder or a relative rotary encoder, has two outputs called
quadrature outputs. Incremental encoder works differently by providing an A and a B pulse output that provide no
usable count information in their own right.
To provide useful position information, the encoder position must be referenced to the device to which it is attached,
generally using an index pulse. The distinguishing feature of the incremental encoder is that it reports an incremental
change in position of the encoder to the counting electronics.
A variation on the Incremental encoder is the Sinewave Encoder: instead of producing two quadrature square waves,
the outputs are quadrature sine waves (a Sine and a Cosine).
Other model of relative encoder is the sensorless control algorithm. Advanced sensorless algorithms use the back-EMF
generated in the stator winding to determine the rotor position.
For more details on sensorless algorithm refer to §4.1.5.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.PowerVoltage
26000
3800h.0h
rw,reset, retain
12.5mV
0 to 1024 (0V to 8V)
Encoder Supply Voltage
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
416 (5.2V)
Encoder supply voltage :

for Endat should be set according to the encoder requested voltage (usually 5.2V);

for Sincos or Digital normally it is 5.2V;

for other kind please refer to the encoder manufacturer datasheet.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.MainAbselection
26001
3801h.0h
rw,reset, retain
-See table above.
Absolute encoder type selection.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0004h
Selection of the absolute tracks for the main encoder:
Option code
0000h
0001h
0003h
0004h
000Bh
Description
No sensor
Hall sensor
Analog sin/cos encoder
Absolute encoder Endat (Heidenhain encoder)
Hiperface
Name
cstEncTypeNull
cstEncTypeAbsHall
cstEncTypeAbsAnalog
cstEncTypeAbsEndat
cstEncTypeAbsHiperface
12
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.MainRelSelection
26009
3809h.0h
rw,reset, retain
-See table above.
Doc. 10460-1-C-M
Incremental encoder type.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0000h
ENG
Selection of the incremental tracks used by the main encoder:
Option code
0000h
0005h
0006h
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Description
No sensor
Sensorless BackEmf (§4.1.5)
Digital Incremental encoder
parEncMgr.Flags.DisableIfRelFail
26007
3807h.0h
rw, retain
-0 (False) 1 (True)
Name
cstEncTypeNull
cstEncTypeRelBackEMF
cstEncTypeRelIncremental
Relative position is not valid.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Immeditately disable the drive if data from relative position encoder are not valid, otherwise the absolute track is used
to try to quick stop the motor in a controlled way.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.PowerStartUpDelay
26008
3808h.0h
rw,reset, retain
msec
1 to 10000
Delay start-up encoder.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
300
Delay in msec to startup the encoder (wait for the steady power before beginning position processing).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.MaxAbsRelDiff
26100
380Ah.0h
rw, retain, pdomap
Position factor unit.
0 to 32768
Difference between positions.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
Max absolute difference admitted between calculated absolute position and incremental position for redundancy
control.
If differences goes above this threshold then drive generate fault status with Main Encoder Abs/Rel Track Check
Failure alarm.
If the value is set to zero the checking control is disabled.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.Flags.DisableEPlate
26101
380Bh.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable Endat Plate.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0 (False)
Flag to disable the reading datas from the electronic plate (only for Endat encoders).
During the start-up procedure, if the electronic plate is available the firmware reads the electronic plate values and
overwrites the user parameters parMotorData. The user has the possibility to change them later.
At following start-up if the firmware finds the same electronic plate does not overwrite the parMotorData; but it find
another electronic plate, means that the user has changed the motor, and then the parMotorData are overwritten. With
the below parameter RestoreEPlate user could force (reset) rewriting parMotorData with the right electronic plate, in
case of wrong parameters are written.
13
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.Flags.RestoreEPlate
26102
380Ch.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Doc. 10460-1-C-M
Restore Endat Plate.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
ENG
Flag to restore the data from electronic plate (only for Endat encoders).
This operation permitts to the firmware to restore the data values available on the electronic plate.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parMotorData.PhaseOffset
27812
3F05h.0h
rw,retain,pdomap
Phasing value correction.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
0 to 65535
This parameter indicates the electrical offset angle between the position feedback encoder and the motor stator
windings. In Phase motors manufacturer this value is equal to zero.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parMotorData.ElecAngleFeedForwardT
ime
26105
380Fh.0h
rw,retain,pdomap
µsec
-999 to +999
Electrical Angle feed forward time.
Modbus Data Type:
Signed16
Signed16
Default value:
0
To get high performances on current control loops at high speeds, a fine tuning on the electrical angle feedback is
required, in order to adapt ordinary encoder delay from position sample to value handling. The value has to be
investigated for each application, its range is mainly related to the encoder type; as startup values the following table
could be used:
Sin/Cos absolute encoder plus Sinewave relative encoder
Heidenhain Endat encoder
Two-poles resolver
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.Flags.DisableAbsAfterValid
26103
380Dh.0h
rw,reset,retain
n/a
0 (False) 1 (True)
103µsec
160µsec
134µsec
Disable absolute track processing after valid position.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0 (False)
When using encoders made of absolute track and relative track, after getting a valid absolute track position, the drive
switch the feedback to the relative track. This switch can save realtime task time completely disabiling absolute track
management after a valid position feedback, useful for user PLC applications.
WARNING: This parameter will bypass also the alarm management for the absolute track, potentially
reducing system capability to detect hardware malfunctions.
4.1.1
Endat
The EnDat interface from Heidenhain is a digital, bidirectional interface for encoders. It is capable both of
transmitting position values from incremental and absolute encoders as well as transmitting or updating information
stored in the encoder, or saving new information. Thanks to the serial transmission method, only four signal lines are
required. The data are transmitted in synchronism with the clock signal from the subsequent electronics. The type of
transmission (position values, parameters, diagnostics, etc.) is selected by mode commands that the subsequent
electronics send to the encoder.
14
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
parEncMEndat.ClockFreq
Endat Clock Frequency.
26020
Modbus Data Type:
3810h.0h
rw,reset,retain
kHz
Default value:
100 max value depending by Endat protocol type.
ENG
Unsigned16
Unsigned16
2000
Clock frequency selection for Endat protocol.

Max Value Endat 2.1: 2000 kHz

Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMEndat.MTurnStartPos
26023
3811h.0h
rw,reset,retain
Number of turns.
0 to 4294967295
Start-up position.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
4294967295
This parameter avoid numerical issues with startup absolute multiturn position in which the bit resolution of the turns
fraction of the position (typically 12bit) is less than 32bit (the maximum that drive can handle): properly setup of this
parameter let user choose the threshold by which startup position (e.g. at reset) is considered positive or
negative.During the initiliazation procedure, if the revolution number reached by the multiturn encoder is greater then
this value, the absolute position offset became a negative number as show figure below.
Absolute position at start-up is greater than the
turn position start value. e.g.: 4100
Multi-turn revolution
MTurnStartPos value: e.g. 4096
This is parameter is the number of multiturn revolution
encoder. i.e. EQN1325: 4096 turns.
Absolute position offset. e.g.: 4092
Figure 1 - Endat multi turn startup position
4.1.1.1
Monitor
Data related to the Endat Main Encoder status.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncMEndatCrcErrors
26021
3818h.0h
ro,pdomap
-n/a
CRC errors counter.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
n/a
Endat protocol checksum value errors counter, could be used as electrical connection diagnostic checking.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncMEndatPropDelay
26022
3819h.0h
ro,pdomap
nsec
n/a
Propagation delay.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
n/a
Data propagation delay: the value is calculated during Endat initialization procedure.
For more information refer to /8.
4.1.2
Absolute Analogue Traces
These parameters are referred to main type of absolute encoder: analogue sin/cos encoder or resolver type.
15
Doc. 10460-1-C-M
ENG
Resolvers are absolute analog rotary encoders which are ideal for harsh environments. Unlike the conventional optical
rotary encoder (with temperature-limiting internal optoelectronics), the resolver is similar to a transformer in
construction, passive and does not incorporate any electronics.
Parameters to set-up the encoder absolute analogues features.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAn.PoleCounts
26052
3840h.0h
rw,reset,retain
-2 to full scale; only even number.
Poles number per revolution.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
2
Reverse count signal.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Encoder poles number for revolution setting.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAn.Flags.ReverseSignal
26053
3841h.0h
rw,reset,retain
-0(False)-1(True)
Reverse the count of the encoder on the same direction of motor rotation.

1(True): Angle = 360° - arctan(Sin/Cos).

0(False): Angle = arctan(Sin/Cos).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAn.Flags.AnalogGain
26054
3842h.0h
rw,reset,retain
-0(Low)-1(High)
Analog gain.
Modbus Data Type:
Unsigned16
Signed8
Default value:
1(High)
This parameter setup hardware analog gains depending by the encoder type:

1(High) for Sincos encoder.

0(Low) for Resolver.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAn.AnalogAlarmThreshold
26057
3843h.0h
rw,retain
Internal device unit (d.u.)
Full scale.
Analog Alarm Threshold.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
5000
The calculated value sin² + cos² must be greater than this value, otherwise the alarm Absolute Analog Encoder Low
Tracks Level is generated. The signals of the single tracks will not be monitored to their amplitudes separately. But
from the recalculation of the encoder radius the outcome is that the signal level has to greater to the analog signal
threshold. The sin² + cos² greater to the threshold means that the amplitude of signal sine and cosine are correct; this
represents the health of the encoder.If the value is set to zero then amplitude checking is disabled.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAn.FrequencyOffset
26064
38E0h.0h
rw,retain,pdomap
100 nsec
0 to 1200 (0 to 120 µsec)
Adjust excitation frequency generator offset.
Modbus Data Type:
Integer16
Integer16
Default value:
337 (33.7 µsec)
Shift phase of the excitation frequency for the resolver encoder type, in order to tune sampling point at maximum
signals amplitude; this setting could enhance signal-to-noise ratio, thus giving better encoder feedback performances.
16
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAn.GainSin
26059
3844h.0h
rw,retain,pdomap
[0%:100%=0:1000].
Full scale.
Doc. 10460-1-C-M
Sin Gain Adjust.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
100
ENG
Adjust Sine analog channel gain value. The levels on the Sine signal inputs must have peak-to-peak amplitude up to
the ADC reference voltage.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAn.GainCos
26060
3845h.0h
rw,retain
[0%:100%=0:1000].
Full scale.
Cos Gain Adjust.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
100
Adjust Cosine analog channel gain value. The levels on the Cosine signal inputs must have peak-to-peak amplitude up
to the ADC reference voltage.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAn.OffsetSin
26062
384Eh.0h
rw,retain
[0%:100%=0:10000].
Full scale.
Offset Sin Adjust.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
Offset Cos Adjust.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
Analog Sine channel.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Analog Cosine channel.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Adjust offset for the Sine analog channel.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAn.OffsetCos
26063
384Fh.0h
rw,retain
[0%:100%=0:10000].
Full scale.
Adjust offset for the Cosine analog channel.
4.1.2.1
Monitor
Status of the encoder absolute analogue traces.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAnChannelSin
26055
3848h.0h
ro,pdomap
Full scale.
Analog level of the encoder Sin channel.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAnChannelCos
26056
3849h.0h
ro,pdomap
Full scale
Analog level of the encoder Cos channel.
17
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAnChannelLevel
26058
384Ah.0h
ro,pdomap
Full scale.
Doc. 10460-1-C-M
Analog channel level.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
ENG
Calculated level of (sin²+cos²).
4.1.3
Hall sensor Traces
Parameters to set-up the feedback system based on Hall effect switches.
Rotor position sensors are directly mounted on the motor stator and detect the rotor magnetic field generating a
voltage signal proportional to the field intensity. The voltage signal from the Hall sensors has a periodicity in a
mechanical rotation that depends on the number of pole pairs and so the mechanical resolution of the single sensor
improves with the number of polar pairs while the electric resolution does not vary. The three Hall sensors are
separated by 120° phase angles and triggered by the rotor magnet. They produce a switching pattern depicted with a
new digital state every 60°.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncHall.PoleCounts
26042
3870h.0h
rw,reset,retain
-2 to full scale; only even number.
Encoder poles number.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
2
Encoder poles number for revolution setting.
If this value is set to zero the internal software value of the encoder poles number became equals to motor poles
number.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncHall.Flags.Enable4Wire
26043
3871h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Enable 4 wire.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0(False)
The 4-Wire 'Kelvin' method is used in cases when very high accuracy is required. The method is immune to the
influence of lead resistance and is limited by the quality of the constant current source and voltage measurement.

0(False): the 4-Wire method is disabled.

1(True): the 4-Wire method is enabled.
4.1.3.1
Monitor
Status of the Hall sensor traces.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncHallChannelSin
26044
3872h.0h
ro, pdomap
Full scale.
Analog level Sin channel
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Analog level Cos channel.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncHallChannelCos
26045
3873h.0h
ro, pdomap
Full scale.
18
Doc. 10460-1-C-M
ENG
4.1.4
Incremental Traces
With the incremental measuring method, the graduation consists of a periodic grating structure. The position
information is obtained by counting the individual increments (measuring steps) from some point of origin. Since an
absolute reference is required to ascertain positions, the graduated disks are provided with an additional track that
bears a reference mark.
The incremental signals are transmitted as the square-wave pulse trains U1 and U2, phase-shifted by 90° elec. The
reference mark signal consists of one or more reference pulses U0, which are gated with the incremental signals.
Parameters to set-up the encoder incremental features and behaviour.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.LineCounts
26030
3820h.0h
rw,reset,retain
Counts
Full scale.
Encoder Line Counts.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
512
Encoder pulses number per revolution setting.
The quadrature encoder pulse (QEP) module is used for direct interface with a linear or rotary incremental encoder to
get position, direction, and speed information from a rotating machine for use in a high-performance motion and
position-control system. Furthermore, the frequency of the clock generated by QEP circuits is four times that of the
frequency of each QEP input channel, because both the rising and falling edges of both QEP input channels are
counted by the selected timer. When used for position the quadrature encoder gives a four-fold increase in resolution,
in default case, 2048 counts per revolution.
For the Direction-count mode and for Down-Count Mode the encoder line counts is the same value set by the line number
counts (1X mode).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.Flags.EnableAnalogInterp
26033
3821h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Analog Interpolation.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Enable the analog sin/cos interpolation, used to select between analog incremental traces and digital incremental
traces:

1(True): interpolation is activate, digital counts plus analog interpolation.

0(False): interpolation is deactivate, only used digital counts.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.Flags.DisableIndexError
26034
3822h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable Index Error.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Flag to disable the error generated by the index track checking
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.Flags.DisableAnalogError
26035
3823h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable Analog Error.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Flag to disable the error generated by the analog tracks levels.
19
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.AnalogAlarmThreshold
26036
3824h.0h
rw,retain
Full scale.
Doc. 10460-1-C-M
Analog Signal Threshold.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
5000
ENG
Analog tracks level (sin²+cos²) threshold.
The calculated value sin² + cos² must be greater then this value, otherwise an alarm Main Incremental Encoder Low
Tracks Level is generated. The signals of the single tracks will not be monitored to their amplitudes separately. But
from the recalculation of the encoder radius the outcome is that the signal level has to greater to the analog signal
threshold. The sin² + cos² greater to the threshold means that the amplitude of signal sine and cosine are correct; this
represents the health of the encoder. If the value is set to zero the checking control is disabled.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.IndexErrorTolerance
26037
3825h.0h
rw,reset,retain
count
0 to parEncMInc.LineCounts.
Index Error Tolerance.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
10
Maximum tolerance for index track acceptance, as follow:
4  LineCounts  Tolerance  IndexPosition  4  LineCounts  Tolerance
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.FlagsEnableIndexTrack
26038
3826h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Enable Index Track.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Enable Step Dir mode.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Flag to enable index track.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.Flags.EnableStepDir
26050
3829h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Enable step pulse (track A) and direction (track B) mode in place of standard quadrature encoder mode. Some position
encoders provide direction and clock outputs, instead of quadrature outputs. In such cases,
direction-count mode can be used. This mode is sometimes called in a 1X mode (a 512 line encoder will generate 512
counts per revolution).
Pulse direction signals (track
A: pulses; track B: direction).
Track A
With a falling edge of track B
negative direction.
Track B
Figure 2 - Direction count-mode
Track A input will provide the clock for position counter and the track B input will have the direction information. The
position counter is incremented on every rising edge of a track A input when the direction input is high and
decremented when the direction input is low.
20
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
parEncMInc.Flags.EnableUpDown
26051
3828h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Enable Up Down mode.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
ENG
Enable up pulse (track A) and down pulse (track B) mode in place of standard quadrature encoder mode.
This is sometimes called in a 1X mode (a 512 line encoder will generate 512 counts per revolution in up/down mode).
When the Up/Down mode is selected, two input pulse signals determine the count value.

With track B high, the count increments on the rising edge of track A.

With track A high, the count decrements on the rising edge of track B.
Track A
Up count
Track B
Down count
Clockwise rotation
Counter-clockwise rotation
Figure 3 - Up/down count-mode
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.Flags.SwapTracks
26049
3827h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Swap input tracks.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Swap physical input tracks A and B to adjust wrong electrical connections.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.MaxFrequency
27300
382Bh.0h
rw,retain
kHz
20 to 2500 kHz
Maximum Encoder Frequency.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
1000 kHz
The upper frequency limit for each encoder channel is managed by this parameter; it will limit the automatic digital
filter in order to avoid catching unnecessary EMI noise that could affect system stability and reliability.
The relationship of the encoder frequency and the mechanical speed is related to encoder line count per revolution, as
follow:
f [kHz ] 
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
 
LineCount
  rad
s
2  1000
parEncMInc.Flags.DisableIndexForEle
cAngle
27301
382Ch.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable offset from index track for electrical angle adjustment.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
By default electrical angle feedback is fine-tuned when index track signal is catched; this parameter let user dealing
with custom encoders and/or custom motor phase aligment.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.Flags.DisableIndexForMe
chPos
27302
382Dh.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable offset from index track for mechanical position
adjustment.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
21
Doc. 10460-1-C-M
ENG
By default absolute mechanical position feedback is fine-tuned when index track signal is catched; this parameter let
user dealing with custom encoders and/or custom motor phase aligment.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.Flags.DisableIndexTrackS
ync
27303
382Eh.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable index synchronization with track A and B.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
The most of incremental encoders has index track signal synchronized with A and B quadrature tracks, enhancing zero
position accuracy acquisition: this is accomplished by sampling zero position when A, B and index tracks levels are at
high level:
Track A
Track B
Index
Track
Index capture window
Figure 4 - Standard index capture
This parameter let user to un-sync the index track, thus capturing index without any relationship with from quadrature
tracks; here index is sampled on rising edge of index track signal.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.Flags.DisableDigitalInterp
27304
382Fh.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable period meter digital interpolation.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
When using a pure-digital incremental encoder (e.g. no analog sin-cosine interpolation) to enhance position accuracy
at low speed the system perform a signal oversampling (period meter); this parameter let user to disable the period
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.Flags.DisableFilterWDTEr
ror
27305
3833h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable filter watchdog error on digital tracks.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Each encoder track (A, B and index) are constantly digitally filtered in order to avoid high-frequency EMI noise disrupt
the decoding process; in some extreme cases such noise is so strong that the decoding could not be performed; in this
case, a watchdog system monitor each line, detecting high frequency and unrelated signals, triggering the alarm Main
Incremental Encoder Filter Watchdog Fault.This parameter disable watchdog monitoring and related alarm.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMInc.Flags.CaptureAllIndexes
27306
3834h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Enable capturing of all indexes, unregarding index tolerance.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Index capture position is checked against the encoder pulses number per revolution as explained in
parEncMInc.IndexErrorTolerance; when detecting 16 consecutive times index capture out of tolerance window, the
Main Incremental Encoder Invalid Line Count alarm will be triggered. This parameter disable this alarm and at same
time let custom user application to catch any index position.
22
4.1.4.1
Doc. 10460-1-C-M
ENG
Monitor
Status of the incremental encoder.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncIncChannelSin
26039
3830h.0h
ro,pdomap
Full scale.
Analog level Sin channel
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Analog level Cos channel.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Analog level channel.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncIncChannelCos
26040
3831h.0h
ro,pdomap
Full scale.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncIncChannelLevels
26041
3832h.0h
ro,pdomap
Full scale.
Calculated level of (sin²+cos²).
For more details refer to parEncMInc.AnalogAlarmThreshold parameter.
4.1.5
Sensorless
This algorithm is based on the estimation of rotor speed and angular position starting from the back electromotive
force space vector determination without voltage sensors by using the reference voltages given by the current
controllers instead of the actual ones.
WARNING: Only expert users have to use these parameters. These parameters should used to set up the
sensorless algorithm or should be useful to check the system during start-up operation. Be careful as
modifying the values of this object with power enabled could yield in a loss of axle control.
Parameters to handle sensorless control algorithm.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncBEmf.Flags.OpenLooply
26066
3850h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Open loop only.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
With this flag the user controls the drive in Open Loop without any contributes of the estimated back electromotive
force value. Acceleration, speed and position of Open loop modality are calculated using reference speed as applied
speed without any feedback information.
23
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:



Iq Limit.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
ENG
1(True): dynamic limit applied to the quadrature current during the sensorless start-up operations. Refer to
parameters wksDynamicIqLimMin, wksDynamicIqLimMax.
0(False): limit applied to the quadrature current depending only by the drive limits and by the Sensorless
Algorithm Status.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:

parEncBEmf.Flags.DynamicIqLimit
26067
3851h.0h
rw,retain
n/a
0 (False) 1 (True)
Doc. 10460-1-C-M
parEncBEmf.Flags.DynamicIdLimit
26068
3852h.0h
rw,retain
n/a
0 (False) 1 (True)
Id Limit.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
1(True): dynamic limit applied to the direct current during the sensorless start-up operations. Refer to
parameters wksDynamicIdLimMin, wksDynamicIdLimMax.
0(False): limit applied to the quadrature current depending only by the drive limits and by the Sensorless
Algorithm Status.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncBEmf.BackTheFlySpd
26069
3853h.0h
rw,reset,retain
0.0001
[0%:100%=0:10000].
Back on the fly speed.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
9000
Defines the speed, expressed percentage of the nominal motor speed (parMotorData.SpeedNominal), used to try to
enable the motor control while it still turning. This value has to be greater than the sum of the sensorless speed
(parEncBEmf.SensorlessSpd) and of a delta value (about 10%); otherwise a Sensorless alarm is generated.
parEncBEmf.BackOnThe FlySpd  parEncBEmf.SensorlessSpd  10%
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncBEmf.SensorlessSpd
26070
3854h.0h
rw,reset,retain
0.0001
[0%:100%=0:10000].
Sensorless speed.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
2000
Sensorless speed: percentage of the parMotorDataSpeedNominalnominal motor speed (parMotorData.SpeedNominal).
This is the speed that the motor must reach in order to get the sensorless algorithm fully working.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncBEmf.Threshold1Spd
26071
3855h.0h
rw,reset,retain
0.0001
[0%:100%=0:10000].
Threshold 1 limit.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
500
Threshold 1 speed: percentage of the nominal motor speed (parMotorData.SpeedNominal). Used only during the
sensorless initialization procedure.
This value has to be lower of parEncBEmf.SensorlessSpd value; otherwise an alarm Parameter value out of range is
generated.
24
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncBEmf.Threshold0Spd
26072
3856h.0h
rw,reset,retain
0.0001
[0%:100%=0:10000].
Doc. 10460-1-C-M
Threshold 0 limit.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
250
ENG
Threshold 0 speed: percentage of the nominal motor speed (parMotorData.SpeedNominal). Used only during the
sensorless initialization procedure.
This value has to be lower of parEncBEmf.Threshold1Spd1 value; otherwise an alarm Parameter value out of range is
generated.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncBEmf.AGlitchSpd
26073
3857h.0h
rw,reset,retain
0.0001
[0%:100%=0:10000].
Anti-glitch filter.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
250
Threshold to activate an anti-glitch filter. The filter is applied to the angle value calculated with the sensorless
algorithm. The filter is useful to decrease the incidental noise from the reading system.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncBEmf.AGlitchFaultLimit
26074
3858h.0h
rw,retain,pdomap
n/a
Full scale.
Anti-glitch fault limit.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
Maximum sampling number at 125 µsec with anti-glitch filter active. When the actual counter of the anti-glitch filter
is over this threshold otherwise a Sensorless alarm is generated (antiglitch filter always active).
If this parameter is zero the error checking control is disabled.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncBEmf.Flags.EnabledAGlitchFilt
26075
3859h.0h
rw,retain
n/a
0 (False) 1 (True)
Use anti-glitch filter.
Modbus Data Type:
Unsigned16
Signed8
Default value:
1(True)
Parameter to enable the use of anti-glitch filter during the sensorless algorithm.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncBEmf.Flags.EnabledDeltaAngle
26076
385Ah.0h
rw,retain
n/a
0 (False) 1 (True)
Use speed delta angle.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
This parameter works only in full sensorless status. I
use the delta angle position as feedback instead of
Back EMF algorithm speed calculated. The speed delta angle is calculated us difference of mechanical angle, still
every 125 µsec.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncBEmf.DisableAlarmMask
26077
385Bh.0h
rw,retain
n/a
0000 0000h - 0000 0001h
Disable alarm.
Modbus Data Type:
Unsigned16
Unsigned32
Default value:
0000 0000h
25
Doc. 10460-1-C-M
ENG
Mask to disable alarms or warnings of sensorless algorithm.
Currently only one bit is available. This bit is a warning system and it informs the user that the drive is in Open Loop
mode without any contributes of the estimated back electromotive force value.
For more details refer to varSysWarnings.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncBEmf.KtRefreshPeriod
26078
385Ch.0h
rw,retain,pdomap
n/a
1 to 32767.
Kt refresh period.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
15
Id value in open loop.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
100
Time to refresh motor constant torque estimation value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncBEmf.IdOpenLoop
26079
385Dh.0h
rw,reset,retain
0.001
[0:1000=0:parMotorData.CurrentPeak]
Max direct current value used in open loop mode. Value is a percentage of the motor maximum current peak.
To avoid current discontinuities at start-up, this value should be equal to parEncEFS.IdRampCurrent.
4.1.5.1
Monitor
Sensorless variables and algorithm status.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncBEmfState
26083
3861h.0h
ro,pdomap
n/a
See table above.
Sensorless status
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0000h
Sensorless algorithm status.
Option code
0000h
0001 0003h
0004h
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Description
Sensorless disabled.
Sensorless initialization procedure.
Sensorless full. The sensorless algorithm works at full capacity.
varEncBEmfAglitchCounter
26084
3862h.0h
ro, pdomap
nr
0 to 32768.
Anti glitch counter.
Modbus Data Type:
Signed16
Signed16
Default value:
0
Speed constant conversion.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
0
Actual counter of the anti-glitch filter.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncBEmfSpeedKConversion
26085
3863h.0h
ro, pdomap
n/a
0 to 65536.
Actual speed constant conversion value calculated by the sensorless algorithm.
If the value is outside the value range (0 to 65536), a Sensorless alarm is generated.
26
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncBEmfSpeedDelta
26086
3864h.0h
ro, pdomap
rad/s
Full scale.
Doc. 10460-1-C-M
BEmf speed angle.
Modbus Data Type:
Signed32
Signed32
Default value:
0
ENG
Mechanical speed calculated as difference of mechanical angles.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncBEmfValueKt
26087
3865h.0h
ro,pdomap
Nm/A
Full scale.
Motor Kt value.
Modbus Data Type:
Real32
Real32
Default value:
0.0
Estimated motor torque constant (Kt) value.
4.1.6
Hiperface
HIPERFACE® motor feedback systems from Sick-Stegmann are a mix of incremental encoders and absolute encoders
and combine the advantages of both encoder types. Initially, the absolute value is only formed when the device is
powered up and communicated via the bus-enabled parameter interface according to the RS485 specification to
the external counter in the controller which, based on this absolute value, then incrementally counts on from the
analogue sine/cosine signals. The use of highly linear sine and cosine signals achieves the high resolution needed for
speed position control loop.
WARNING: By the nature of the digital interface, the absolute position obtained from the serial link is not
suitable for real-time motor control purpose, as refresh rate is too slow. Incremental traces (§4.1.4) are
mandatory, setup parameters according to encoder datasheet.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncHiperface.MTurnStartPos
26160
3940h.0h
rw,reset,retain
Number of turns.
0 to 4294967295
Startup position.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
4294967295
This parameter avoid numerical issues with startup absolute multiturn position in which the bit resolution of the turns
fraction of the position (typically 12bit) is less than 32bit (the maximum that drive can handle): properly setup of this
parameter let user choose the threshold by which startup position (e.g. at reset) is considered positive or
negative.During the initiliazation procedure, if the revolution number reached by the multiturn encoder is greater then
this value, the absolute position offset became a negative number as show figure below.
Absolute position at start-up is greater than the
turn position start value. e.g.: 4100
Multi-turn revolution
MTurnStartPos value: e.g. 4096
This is parameter is the number of multiturn revolution
encoder
Absolute position offset. e.g.: 4092
Figure 5 - Hiperface multi turn startup position
4.1.7
Electrical Field Orientation
Parameters to manage the Electrical Field Orientation procedure.
27
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
parEncEFS.ProcedureType
Procedure type.
26302
Modbus Data Type:
38F0h.0h
rw,reset,retain
-Default value:
0 (Disabled) 1(IdRamp) 2 (IdRamp with Position control)
ENG
Unsigned16
Unsigned8
0(Disabled)
Procedure type:

0 (Disabled): the procedure is disabled, no zero seeking is performed, even for pure incremental encoder.

1 (IdRamp): the procedure start with a ramp applied on the quadrature current, after which a ramp on the
direct current is applied while quadrature current is back to zero. The ramp time and the direct current
applied are both parameters. At the end of each ramp the current will reach the value set on
parEncEFS.IdRampCurrent parameter.

2 (IdRamp with Position Control): the procedure starts performing position short movements in both
directions with the final purpose to search the home position (zero position). For more details refer to (§4).
Id/Iq current value
I
d
(parEncEFS.IdRampCurrent)
Ramp Time
t [msec]
Id steady time (parEncEFS.IdSteadyTime)
Ramp Time (parEncEFS.IdRampTime)
Ramp Time (parEncEFS.IdRampTime)
Figure 6 - Electrical field orientation: IdRamp
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncEFS.Flags.Force
26303
38F1h.0h
rw,retain
n/a
0 (False) 1 (True)
Force procedure flag.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Force seeking procedure even if not necessary (e.g. already performed or absolute encoder selected).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncEFS.SpeedThreshold
26304
38F2h.0h
rw,retain,pdomap
Full scale
Speed threshold.
Modbus Data Type:
Signed32
Signed32
Default value:
447375 (~5.24 rad/s)
Before to start the procedure wait for speed goes below this threshold value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncEFS.IdRampTime
26305
38F3h.0h
rw,retain,pdomap
msec
Full scale
Direct current ramp time.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
500
Time ramp procedure to direct the motor rotor.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncEFS.IdRampCurrent
Direct current value.
26306
Modbus Data Type:
38F4h.0h
rw,retain,pdomap
0.001
Default value:
[0%:100%=0:parMotorData.CurrentPeak]
Unsigned16
Unsigned16
300
28
Doc. 10460-1-C-M
ENG
Current to direct the motor rotor (percentage of motor peak current).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncEFS.ElecAngleFeed
26308
38F9h.0h
rw,retain,pdomap
0.000015
[0%:100%=0:65535]
Electrical Angle Feed.
Modbus Data Type:
Signed32
Signed32
Default value:
1000
Electrical angle feed ratio from space control loop output. This parameter refers to the procedute type IdRamp with
Position Control. For more details refer to (§4).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncEFS.IdSteadyTime
26309
38FAh.0h
rw,retain,pdomap
msec
Full scale.
Id Steady Time.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
This parameter indicates the time to keep direct current steady after ramp procedure phase.
4.1.8
Monitor
Variables related to the position of the Main Encoder.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncMainMechHi
26010
3A00h.2h
ro,pdomap
Full scale
Feedback turns.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the relative position value in mechanical turns units.
The feedback turns is the MSB 32 bit of 64 bit main encoder position value.
For more details about the format position refer to the appendix Encoder position format or to the manual (§4).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncMainMechLo
26011
3A00h.1h
ro,pdomap
Full scale.
Feedback angle.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
This is the relative position value in mechanical angle unit.
The feedback angle is the LSB 32 bit of 64 bit main encoder position value.
For more details about the format position refer to the appendix Encoder position format or to the manual (§4).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncMainMechAbsPosOffsetHi
26012
3A01h.2h
ro,pdomap
Full scale.
Absolute position Offset turns.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the offset from the relative position in mechanical turns unit in order to calculate the absolute position (if
apply, depending from the encoder configuration).
For more details about the format position refer to the manual (§4).
29
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncMainMechAbsPosOffsetLo
26013
3A01h.1h
ro,pdomap
Full scale.
Doc. 10460-1-C-M
ENG
Absolute position Offset angle.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
This is the offset from the relative position in mechanical angle unit in order to calculate the absolute position (if
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncMainMechSpeed
26014
3A02h.0h
ro,pdomap
Velocity factor unit.
Full scale.
Mechanical Speed.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the feedback of mechanical speed.
The speed is calculated as difference between two consecutive readings of the position encoder (125s).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncMainMechAccel
26015
3A03h.0h
ro,pdomap
Acceleration factor unit.
Full scale.
Mechanical Acceleration.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the feedback mechanical acceleration.
The acceleration is simply computed as difference of the speed (every 125s).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncMainElecAngle
26016
3A04h.0h
ro,pdomap
Full scale.
Electrical angle.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
n/a
Main Encoder Status
Modbus Data Type:
-Unsigned8
Default value:
n/a
This is the feedback electrical position of the motor.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncMainStatus
-3A05.0h
ro, pdomap
n/a
See table above.
Main encoder status, each bit has different meaning as below:
30
Mask
number
01h
02h
04h
08h
10h
20h
Name
Doc. 10460-1-C-M
ENG
Description
Relative angle is valid.
Electrical angle is valid.
Fatal fault during the calculations position.
Non-fatal fault status. Combine status from both
encoders (absolute and relative status) if one is
cstEncStatusNonFatalFaultValid faulty but electronic angle is valid and relative
angle is valid; then result in non-fatal fault as
there's at least one valid feedback.
Absolute mechanical turn is valid.
cstEncStatusAbsoluteValid
Waiting status during the calculations of absolute
cstEncStatusAbsoluteWaiting
mechanical position for incremental encoder.
cstEncStatusRelativeValid
cstEncStatusElecAngleValid
cstEncStatusFatalFaultValid
Table 2 - Encoder status flags
Object:
Modbus IPA:
n/a
--
Main Encoder Position.
Modbus Data Type:
--
CANopen/COE index:
Attributes:
Unit:
Value range:
3A06.0h
ro, pdomap
Full scale.
Signed64
Default value:
n/a
Main encoder position on 64 bit range calculated every 125 µsec.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-3A07.0h
ro, pdomap
Full scale.
Main Encoder Position Offset.
Modbus Data Type:
-Signed64
Default value:
n/a
Offset value for absolute position on 64 bit range.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncMainDeltaElecAngle
26307
38F8h.0h
ro,pdomap
Full scale.
Angle phase offset.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
n/a
Calculated electrical angle phase offset.
This is the result of electrical field orientation procedure.
At the end of the procedure the user have to copy this parameter into parMotorData.PhaseOffset; then Save parameters
command and Reset of the drive are necessary.
4.1.8.1
Absolute
Variables related to the absolute position of the Main Encoder.
The absolute position is the position of the encoder within one revolution.
These parameters are available if both absolute and relative main encoder type are selected; otherwise these values are
set to zero.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAbsMechHi
26400
3A10h.2h
ro,pdomap
Full scale.
Feedback turns.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the absolute mechanical position in mechanical turns unit.
31
Doc. 10460-1-C-M
ENG
The feedback turns is the MSB 32 bit of 64 bit main encoder absolute position value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAbsMechLo
26401
3A10h.1h
ro,pdomap
Full scale.
Feedback angle.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
This is the absolute mechanical position in mechanical angle unit.
The feedback angle is the LSB 32 bit of 64 bit main encoder absolute position value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAbsMechAbsPosOffsetHi
26402
3A11h.2h
ro,pdomap
Full scale.
Absolute position offset turns.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAbsMechAbsPosOffsetLo
26403
3A11h.1h
ro,pdomap
Full scale.
Absolute position offset angle.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAbsMechSpeed
26404
3A12h.0h
ro,pdomap
Full scale.
Absolute mechanical speed.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the absolute mechanical speed.
The speed is calculated as difference between two consecutive readings of the absolute position encoder (125s).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAbsMechAccel
26405
3A13h.0h
ro,pdomap
Full scale
Absolute mechanical acceleration.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the absolute mechanical acceleration.
32
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAbsElecAngle
26406
3A14h.0h
ro,pdomap
Full scale
Doc. 10460-1-C-M
Absolute electrical angle.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
n/a
ENG
This is the electrical absolute position of the motor.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-3A15.0h
ro, pdomap
n/a
Refer to Table 2
Main Absolute Encoder Status
Modbus Data Type:
-CANopen/COE Data Type:
Unsigned8
Default value:
n/a
Main absolute encoder status.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-3A16.0h
ro, pdomap
Full scale.
Main Absolute Encoder Position.
Modbus Data Type:
Signed64
Default value:
n/a
Main absolute encoder position on 64 bit range calculated every 125 µsec.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-3A17.0h
ro, pdomap
Full scale.
Main Absolute Encoder Position Offset.
Modbus Data Type:
Signed64
Default value:
n/a
Offset value for absolute position on 64 bit range.
4.1.8.2
Relative
Variables related to the relative position of the Main Encoder.
In principle, incremental encoders transmit relative position values (counter starts from zero at switch-on).
These parameters are available if both absolute and relative main encoder type are selected; otherwise these values are
set to zero.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncRelMechHi
26410
3A20h.2h
ro,pdomap
Full scale.
Relative mechanical turns.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the relative mechanical position in turns unit.
The relative mechanical turns is the 32 MSB bit of 64 bit main encoder relative position value.
33
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncRelMechLo
26411
3A20h.1h
ro,pdomap
Full scale.
Doc. 10460-1-C-M
Relative mechanical angle.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
ENG
This is the relative mechanical position in angle unit.
The relative mechanical angle is the 32 LSB bit of 64 bit main encoder relative position value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncRelMechAbsPosOffsetHi
26412
3A21h.2h
ro,pdomap
Positionon factor unit.
Full scale.
Absolute positionon offset turns.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the offset from the relative positionon in mechanical turns unit in order to calculate the absolute position (if
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncRelMechAbsPosOffsetLo
26413
3A21h.1h
ro,pdomap
Full scale.
Absolute position offset angle.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncRelMechSpeed
26414
3A22h.0h
ro,pdomap
Full scale.
Mechanical speed.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the relative mechanical speed.
The speed is calculated as difference between two consecutive readings of the relative position encoder (125s).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncRelMechAccel
26415
3A23h.0h
ro,pdomap
Full scale.
Mech. acceleration.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the relative mechanical acceleration.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncRelElecAngle
26416
3A24h.0h
ro,pdomap
Full scale.
Relative absolute electrical angle.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
n/a
34
Doc. 10460-1-C-M
ENG
This is the relative feedback electrical angle.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncRelStatus
-3A25.0h
ro, pdomap
n/a
Refer to Table 2
Main Relative Encoder Status.
Modbus Data Type:
Unsigned8
Default value:
n/a
Main relative encoder status.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-3A26.0h
ro, pdomap
Poisition Factor Unit.
Full scale.
Main Relative Encoder Position.
Modbus Data Type:
Signed64
Default value:
n/a
Main relative encoder position on 64 bit range calculated every 125 µsec.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-3A27.0h
ro, pdomap
Full scale.
Main Relative Encoder Position Offset.
Modbus Data Type:
Signed64
Default value:
n/a
Offset value for relative position on 64 bit range.
4.2
Auxiliary
Parameters to set-up the Auxiliary Encoder (physically connected to the drive C1 connector).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncMgr.AuxSelection
26002
3802h.0h
rw
n/a
See specification above.
Encoder type Auxiliary Selection
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0000h
Select the Auxiliary encoder type to use.
Option code
0000h
0004h
0006h
0008h
Description
No sensor.
Absolute encoder Endat (Heidenhain encoder).
Digital Incremental encoder.
Simulation of digital incremental encoder (TTL standard)
Name
cstEncTypeNull
cstEncTypeAbsEndat
cstEncTypeRelIncremental
cstEncTypeRelIncrSimulation
For more details on digital incremental encoder or on Endat encoder please refer to parEncMgr.MainAbselection and to
parEncMgr.MainRelselection.
4.2.1
Endat
Parameters to manage the Auxiliary Encoder Endat configuration.
35
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
ENG
parEncAEndat.ClockFreq
Auxiliary Endat frequency protocol.
26120
Modbus Data Type:
Unsigned16
3910h.0h
Unsigned16
rw,reset,retain
kHz
Default value:
2000
100 max value depending by Endat protocol type.
Clock frequency selection for Endat protocol.


Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAEndat.MTurnStartPos
26123
3911h.0h
rw,reset,retain
0 to 4294967295
Auxiliary set point position at reset.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
4294967295
Set point position at start-up. This parameters is utilized only with Endat multiturn encoder.
For more details refer to parEncMEndat.MTurnStartPos parameter.
4.2.1.1
Monitor
Status of the of the Auxiliary Encoder Endat.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAEndat.CrcErrors
26121
3918h.0h
ro,pdomap
n/a
n/a
Auxiliary CRC error counters.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
Auxiliary Endat protocol checksum value errors counter, could be used as electrical connection diagnostic checking.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAEndat.PropDelay
26122
3919h.0h
ro,pdomap
nsec
n/a
Auxiliary Propagation delay.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
n/a
Data propagation delay: the value is calculated during Endat initialization procedure.
For more information refer to /8.
4.2.2
Incremental Traces
With the incremental measuring method, the graduation consists of a periodic grating structure. The position
information is obtained by counting the individual increments (measuring steps) from some point of origin. Since an
absolute reference is required to ascertain positions, the graduated disks are provided with an additional track that
bears a reference mark.
The incremental signals are transmitted as the square-wave pulse trains U1 and U2, phase-shifted by 90° elec. The
reference mark signal consists of one or more reference pulses U0, which are gated with the incremental signals.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAInc.LineCounts
26130
3920h.0h
rw,reset,retain
count
Full scale.
Auxiliary Encoder Line Counts
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
512
Encoder pulses number per revolution setting. For more details refer to parEncMInc.LineCounts.
36
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAInc.Flags.DisableIndexError
26134
3922h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Doc. 10460-1-C-M
Auxiliary Disable Index Error.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0 (False)
ENG
Flag to disable the error generated by the index track checking.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAInc.IndexErrorTolerance
26135
3925h.0h
rw,reset,retain
count
Full scale.
Auxiliary Index error Tolerance.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
10
Tolerance of the difference between the calcolated zero position and the index track used for index track checking.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAInc.FlagsEnableIndexTrack
26136
3926h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Auxiliary enable index track.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Auxiliary swap tracks.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Flag to enable index track.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAInc.Flags.Swaptracks
26137
392Bh.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Swap physical input tracks A and B to adjust wrong electrical connections.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAInc.Flags.EnableStepDir
26138
392Ch.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Auxiliary Enable pulse and direction tracks.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Enable step pulse (track A) and direction (track B) mode in place of standard quadrature encoder mode.
For more details refer to parEncMInc.Flags.EnableStepDir.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAInc.Flags.EnableUpDown
26139
392Dh.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Auxiliary enable index track.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Flag to enable up pulse (track A) and down pulse (track B) mode in place of standard quadrature encoder mode. For
more details refer to parEncMInc.Flags.EnableUpDown.
37
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
parEncAInc.MaxFrequency
27320
392Eh.0h
rw,retain
KHz
20 to 2500 kHz
ENG
Maximum Encoder Frequency.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
1000 kHz
The upper frequency limit for each encoder channel is managed by this parameter; it will limit the automatic digital
filter in order to avoid catching unnecessary EMI noise that could affect system stability and reliability.
The relationship of the encoder frequency and the mechanical speed is related to encoder line count per revolution, as
follow:
f [kHz ] 
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
 
LineCount
  rad
s
2  1000
parEncAInc.Flags.DisableIndexForElec
Angle
27321
392Fh.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable offset from index track for electrical angle adjustment.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
By default electrical angle feedback is fine-tuned when index track signal is catched; this parameter let user dealing
with custom encoders and/or custom motor phase aligment.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAInc.Flags.DisableIndexForMec
hPos
27322
3930h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable offset from index track for mechanical position
adjustment.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
By default absolute mechanical position feedback is fine-tuned when index track signal is catched; this parameter let
user dealing with custom encoders and/or custom motor phase aligment.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAInc.Flags.DisableIndexTrackS
ync
27323
3931h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable index synchronization with track A and B.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
The most of incremental encoders has index track signal synchronized with A and B quadrature tracks, enhancing zero
position accuracy acquisition: this is accomplished by sampling zero position when A, B and index tracks levels are at
high level:
Track A
Track B
Index
Track
Index capture window
Figure 7 - Standard index capture
This parameter let user to un-sync the index track, thus capturing index without any relationship with from quadrature
tracks; here index is sampled on rising edge of index track signal.
38
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAInc.Flags.DisableDigitalInterp
27324
3932h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Doc. 10460-1-C-M
ENG
Disable period meter digital interpolation.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
When using a pure-digital incremental encoder (e.g. no analog sin-cosine interpolation) to enhance position accuracy
at low speed the system perform a signal oversampling (period meter); this parameter let user to disable the period
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAInc.Flags.DisableFilterWDTErr
or
27325
3933h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable filter watchdog error on digital tracks.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Each encoder track (A, B and index) are constantly digitally filtered in order to avoid high-frequency EMI noise disrupt
the decoding process; in some extreme cases such noise is so strong that the decoding could not be performed; in this
case, a watchdog system monitor each line, detecting high frequency and unrelated signals, triggering the alarm Aux
Incremental Encoder Filter Watchdog Fault.This parameter disable watchdog monitoring and related alarm.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncAInc.Flags.CaptureAllIndexes
27326
3934h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Enable capturing of all indexes, unregarding index tolerance.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Index capture position is checked against the encoder pulses number per revolution as explained in
parEncAInc.IndexErrorTolerance; when detecting 16 consecutive times index capture out of tolerance window, the Aux
Incremental Encoder Invalid Line Count alarm will be triggered. This parameter disable this alarm and at same time let
custom user application to catch any index position.
4.2.2.1
Incremental Traces Simulation
The auxiliary encoder port can ben configured as simulation of a digital incremental encoder; this functionality
requires correct setup of the auxiliary incremental traces, as some parameters are shared.
The encoder simulation support only standard quadrature encoder, therefore the incremental traces settings
parEncAInc.Flags.EnableStepDir and parEncAInc.Flags.EnableUpDown must be disabled.
With encoder simulation the actual position of the motor controlled by the drive can be read by a higher-level control
system, like a PLC, a NC or another drive for a digital axle configuration.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncSimInc.IndexLineCounts
26146
3928h.0h
rw,reset,retain
counts
2 to 536870911
Simulated Encoder Index Line Counts.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
512
An index pulse is generated every number of counts stated by this parameter.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncSimInc.IndexOffset
26147
3929h.0h
rw,reset,retain
counts
0 to parEncSimInc.IndexLineCounts-1
Simulated encoder Index offset.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
0
Generated index pulse can be offset from zero absolute position by using this parameter.
39
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parEncSimInc.MaxPosErrTolerance
26148
392Ah.0h
rw,retain
Position conversion factor.
Full scale.
Doc. 10460-1-C-M
ENG
Simulated encoder Pos. Tolerance.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
This is the maximum tolerance of error between the main position calculated and the position simulated by the drive.
When the difference between main encoder position and the calculated encoder simulation position is greater then
maximun position error tolerance a Simulation Invalid Count alarm is generated.
4.2.2.2
Monitor
Variables related to the position of the Auxiliary Encoder.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAuxMechHi
26110
3A30h.2h
ro,pdomap
Full scale.
Feedback turns.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the auxiliary feedback position in mechanical turns unit.
The feedback turns is the MSB 32 bit of 64 bit auxiliary encoder position value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAuxMechLo
26111
3A30h.1h
ro,pdomap
Full scale.
Feedback angle.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
This is the auxiliary feedback position in mechanical angle unit.
The feedback angle is the LSB 32 bit of 64 bit auxiliary encoder position value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAuxMechAbsPosOffsetHi
26112
3A31h.2h
ro,pdomap
Full scale.
Absolute Position Offset turns.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAuxMechAbsPosOffsetLo
26113
3A31h.1h
ro,pdomap
Full scale.
Absolute Position Offset angle.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
40
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAuxMechSpeed
26114
3A32h.0h
ro,pdomap
Full scale.
Doc. 10460-1-C-M
Mechanical speed.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
ENG
This object represents the actual value of the auxiliary velocity measurement device.
The speed is calculated as difference between two consecutive readings of the position auxiliary encoder (125s).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAuxMechAccel
26115
3A33h.0h
ro,pdomap
Full scale.
Mechanical acceleration.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the auxiliary mechanical acceleration.
The acceleration is simply computed as difference of the auxiliary speed, still every 125s.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncAuxElecAngle
26116
3A34h.0h
ro,pdomap
Full scale.
Auxiliary Electrical angle.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
n/a
varEncAuxStatus
-3A35.0h
ro, pdomap
n/a
Refer to Table 2
Auxiliary Encoder Status.
Modbus Data Type:
-Unsigned8
Default value:
n/a
n/a
-3A36.0h
ro, pdomap
Full scale.
Auxiliary Encoder Position.
Modbus Data Type:
-Signed64
Default value:
n/a
This is the auxiliary feedback electrical position of the motor.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Auxiliary encoder status.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Auxiliary encoder position on 64 bit range calculated every 125 µsec.
4.3
Monitor
In this sub-menu can be read the variables related to the position of the Feedback Encoder (the one used by the
Control Loops) selected by the selection flags. For more informations refer to (§4).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncFbMechHi
27020
3A40h.2h
ro,pdomap
Full scale.
Feedback turns.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the feedback encoder position in mechanical turns unit.
The feedback turns is the 32 MSB bit of 64 bit feedback encoder position.
41
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncFbMechLo
27021
3A40h.1h
ro,pdomap
Full scale.
Doc. 10460-1-C-M
Feedback angle.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
ENG
This is the feedback encoder position in mechanical angle unit.
The feedback angle is the 32 LSB bit of 64 bit feedback encoder position.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncFbMechAbsPosOffsetHi
27022
3A41h.1h
ro,pdomap
Full scale.
Feedback Absolute pos. offset turns.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncFbMechAbsPosOffsetLo
27023
3A41h.1h
ro,pdomap
Full scale.
Feedback Absolute pos. offset angle.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncFbMechSpeed
27024
6069h.0h
ro,pdomap
Full scale.
Mechanical speed.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This object represents the actual value of the velocity measurement device.
It corresponds with DSP402 profile specific object: velocity sensor actual value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncFbMechAccel
27025
3A43h.0h
ro,pdomap
Full scale.
Mechanical acceleration.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This object represents the actual value of the acceleration.
42
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncFbElecAngle
27026
3A44h.0h
ro,pdomap
Full scale.
Doc. 10460-1-C-M
Electrical angle.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
n/a
varEncFbStatus
27028
3A45.0h
ro, pdomap
n/a
Refer to Table 2
Encoder Feedback status.
Modbus Data Type:
Unsigned16
Unsigned8
Default value:
n/a
n/a
-3A46.0h
ro, pdomap
Full scale.
Encoder Feedback Position.
Modbus Data Type:
-Signed64
Default value:
n/a
ENG
This is the electrical position of the motor.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Encoder feedback status.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Encoder feedback position calculated in 64 bit range.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-3A47.0h
ro, pdomap
Full scale.
Encoder Feedback Position Offset.
Modbus Data Type:
Signed64
Default value:
n/a
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varEncFbMechFilteredSpeed
27040
606Ch.0h
ro,pdomap
Full scale.
Mechanical speed.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Filtered mechanical speed used by Control loop (Actual Speed).
This object shall provide the actual velocity value derived either from the velocity sensor or the position sensor. It
corresponds with DSP402 profile specific object: velocity actual value.
5.
TORQUE LOOP
The default configuration of the Torque Loop gains is usually enough to control most of the Phase Motion Control
motors. To get the best performances
using the following parameters.
43
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parILoop.ILoopKi
27407
3120h.0h
rw,retain,pdomap
-Full scale.
Current Loop Integral Gain. If set to zero
parameters (refer to section §3).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
Modulator Ki
Modbus Data Type:
Real32
Real32
Default value:
0
ENG
s used the Ki automatically calculated by the firmware looking motor data
parILoop.ILoopKp
27408
3121h.0h
rw,retain,pdomap
-Full scale.
Current Loop Proportional Gain. If set to zero
data parameters (refer to section §3).
Modulator Kp
Modbus Data Type:
Real32
Real32
Default value:
0
s used the Kp automatically calculated by the firmware looking motor
WARNING: the values of the objects parILoop.ILoopKi and parILoop.ILoopKp could be written also during the
normal drive working cycle, thus with power enabled and moving shaft. Be careful as modifying the values
of this object with power enabled could yield in a loss of axle control.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parILoop.IdLimitMin
27409
3122h.0h
rw,retain,pdomap
0.1mA
0 to -214748.3647
Direct Current Limit Min
Modbus Data Type:
Signed32
Signed32
Default value:
0.0
Direct current negative minimum limit when in Torque Mode profile
value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parILoop.IdLimitMax
27410
3123h.0h
rw,retain,pdomap
0.1mA
0 to 214748.3647
Direct Current Limit Max
Modbus Data Type:
Signed32
Signed32
Default value:
0.0
Direct current positive maximum limit when in Torque Mode
value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parILoop.IqLimitMin
27411
3124h.0h
rw,retain,pdomap
0.1mA
0 to -214748.3647
s clipped to zero if the user sets a negative
Quadrature Current Limit Min
Modbus Data Type:
Signed32
Signed32
Default value:
0.0
Quadrature current negative minimum limit when in Torque Mode
value.
s clipped to zero if the user sets a positive
s clipped to zero if the user sets a positive
44
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parILoop.IqLimitMax
27412
3125h.0h
rw,retain,pdomap
0.1mA
0 to 214748.3647
Doc. 10460-1-C-M
Quadrature Current Limit Max
Modbus Data Type:
Signed32
Signed32
Default value:
0.0
Quadrature current positive maximum limit when in Torque Mode
value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksIdRef
27464
3126h.0h
rw,pdomap
0.1 mA
Full scale.
ENG
s clipped to zero if the user sets a negative
User Id reference
Modbus Data Type:
Signed32
Signed32
Default value:
0.0
Direct current target for current loop control. The direct current target can be generated from the master/host control
otherwise this parameter should be configuring by the user using the Cockpit configurator. In both cases put the drive
in Torque Mode profile, otherwise it is ignored.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksIqRef
27465
3127h.0h
rw,pdomap
0.1 mA
Full scale.
User Iq reference
Modbus Data Type:
Signed32
Signed32
Default value:
0.0
Quadrature current target for current loop control. The quadrature current target can be generated from the
master/host control otherwise this parameter should be configuring by the user using the Cockpit configurator. In both
cases put the drive in Torque Mode profile, otherwise it is ignored.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksDynamicIdLimMin
27496
3110h.0h
rw,pdomap
0.1 mA
0 to -214748.3647
Dynamic Iq Lim Min
Modbus Data Type:
Signed32
Signed32
Default value:
- 2147483647
This parameter is used to set the dynamic direct current limit minimum value. The firmware algorithm checks and
calculates limits merging all limits with user configurable limits.
if(sMh_MotorDataUsrSetIdLimit.slMax > sMotorHandlerRun.sIdPartialLimit.slMax)
sMh_MotorDataOut.sIdLimit.slMax = sMotorHandlerRun.sIdPartialLimit.slMax;
else if(sMh_MotorDataUsrSetIdLimit.slMax > 0l)
sMh_MotorDataOut.sIdLimit.slMax = sMh_MotorDataUsrSetIdLimit.slMax;
else
sMh_MotorDataOut.sIdLimit.slMax = 0l;
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksDynamicIdLimMax
27497
3111h.0h
rw,pdomap
0.1 mA
0 to 214748.3647
Dynamic Iq Lim Max
Modbus Data Type:
Signed32
Signed32
Default value:
2147483647
This parameter is used to set the dynamic direct current limit maximum value. The firmware algorithm checks and
calculates limits merging all limits with user configurable limits.
45
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
wksDynamicIqLimMin
27498
3112h.oh
rw,pdomap
0.1 mA
0 to -214748.3647
Dynamic Iq Lim Min
Modbus Data Type:
Signed32
Signed32
Default value:
- 2147483647
ENG
This parameter is used to set the dynamic quadrature current limit minimum value. The firmware algorithm checks
and calculates limits merging all limits with user configurable limits.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksDynamicIqLimMax
27499
3113h.0h
rw,pdomap
0.1 mA
0 to 214748.3647
Dynamic Iq Lim Max
Modbus Data Type:
Signed32
Signed32
Default value:
2147483647
This parameter is used to set the dynamic quadrature current limit maximum value. The firmware algorithm checks
and calculates limits merging all limits with user configurable limits.
5.1
Filters
User has the opportunity to setup one or more programmable 2nd order digital IIR filter on the current quadrature
reference; the filters are valid for every mode of operation, e.g. in torque mode the wksIqRef supplied by the user will
be filtered before being delivered to the current control loop, as well as in velocity mode the varSSCntrlLpIqRef
calculated by the space speed control loop will be filtered too. As general rule varILoopIqRef is the input of filter
banks, varILoopIqFiltRef is the output of filter banks.
These filters could be used to reduce the noise on the output shaft when driven from a low resolution encoder and/or
to improve control loops stability; as counterpart beware of the time-delay introduced by some filters, sometimes it
could negatively impact on the latter.
These filters could be inserted, modified and removed on-the-fly, thus simplyfing application tuning and deployment.
Each filter will be cascaded, e.g. enabling filter 0 and 1, the quadrature current will be input of the filter 0, which
output will be input of filter 1, which output will be input of current control loop reference.
The filters have a fixed non-adjustable time constant of 125 µsec.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parILoop.IqFiltPars[0].Type
27600
3150h.0h
rw,retain,pdomap
n/a
See table below
Filter type selector
Modbus Data Type:
Unsigned16
Unsigned8
Default value:
0
Define filter type to be applied as the following table:
Value
00h
01h
02h
03h
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Name
cstILoopFiltTypeNone
cstILoopFiltTypeLowPass
cstILoopFiltTypeNotch
cstILoopFiltTypeBiQuad
Description
Disable selected filter bank
Low-pass filter
Notch filter
Biquad filter
parILoop.IqFiltPars[0].MainFrequency
27601
3151h.0h
rw,retain,pdomap
rad/s
Full scale
Frequency main, filter dependant
Modbus Data Type:
Real32
Real32
Default value:
0.0
Subject on the selected filter type, it is the resonance frequency ( 0 or z ) or the cut-off frequency ( 0 ).
46
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
parILoop.IqFiltPars[0].MainDampFact
or
27602
3152h.0h
rw,retain,pdomap
-Full scale
ENG
Damping factor main, filter dependant
Modbus Data Type:
Real32
Real32
Default value:
0.0
Subject on the selected filter type, it is the damping factor (  or  z ).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parILoop.IqFiltPars[0].SecFrequency
27603
3153h.0h
rw,retain,pdomap
rad/s
Full scale
Frequency secondary, filter dependant
Modbus Data Type:
Real32
Real32
Default value:
0.0
Subject on the selected filter type, it is the anti-resonating frequency ( p ).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parILoop.IqFiltPars[0].SecDampFactor
27604
3154h.0h
rw,retain,pdomap
-Full scale
Damping factor secondary, filter dependant
Modbus Data Type:
Real32
Real32
Default value:
0.0
Subject on the selected filter type, it is the damping factor (  p ).
5.1.1
Principles
The generic 2nd order filter, in the Z domain, letting U (z ) the input signal and Y (z ) the filtered signal, is expressed
as:
Y (z ) 
m0  m1z 1  m2z 2
U (z )
n0  n1z 1  n2z 2
that becomes, in the discrete time domain:
y (k ) 
1
m0u(k )  m1u(k  1)  m2u(k  2)  n1y (k  1)  n2 y (k  2)
n0
where u(k ) , u(k  1) and u(k  2) are respectively the input value at present time, at previous cycle and 2 cycle
back, and where y (k ) , y (k  1) and y (k  2) are respectively the output value at present time, at previous cycle
and 2 cycle back; for convenient calculation we assume ai 
nj
mi
and b j  
, thus yielding:
n0
n0
y (k )  a0u(k )  a1u(k  1)  a2u(k  2)  b1 y (k  1)  b2 y (k  2)
The notch filter transfer function in the continuous time domain is expressed as:
F (s ) 
s 2  02
s 2  s  02
47
Doc. 10460-1-C-M
ENG
 s  is the resonance frequency and
where 0 rad
 is the damping factor (greater the damping
factor, greater the damped band width); making
the discretization with the bilinear transformation
the constants to be submitted are:
The blue diagrams are referred to the continuos time domain.
The green diagrams are referred to the discrete time domain
Notch at
3770 rad/s,
0.05
a0 
4  TS202
4  2TS  TS202
a1 
2TS202  8
4  2TS  TS202
a2 
4  TS202
4  2TS  TS202
b1  
2TS202  8
4  2TS  TS202
b2  
4  2TS  TS202
4  2TS  TS202
The biquad filter transfer function in the continuous time domain is expressed as:
F (s ) 
p2 s 2  2 z z s  z2

z2 s 2  2 p p s  p2
 s  and  rad s  are respectively
where z rad
p
the resonance frequency and the anti-resonating
frequency, also  z and  p are the damping
factors; making the discretization with the bilinear
transformation the constants to be submitted are:
a0 
a1 
a2 
Biquad at
0.05,
3770 rad/s,
3581 rad/s,
0.2
4 p2  4 z  z  p2TS  TS2 z2 p2
4 z2  4 p  z2 pTS  TS2 z2 p2
2TS2 z2 p2  8 p2
4 z2  4 p  z2 pTS  TS2 z2 p2
4 p2  4 z  z  p2TS  TS2 z2 p2
4 z2  4 p  z2 pTS  TS2 z2 p2
b1  
b2  
2TS2 z2 p2  8 z2
4 z2  4 p  z2 pTS  TS2 z2 p2
4 z2  4 p  z2 pTS  TS2 z2 p2
4 z2  4 p  z2 pTS  TS2 z2 p2
The low pass filter transfer function in the continuous time domain is expressed as:
F (s ) 
02
s 2  2 0 s  02
48
Doc. 10460-1-C-M
ENG
 s  is the cut-off frequency and 
where 0 rad
is
the damping factor; making the discretization with
the bilinear transformation the constants to be
submitted are:
Low pass at
1885 rad/s,
0.6
a0 
TS2 02
4  4 0TS  TS2 02
a1 
2TS2 02
4  4 0TS  TS2 02
a2 
TS202
4  4 0TS  TS2 02
b1  
2TS2 02  8
4  4 0TS  TS2 02
b2  
4  4 0TS  TS202
4  4 0TS  TS2 02
In the above filters TS is the sample time period,
as already stated in the previous chapter TS = 125µsec.
5.2
Field Weakening
Field weakening is a control algorithm that allows a motor to run faster than its rated speed. This is accomplished by
controlling the magnitude of the direct current vector to a negative value, resulting in a stator-supplied demagnetizing
field that reduces the excitation field developed by the rotor magnets. The direct current is controlled to a value
dependant on the extended speed required, and in turn, affects also the quadrature current.
WARNING: Realtime computing of the correct currents vector is based on the following quantities: motor Kt
(parMotorData.KT), motor peak current (parMotorData.CurrentPeak) and motor inductance
(parMotorData.Inductance): such quantities must be set according to motor data sheet.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPStage_EnableFieldWeakening
27509
311Dh.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Enable field weakening
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Maximum speed requirement
Modbus Data Type:
Signed32
Signed32
Default value:
0
Enables field weakening control algorithm.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parILFWeak.MaxSpeed
27660
31A0h.0h
rw,retain,pdomap
Full scale
This is the maximum speed required, the algorithm will adjust computing in order to try to achieve it. When zeroed the
parEncMgr.MaxSpeed will be used.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parILFWeak.FixVdcBus
27662
31A2h.0h
rw,retain,pdomap
100 mV.
Full scale
Factors computation fixed DC-bus value
Modbus Data Type:
Signed16
Signed16
Default value:
0
49
Doc. 10460-1-C-M
ENG
Computing algorithm is based also on the actual DC bus voltage value (varPStageVdcBus); however in some
applications the DC bus voltage could have high rate fluctuation that could affect the stability of the computing
algorithm; this parameter let user to use a fixed DC bus voltage for computing algorithm. Zeroing it will let algorithm
use the actual DC bus voltage value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parILFWeak.VoltageMargin
27661
31A1h.0h
rw,retain,pdomap
1/1000.
0 to 1000
DC-bus security margin
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
950 (95%)
This parameter keep the voltage value used for calculation below the real one, in order to provide a security boundary
against noise and/or reading tolerance; e.g. 95% means that used value is 95% of the real one.
5.2.1
Monitor
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILFWeakActive
27670
31A8h.0h
ro
n/a
0 (False) 1 (True)
Field weakening enabled
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
When control algorithms detect speed greater than calculated starting point speed system begin feeding direct current
vector; this flag monitor this activity.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILFWeakMaxSpeedReachable
27671
31A9h.0h
ro
n/a
0 (False) 1 (True)
Maximum requested speed reachable
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Subject to parameters and conditions that regulate field weakeing, this flag will be activated when user requested
maximum speed cannot be reached.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILFWeakKneeSpeed
27672
31AAh.0h
ro,pdomap
Full scale
Weakening speed starting point
Modbus Data Type:
Signed32
Signed32
Default value:
0
Computed speed starting point for field weakening activation.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILFWeakShortCurrent
27673
31ABh.0h
ro,pdomap
0.1 mA
Full scale
Computed short circuit current
Modbus Data Type:
Signed32
Signed32
Default value:
0
Computed motor peak current.
5.3
Monitor
Variables related to the torque loop control.
50
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopIdFb
27432
3100h.0h
ro,pdomap
0.1 mA
Full scale.
Feedback direct
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
Id feedback
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
on.
varILoopIqFb
27433
3101h.0h
ro,pdomap
0.1 mA
Full scale.
Feedback quadrature current
Iq feedback
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
on.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopIuFb
27434
3102h.0h
ro,pdomap
0.1 mA
Full scale.
Iu feedback
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopIvFb
27435
3103h.0h
ro,pdomap
0.1 mA
Full scale.
Iv feedback
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopIwFb
27445
310Fh.0h
ro,pdomap
0.1 mA
Full scale.
Iw feedback
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Feedback current phase W
sensors.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
ENG
varILoopVuOut
27438
3107h.0h
ro,pdomap
100 mV
Full scale.
or calculated in case of hardware with only two current
Output Vu
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Actual value of the voltage of the motor phase U.
51
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopVvOut
27439
3108h.0h
ro,pdomap
100 mV
Full scale.
Doc. 10460-1-C-M
Output Vv
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Id Reference
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Iq Reference
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
ENG
Actual values of the voltage of the motor phase V.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopIdRef
27443
3105h.0h
ro,pdomap
0.1 mA
Full scale.
This is the direct current reference set as torque loop input.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopIqRef
27444
3106h.0h
ro,pdomap
0.1 mA
Full scale.
This is the quadrature current reference set as torque loop input.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopIqFiltRef
27446
3130h.0h
ro,pdomap
0.1 mA
Full scale.
Filtered Iq Reference
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
This is the filtered quadrature current reference; when all filters are disabled it assume same value of varILoopIqRef.
Refer to §5.1 for further information.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopAutoILoopKi
27480
3109h.0h
ro,pdomap
n/a
Full scale.
Modulator Ki (auto)
Modbus Data Type:
Real32
Real32
Default value:
0.0
Torque loop gain calculated by the drive (based on motor inductance).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopAutoILoopKp
27481
310Ah.0h
ro,pdomap
n/a
Full scale.
Modulator Kp (auto)
Modbus Data Type:
Real32
Real32
Default value:
0.0
Torque loop gain calculated by the drive (based on motor inductance).
52
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopIdMin
27482
310Bh.0h
ro,pdomap
0.1 mA
Full scale.
Doc. 10460-1-C-M
Id Limit Min
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Id Limit Max
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Iq Limit Min
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Iq Limit Max
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
ENG
Applied lower limit for the direct current.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopIdMax
27483
310Ch.0h
ro,pdomap
0.1 mA
Full scale.
Applied higher limit for the direct current.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopIqMin
27484
310Dh.0h
ro,pdomap
0.1 mA
Full scale.
Applied lower limit for the quadrature current.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varILoopIqMax
27485
310Eh.0h
ro,pdomap
0.1 mA
Full scale.
Applied higher limit for the quadrature current.
6.
POWER STAGE
Parameters here are for power stage setup and tuning, including protection and diagnostics.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPStage.OverCurrentThreshold
27404
3144h.0h
rw,retain,pdomap
0.1mA
See above.
Over Current Threshold
Modbus Data Type:
Signed32
Signed32
Default value:
0
Over Current threshold is the maximum current value that the drive can provide. The user can modify the Over Current
threshold detection
only to set a value lower than the hardware drive power stage.
When the actual current has achieved an instant value higher than the maximum allowed by the drive an Over Current
alarm is generated.
WARNING:
value could be monitored by varPStageOverCurrentThreshold.
taken, actual
53
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
parPStageEx.SoftStart
27416
3145h.0h
rw,reset,retain
n/a
See table below.
Soft-Start period
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0004h (310 msec)
ENG
Soft start is used to limit the inrush current to the dc bus capacitor bank on application of ac mains power. This is
intended to prevent nuisance tripping of circuit breakers or blowing of line fuses on power-up. Time of activation of the
Soft-Start circuit:
Option code
0000h
0001h
0002h
0003h
0004h
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Soft-Start time
Soft-Start disable
38.75 msec
75.50 msec
155.00 msec
310.00 msec
parPStage.BridgeLayout
27490
3146h.0h
rw,reset,retain
n/a
See table above.
Motor wires order.
This parameter has to correspond to the motor phase U
Option code
0000h
0001h
0002h
0003h
0004h
0005h
V
Description
Bridge layout: U V W
Bridge layout: U W V
Bridge layout: V U W
Bridge layout: W U V
Bridge layout: V W U
Bridge layout: W V U
Bridge Layout Assignment
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0000h (U V W )
W sequence on the drive connector P1.
Name Mask
cstPStageBridgeLayoutUVW
cstPStageBridgeLayoutUWV
cstPStageBridgeLayoutVUW
cstPStageBridgeLayoutWUV
cstPStageBridgeLayoutVWU
cstPStageBridgeLayoutWVU
WARNING: Use with caution
cable and is unable to change it.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPStage_DisableMotorPhasesCheck
27505
3119h.0h
rw, retain
n/a
0 (False) 1 (True)
ong wire sequence on the motor
Disable runtime motor phases connection check
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
By default the drive constantly monitor the motor phases connection (when power is enabled) in order to detect phase
disconnection, preventing damages to equipments. This parameter let user disable motor phases monitoring and
relative fault management.
When motor phase disconnection is detected a Motor Power Phases Terminal Connection Failure fault is generated.
WARNING: For correct motor phases disconnection detection the parameter parMotorData.KT
must be setting according to motor data sheet.
6.1
Power-on Self Test
At boot a power stage self test is performed, in order to make a basic troubleshooting of the output power stage,
including power stage operational state, motor and brake resistor connections. The aim is to detect troubles that can
affect correct system operations.
The Power-on Self Test (POST) is performed during drive boot (after drive power-on and/or reset) and end before
signaling drive ready. It can be completed only if no voltage is applied on power stage; the system will detect a voltage
54
Doc. 10460-1-C-M
ENG
applied on power stage during self test, event that trigger self test canceling: by default POST is not mandatory, but it
could be changed with parPStage_ForcePOST. The POST can also be disabled with parPStage_DisablePOST.
Detected troubles will enter drive in boot error state; refer to §C for a complete diagnostic codes and troubleshooting
suggestions.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPStage_DisablePOST
27506
311Ah.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable power stage self-test at startup
Modbus Data Type:
Unsigned16
Signed8
Object:
parPStage_ForcePOST
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
27507
311Bh.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Force successfully completion of power stage self-test at
startup
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Disable POST at boot.
Default value:
0(False)
Force successfully (e.g. no cancel) completion of the POST; if the operation is not complete drive will enter in boot
error state.
6.2
Monitor
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPStageOverCurrentThreshold
27500
3114h.0h
ro,pdomap
0.1 mA
Full scale.
Actual Drive Over Current Threshold Detection
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Actual over current threshold.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPStageSwitchingFrequency
27504
3118h.0h
ro, pdomap
-See table below
Actual PWM Switching Frequency.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
3
Actual PWM switching frequency, as following table:
Value
1
2
3
4
Description
2 kHz
4 kHz
8 kHz
16 kHz
Switching frequency could be dynamically changed by the drive depending from the operating conditions.
7.
SPEED POSITION LOOP
These parameters control the behaviour and the performance of the position and speed loop.
on and to the desired performance.
WARNING: the values of these objects could be written also during the normal drive working cycle, thus with
power enabled and moving shaft. Be careful as modifying the values of this object with power enabled could
yield in a loss of axes control.
55
7.1
Doc. 10460-1-C-M
ENG
Space Speed Control Loop
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSSCntrlLp.Flags.UseDifferentKp
27000
3300h.0h
rw,retain
n/a
0 (False) 1 (True)
Use different speed Kp
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
Use different coefficient for proportional gain speed reference (parSSCntrlLp.SpdKpRef) and for proportional gain
speed feedback (parSSCntrlLp.SpdKPFbk).


0(False): use the same proportional gain for speed reference and for speed feedback. The value of the two
parameters is equal to the parSSCntrlLp.SpdKpRef parameter value.
1(True): use different proportional gain for speed reference and for speed feedback.
For further information refer to §E.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSSCntrlLp.fKi
27014
330Ch.1h
rw,retain,pdomap
Hz
Full scale.
Integral gain
Modbus Data Type:
Real32
Real32
Default value:
0.0
Position Kp gain
Modbus Data Type:
Real32
Real32
Default value:
6.512000084
Speed loop: integral gain value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSSCntrlLp.fPosKp
27015
330Ch.2h
rw,retain,pdomap
A/rad
Full scale.
Position loop: proportional gain value.
This gain is applied to the position error; i.e. the difference between the position reference and the position feedback.
In velocity profile
ontrol loop.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSSCntrlLp.fSpdKpRef
27016
330Ch.3h
rw,retain,pdomap
A*s/rad
Full scale.
Speed: kp reference value.
Modbus Data Type:
Real32
Real32
Default value:
0.01999999955
Speed: kp feedback value.
Modbus Data Type:
Real32
Real32
Default value:
0.01999999955
Proportional gain value applied to the speed reference.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSSCntrlLp.fSpdKPFbk
27017
330Ch.4h
rw,retain,pdomap
A*s/rad
Full scale.
Proportional gain value to the feedback speed reference.
56
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSSCntrlLp.fAccKpRef
27018
330Ch.5h
rw,retain,pdomap
A*s2/rad
Full scale.
Doc. 10460-1-C-M
ENG
Acceleration: kp reference value.
Modbus Data Type:
Real32
Real32
Default value:
0
Acceleration: reference proportional gain value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSSCntrlLp.fAccKpFbk
27019
330Ch.6h
rw,retain,pdomap
A*s2/rad
Full scale.
Acceleration: kp feedback value.
Modbus Data Type:
Real32
Real32
Default value:
0
Max Limit Torque.
Modbus Data Type:
Signed32
Signed32
Default value:
2147483647
Min Limit Torque.
Modbus Data Type:
Signed32
Signed32
Default value:
-2147483647
Profile velocity.
Modbus Data Type:
Signed32
Unsigned32
Acceleration: feedback proportional gain value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSSCntrlLp.IlimitMax
27012
330Ah.0h
rw,retain,pdomap
0.1 mA
0 to 214748.3647
Saturation positive limit of the torque reference.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSSCntrlLp.IlimitMin
27013
330Bh.0h
rw,retain,pdomap
0.1 mA
-214748.3647 to 0
Saturation negative limit of the torque reference.
7.2
Positioner
on
software module.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
parPositioner.ProfileVel
27100
6081h.0h
rw,retain,pdomap
Value range:
Full scale.
Default value:
17895700 (~ 209.4395
rad/s)
The profile velocity is the velocity obtained at the end of the acceleration ramp during the profile move and is valid for
both directions of motion.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPositioner.ProfileAcc
27101
6083h.0h
rw,retain,pdomap
Full scale.
Profile acceleration.
Modbus Data Type:
Signed32
Unsigned32
Default value:
1000000 (~ 22.8581 rad/s²)
The profile acceleration is given in user defined acceleration unit and is used to plan the acceleration slope.
57
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPositioner.ProfileDec
27102
6084h.0h
rw,retain,pdomap
Full scale.
Doc. 10460-1-C-M
ENG
Profile deceleration.
Modbus Data Type:
Signed32
Unsigned32
Default value:
1000000 (~ 22.8581 rad/s²)
The profile deceleration is given in user defined acceleration unit and is used to plan the deceleration slope.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
parPositioner.QuickStopDec
27103
6085h.0h
rw,retain,pdomap
Value range:
Full scale.
Quick stop deceleration.
Modbus Data Type:
Default value:
Signed32
Unsigned32
10000000 (~228.5809
rad/s2)
The quick stop deceleration is the deceleration used to stop the motor if the quick stop ramp is selected as option
code. Refer to (§3).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPositioner.EndVelocity
27104
6082h.0h
rw,retain,pdomap
Full scale.
End velocity.
Modbus Data Type:
Signed32
Unsigned32
Default value:
0
The end velocity defines the velocity, which the drive must have on reaching the target position. Normally, the drive
stops at the target position, i.e. the end velocity near to zero.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPositioner.ZeroSpeedThreshold
27106
3341h.0h
rw,retain,pdomap
Full scale.
Threshold speed.
Modbus Data Type:
Signed32
Signed32
Default value:
4475 (~ 0.05 rad/s)
Below this speed threshold the motor is considered standstill. It avoid noise read on the speed feedback to be used as
actual reference speed while resetting the ramp generator, allowing at same time resetting the ramp generator while
motor is running.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPositioner.PositionErrorMax
27105
3340h.0h
rw,retain,pdomap
Full scale.
Max position error allowed.
Modbus Data Type:
Signed32
Signed32
Default value:
327680 (~ 1800 °)
This is the maximum following error allowed during the profile mode (position or speed). If zeroed then the maximum
following error allowed will be automatically calculated from motor parameters and space speed control loop gains;
refer to parameters varSSCntrlLpAutoErrMin and varSSCntrlLpAutoErrMax to read the actual calculated value.
The profile generator internal status will be limited to this maximum following error when motor cannot follow the
generated trajectory, in order to avoid dangerous uncontrolled winding or unwinding in case the motor back to being
free of rotating. In case of one velocity profiles is selected (PV, HM, CSV) an anti-windup strategy is activated: when
detecting motor current saturation (e.g. requested quadrature current reach the maximum allowed, both positive or
negative) a following error is detected (unregarding the selected threshold) and held, in order that when motor back to
being free the uncontrolled winding or unwinding is mitigated or avoided.
58
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPositioner.MotorBlockedTimeout
27107
3342h.0h
rw,retain,pdomap
msec
0 to 32767
Doc. 10460-1-C-M
ENG
Time-out for motor blocked alarm.
Modbus Data Type:
Signed16
Signed16
Default value:
100
This is the time period threshold for motor blocked detection; zeroes it to disable.
When a persistent following error condition is detected (as described in parPositioner.PositionErrorMax), lasting more
time than this parameter, a Motor Blocked / Following Error Timeout fault is triggered.
7.3
Monitor
Variables related to the position and speed loops.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSSCntrlLpIqRef
27029
-Ro
0.1mA
Full scale.
Torque reference.
Modbus Data Type:
Signed32
--
Default value:
n/a
It represents the current reference output of the speed/position loop.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSSCntrlLpAutoErrMin
27030
3321h.0h
ro, pdomap
Full scale.
Auto min position error allowed.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Using an advanced algorithm from space loop position gain and current limit the minimum position error will be
calculated. This value will be refresh only if the parameter parPositier.PositiErrorMax is set to 0.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSSCntrlLpAutoErrMax
27031
3322h.0h
ro, pdomap
Full scale.
Auto max position error allowed.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Using an advanced algorithm from space loop position gain and current limit the maximum position error will be
calculated. This value will be refresh only if the parameter parPositier.PositiErrorMax is set to 0.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPosRGDemandPosHi
27122
3350h.2h
ro,pdomap
Full scale.
Demand Position (turn)
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Reference position into mechanical turns. Represents the 32 MSB bit position input of the space speed control loop
as computed by the trajectory generator.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPosRGDemandPosLo
27123
3350h.1h
ro,pdomap
Full scale.
Demand Position (angle)
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
Reference position into mechanical angle unit. Represents the 32 LSB bit position input of the space speed control
loop as computed by the trajectory generator.
59
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPosRGDemandSpeed
27124
606Bh.0h
ro,pdomap
Full scale.
Doc. 10460-1-C-M
Demand Speed.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
ENG
It corresponds to the velocity demand value: this is the output value of the trajectory generator.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPosRGDemandAccel
27125
3352h.0h
ro,pdomap
Full scale.
Demand acceleration.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Following error.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Input acceleration reference in the speed/position loop.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPosRGPosError
27126
60F4h.0h
ro,pdomap
Full scale.
Following error actual value.
8.
DEVICE CONTROL
Parameters defined in DSP402 profile of the CanOpen specifications.
For further information refer to (§3).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.ModeOfOperation
29016
6060h.0h
rw,pdomap
n/a
See table above.
Mode of Operation.
Modbus Data Type:
Unsigned16
Signed8
Default value:
03h
This parameter switches the operation mode. The possible values are:
Option code
01h
03h
06h
07h
80h
09h
0Ah
Description
Profile position mode
Profile velocity mode
Homing mode
Interpolated position mode
Torque mode
Cyclic Sync Velocity
Cyclic Sync Torque
Name mask
cstDevCtrlModeOfOpProfilePosition
cstDevCtrlModeOfOpProfileVelocity
cstDevCtrlModeOfOpHoming
cstDevCtrlModeOfOpInterpolatedPosition
cstDevCtrlModeOfOpTorqueMode
cstDevCtrlModeOfOpCyclicSyncVelocity
cstDevCtrlModeOfOpCyclicSyncTorque
This value parameter is reflected in the object modes of operation display.
The drive supports switching between the various modes of operation, also when the axes is moving.
60
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.QuickStopOptCode
29020
605Ah.0h
rw,retain
n/a
See table above.
Doc. 10460-1-C-M
Quick Stop Option Code.
Modbus Data Type:
Signed16
Signed16
Default value:
0002h
ENG
This determines what action should be taken if the Quick stop function is executed (transition 11). The action could be
one of the following:
Option code
0000h
0001h
0002h
0005h
0006h
Description
Disable drive function
Slow down with slow down ramp; disable of the drive
function
Slow down with quick stop ramp; disable of the drive
function
Slow down with slow down ramp and stay in quick stop
Slow down with quick stop ramp and stay in quick stop
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.ShutdownOptCode
29021
605Bh.0h
rw,retain
n/a
See above table.
Name mask
cstDevCtrlOptCodePowerOff
cstDevCtrlOptCodeSlowDown
cstDevCtrlOptCodeQuickStop
cstDevCtrlOptCodeSlowDownAndStay
cstDevCtrlOptCodeQuickStopAndStay
Shutdown Option code.
Modbus Data Type:
Signed16
Signed16
Default value:
0000h
This parameter determines what action should be taken if there is a transition from Operation enable to Ready to switch
on (transition 8). The action could be one of the following:
Option code
0000h
0001h
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Description
Slow down with slow down ramp; disable of the drive function
parDevCtrl.DisableOptCode
29022
605Ch.0h
rw,retain
n/a
See above table.
Name mask
Disable Option Code.
Modbus Data Type:
Signed16
Signed16
Default value:
0001h
This parameter determines what action should be taken if there is a transition from Operation enable to Switched on
(transition 5). The action could be one of the following:
Option code
0000h
0001h
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Description
Slow down with slow down ramp; disable of the drive function
parDevCtrl.HaltOptCode
29023
605Dh.0h
rw,retain
n/a
See above table.
Name mask
Halt Option Code.
Modbus Data Type:
Signed16
Signed16
Default value:
0001h
This determines what action should be taken if the bit 8 (halt) in the controlword is active. The action could be one of
the following:
Option code
0000h
0001h
0002h
Description
Disable drive, motor is free to rotate
Slow down with slow down ramp
Slow down with quick stop ramp
Name Mask
61
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.FaultReactionOptCode
29024
605Eh.0h
rw,retain
n/a
See above table.
Doc. 10460-1-C-M
Fault Reaction Option Code.
Modbus Data Type:
Signed16
Signed16
Default value:
0002h
ENG
The parameter fault reaction option code determines what action should be taken if a fault occurs in the drive. The
action could be one of the following:
Option code
0000h
0001h
0002h
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Description
Disable drive, motor is free to rotate
Slow down with slow down ramp
Slow down with quick stop ramp
parDevCtrl.RatedTorque
29044
6076h.0h
rw,retain
mNm
Full scale.
Name Mask
Motor Rated Torque
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
0
All relative torque data shall refer to this value. The value shall be given in mNm (milli Newton metre).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varStatusWord
29001
6041h.0h
ro,pdomap
n/a
n/a
Status Word.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
--
The statusword indicates the current state of the drive and the current state of the specific operating mode.
62
Bit Name
0
Ready to switch on
1
Switched on
2
Operation enabled
3
Fault
4
5
Voltage enabled
Quick stop
6
Switch on disabled
7
8
9
Warning
reserved
Remote
10 Target reached
11 Internal limit active
12
13
14
15
O1
O2
reserved
Homing done
Doc. 10460-1-C-M
ENG
Description
The drive functions are disabled, the drive is ready to enable power output.
The drive functions are disabled, the drive has power output enabled, and the
motor shaft has no torque.
The drive functions and power output are enabled, the torque could be applied
on the motor shaft, no faults detected, and specific selected Mode Of
Operation is executed.
A fault is occurred in the device, the drive functions and power output are
disabled.
Power output is enabled to the drive when this bit is set to 1.
The drive functions and power output are enabled, the quick stop function is
being executed or finished and the motor stopped (depending from object
605Ah.0h)
Drive initialization is complete, and then is ready to accept command, the
power output and the drive functions are disabled.
A warning is occurred in the device.
If set, then parameters may be modified via the CAN bus, and the drive
executes the content of a command message. If the bit remote is reset, then
the drive is in local mode and will not execute the command message.
If set, then a set-point has been reached (not used in Torque Mode and Homing
Mode). The set-point is dependent on the operating mode. The change of a
target value by software alters this bit. If quick stop option code is 5 or 6 this
bit is set when the quick stop operation is finished and the drive is halted. If
halt occurred and the drive has halted then this bit is set too.
It signal that the target position (if in Profile Position Mode) or the set-point (if
in Interpolated Mode) was wrapped between minimum and maximum Software
position limit (object 607Dh), due to exceeding value. It is reset with a new
target position or set-point between the limits (not used in Torque Mode).
The homing is done, this bit remain active up to a node reset or a power-off.
Table 3 - Structure of the statusword
The O1, O2 are operating mode specific bits:
Bit
Position profile
O1
Set point
acknowledge
O2
Following error
Velocity
profile
Zero speed
Interpolated
position
Ip mode active
Torque mode
Homing mode
reserved
Homing
attained
Max slippage
error
reserved
reserved
Homing error
Table 4 - Statusword operating mode specific bits
The reserved bit is for future enhancements, it has to be ignored.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varModeOfOperationDisplay
29017
6061h.0h
ro,pdomap
n/a
n/a
Mode of Operation Display.
Modbus Data Type:
Unsigned16
Signed8
Default value:
n/a
The mode of operation display shows the current mode of operation.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksControlWord
29000
6040h.0h
rw,pdomap
n/a
n/a
Control Word.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
n/a
63
Doc. 10460-1-C-M
ENG
The controlword contains the bits for controlling the state machine and for controlling the specific operating mode.
MSB
LSB
reserved (7 bit)
halt
fault
reset
O3
O2
O1
enable
oper.
quick
stop
enable
volt.
switch
on
Figure 8 - Structure of controlword
The O1, O2, and O3 are operating mode specific bits:
Bit
Position profile
Velocity profile
O1
new set-point
reserved
O2
change set
immediately
abs/rel
O3
Interpolated
position
enable ip
mode
Torque mode
Homing mode
reserved
homing
operation start
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
Table 5 - Controlword operating mode specific bits
The reserved bit are for future enhancements, should be kept to 0.
8.1
Profile Position
Parameters defined in CiA DSP402 profile position of the CANOpen specifications.
For further informations refer to (§3).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.FollowingErrWindow
29025
6065h.0h
rw,retain,pdomap
n/a
Following Error Window.
Modbus Data Type:
Signed32
Unsigned32
Default value:
65536 (~ 360°)
The following error window defines the maximum tolerance on the following error; if the following error actual value is
greater than following error window, a following error occurs. A following error might occur when a drive is blocked,
unreachable profile velocity occurs, or at wrong closed loop coefficients.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.FollowingErrTimeout
29026
6066h.0h
rw,retain,pdomap
ms
n/a
Following Error Timeout.
Modbus Data Type:
Signed16
Unsigned16
Default value:
10
When a following error occurs longer than the defined value of the time-out, the corresponding bit13 of statusword is
set to one.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.TargetPosWindow
29027
6067h.0h
rw,retain,pdomap
n/a
Target Position Window.
Modbus Data Type:
Signed32
Unsigned32
Default value:
64 (~0.35°)
The position window defines a symmetrical range of accepted positions relatively to the target position.
( target position - position window ; target position + position window )
If the present value of the position encoder is within the position window, this target position is regarded as reached.
64
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.TargetPosTimeout
29028
6068h.0h
rw,retain,pdomap
ms
n/a
Doc. 10460-1-C-M
Position Timeout.
Modbus Data Type:
Signed16
Unsigned16
Default value:
20
ENG
When the actual position is within the position window during the position window timeout the corresponding bit10 in
the statusword is set.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksTargetPosHi
29002
-rw
Full scale.
Target position mechanical turns.
Modbus Data Type:
Signed32
-Default value:
0
User target position in mechanical turns: is the MSB 32 bit of 64 bit target position.
The target position is the position that the drive should move to in position profile mode using the current settings of
motion control parameters such as velocity, acceleration, deceleration, motion profile type etc. The target position that
is usually generated from the master control; anyway the user should be configuring it using the Cockpit configurator
and the basic application of the drive.
The Positioner application allows the user to control the drive as programmable multi-position positioner. For more
details about the format position refer to the appendix Encoder position format or to the manual (§4).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksTargetPosLo
29003
-Rw
Full scale.
Target position mechanical angle.
Modbus Data Type:
Unsigned32
-Default value:
0
User target position in mechanical angle is the LSB 32 bit of 64 bit target position.
The Positioner application allows the user to control the drive as programmable multi-position positioner. For more
details about the format position refer to the appendix Encoder position format or to the manual (§4).
8.2
Profile Velocity
Parameters defined in CiA DSP402 Profile Velocity mode of the CANOpen specifications.
For further information refer to (§3).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.VelocityWindow
29029
606Dh.0h
rw, pdomap
Full scale.
Velocity window.
Modbus Data Type:
Signed32
Unsigned32
Default value:
894616 (~10.47 rad/s)
The velocity window monitors whether the required process velocity has been achieved after an eventual acceleration
or deceleration (braking).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.VelocityTimeout
29030
606Eh.0h
rw, pdomap
msec
Full scale.
Velocity timeout.
Modbus Data Type:
Signed16
Unsigned16
Default value:
30
65
Doc. 10460-1-C-M
ENG
The corresponding bit 10 target reached is set in the statusword when the difference between the target velocity and
the velocity actual value is within the velocity window longer than the velocity window time.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.VelocityThresholdWindow
29031
606Fh.0h
rw, pdomap
Full scale.
Velocity threshold window.
Modbus Data Type:
Signed32
Unsigned32
Default value:
170891 (~ 2.09 rad/s)
As soon as the velocity actual value exceeds the velocity threshold than the velocity threshold time bit 12 is reset in
the statusword. Below this threshold the bit is set and indicates that the axle is stationary.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.VelocityThresholdTimeout
29032
6070h.0h
rw, pdomap
msec
Full scale.
Velocity threshold timeout.
Modbus Data Type:
Signed16
Unsigned16
Default value:
80
The velocity threshold time. For further information refer to the Profile Velocity Mode specification (CiA DSP402 V2.0
(§3).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksTargetSpeed
27118
60FFh.0h
rw, pdomap
Full scale.
Target velocity.
Modbus Data Type:
Signed32
Signed32
Default value:
0
User target velocity: the value from this object is used only if the drive is set in velocity mode.
The target velocity is the input for the internal ramp generator:

when the drive works in profile position mode, the target velocity is automatically calculate by the internal
ramp generator on the basis of the positioning parameters;

when the drive works in velocity profile the target velocity is generated from the master control that should
write this object.
Anyway the user should be configuring it using the Cockpit configurator and the base application of the drive. The base
application allows the user to con
control, it turns
drive in a versatile brushless servomotors digital control.
8.3
Interpolation mode
The interpolated position mode is used to control multiple coordinated axes or a single axle with the need for timeinterpolation of set-point data.
For synchronous operation the interpolation cycle time is defined by the object interpolation time period. Time
synchronization may be done by networked dependent systems. Each synchronization cycle actuates the next data
record if a valid data record is available.
This object shall indicates the configured interpolation cycle time. The interpolation time period (60C2 sub-index 01h)
value shall be given in 10i sec where i is the interpolation time index. The interpolation time index (60C2 sub-index
02h) shall be dimensionless.
time period  time units  10interpolation time index
The interpolation time period has to be multiple of 250s.
For further information refer to CiA DSP402 V2.0 (§3).
66
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-60C1h.1h
rw
Full scale.
Doc. 10460-1-C-M
Interpolation data record
Modbus Data Type:
-Signed32
Default value:
n/a
ENG
The interpolation data record is the data words, which are necessary to perform the interpolation algorithm. For the
linear interpolation mode each interpolation data record simply is regarded as a new position set-point. Those setpoints could be optionally filtered by a user-defined 2nd order filter.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.IPTimeUnits
29033
60C2h.1h
rw
n/a
Full scale.
Interpolation time units.
Modbus Data Type:
Unsigned16
Unsigned8
Default value:
1
parDevCtrl.IPTimeIndex
29034
60C2h.2h
rw
n/a
-128 to 63
Interpolation time index.
Modbus Data Type:
Signed16
Signed8
Default value:
-3
wksIPQuotaLo
--rw
Position Factor Unit.
Full scale.
Interpolation data value angle unit.
LogicLab Data Type:
Unsigned32
--
Interpolation time units.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Interpolation time index.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Default value:
n/a
This is the interpolation data position in mechanical angle unit.
The interpolation data in angle unit is the 32 LSB bit of 64 bit interpolation data position. For more details about the
format position refer to the appendix Encoder position format or to the manual (§4).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksIPQuotaHi
--rw
Full scale.
Interpolation data value turns unit.
LogicLab Data Type:
Signed32
-Default value:
n/a
This is the interpolation data encoder position in mechanical turns unit.
The interpolation data in turns unit is the 32 MSB bit of 64 bit interpolation data position. For more details about the
format position refer to the appendix Encoder position format or to the manual (§4).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varIPQuotaMonitor
29010
-ro
Full scale
IP Mode Received Quota Monitoring
Modbus Data Type:
Signed32
-Default value:
n/a
IP quota as received from the fieldbus, for application debugging purpose.
67
8.4
Doc. 10460-1-C-M
ENG
Homing Mode
This is the method by which a drive seeks the home position (also called, the datum, reference point or zero point).
There are various methods of achieving this, all of them use a home switch (zero point switch) in mid-travel; most of
the methods also use the index (zero) pulse train from an incremental encoder.
The home switch, the positive and the negative switch have to be connected to the digital input, no additional
configuration for this input has to be done. The user could specify an homing speed, an homing acceleration and an
homing method, that will be used throughout all the procedure. At the end of the seeking, the drive will set-up the
home offset with the right value to zero all the position objects the home position; the previous value of the home
offset is ignored. The successfully completed procedure will be signalled by the Homing done bit in the statusword
(object 6041h.0h).
In order to start seeking of home position, the Home operation start bit has to be set. If the selected method is not
supported, the Homing error bit will be activated; otherwise the Homing attained bit activation will signal the
successfully end of homing procedure and the zero speed of the motor. Now Home operation start bit could be reset.
This mode is driven by specific bits of the controlword and the statusword, as follow:
Command
Homing operation
start
Halt
Controlword
xxxx xxxx xxx1 xxxx
Description
The transiti 0→1 start the homing, the transiti 1→0 interrupt the
homing.
xxxx xxx1 xxxx xxxx
Stop the motor with the profile decelerati (depend from the
object 605Dh.0h); the homing procedure will restart from the
beginning.
For complete reference refer to ControlWord (object 6040h.0h).
State
Homing attained
Homing error
Statusword
xxx1 xxxx xxxx xxxx
xx1x xxxx xxxx xxxx
Description
Homing mode carried out successfully, motor is stopped.
The selected method is not supported. This flag is activated
when Homing operation start bit is activated.
Homing done
1xxx xxxx xxxx xxxx
The homing is done, this bit remain active up to a node reset or
a power-off.
For complete reference refer to StatusWord (object 6041h.0h).
Table 6 - Homing commands
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.HomeOffsetHi
29042
-rw, pdomap
Full scale.
Home Offset Turns.
LogicLab Data Type:
Signed32
--
Default value:
n/a
Home Offset Angle.
LogicLab Data Type:
Unsigned32
--
Default value:
n/a
Home Offset value in turns unit.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.HomeOffsetLo
29043
-rw, pdomap
Full scale.
Home Offset value in electrical angle unit.
The home offset object is the difference between the zero position for the applicati and the machine home position
(found during homing). This object affects the values read from the position encoder:
position actual value  encoder position  home offset
The object could be written also when the power output is enabled and the shaft is running, as the writing does not
affect any internal system status variables.
This object shall indicate the configured difference between the zero position for the applicati and the machine home
position (found during homing). During homing, the machine home position is found and ce the homing is completed,
the zero position is offset from the home position by adding the home offset to the home position. All subsequent
68
Doc. 10460-1-C-M
ENG
absolute moves shall be taken relative to this new zero position. This is illustrated in Figure 5. If this object is not
implemented, then the home offset shall be regarded as zero. The value of this object shall be given in user-defined
position units. Negative values shall indicate the opposite direction.
Zero Position
Home Position
Home Offset (parDevCtrl.HomeOffset)
Figure 9 - Home Offset definition.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.HMMethod
29035
6098h.0h
rw, pdomap, retain
n/a
See table above.
Homing method.
LogicLab Data Type:
Unsigned8
Signed8
Default value:
1
This object determines the method that will be used during homing. The possible values are:
Opti code
01h
02h
03h
04h
05h
06h
07h
11h
21h
23h
24h
0Eh
1Eh
22h
Description
Method
Method
Method
pulse.
Method
pulse.
Method
Method
Method
Method
Method
1: Homing negative limit switch and index pulse.
2: Homing positive limit switch and index pulse.
3 and 4: Homing positive home switch and index
5 and 6: Homing negative home switch and index
7 to 14: Homing home switch and index pulse.
17 to 30: Homing without index pulse.
33 and 34: Homing index pulse.
35: Homing index pulse.
36: Homing with touch-probe.
For further informations refer to the manual (§3).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.HMSpeedSwitch
29039
6099h.1h
rw, pdomap, retain
Full scale.
Homing Speed Switch.
LogicLab Data Type:
Signed32
Unsigned32
Default value:
894785 (~10.47 rad/s)
This parameter define the speed in velocity units at which the speed switch is sought during homing mode.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.HMSpeedZero
29040
6099h.2h
rw, pdomap, retain
Full scale.
Homing Speed Zero.
LogicLab Data Type:
Signed32
Unsigned32
Default value:
89478.5 (~1.05 rad/s)
This parameter define the speed in velocity units at which the speed zero is sought during homing mode.
69
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.HMSpeedAcc
29041
609Ah.0h
rw, pdomap, retain
Full scale.
Doc. 10460-1-C-M
ENG
Homing Acceleration.
LogicLab Data Type:
Signed32
Unsigned32
Default value:
1000000 (~ 22.8581 rad/s²)
This parameter defines the acceleration at which the home switch is sought during homing mode. The homing
acceleration is given in user defined acceleration units. For further information look at manual (§3).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.HMPositiveSwitchSrc
29036
3001h.0h
rw, pdomap, retain
-See table above.
Positive Switch Source
LogicLab Data Type:
Unsigned8
Unsigned8
Default value:
03 h (Dig In 3).
This parameter defines the positive limit switch source for the homing mode procedure. The possible values are:
Opti code
00h
01h
02h
03h
04h
05h
06h
07h
80h
81h
82h
83h
84h
85h
86h
87h
FEh
FFh
Name
Description
Dig In 0
Dig In 1
Dig In 2
Dig In 3
Dig In 4
Dig In 5
Dig In 6
Dig In 7
Inv Dig In 0
Inv Dig In 1
Inv Dig In 2
Inv Dig In 3
Inv Dig In 4
Inv Dig In 5
Inv Dig In 6
Inv Dig In 7
Fieldbus
False
Digital Input 0.
Digital input 1.
Digital Input 2.
Digital Input 3.
Digital Input 4.
Digital Input 5.
Digital Input 6.
Digital Input 7.
Invert Digital Input
Fieldbus source.
False: not used.
0. (?)
1.
2.
3.
4.
5.
6.
7.
For further informatis refer to the manual (§3).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.HMNegativeSwitchSrc
29037
3002h.0h
rw, pdomap, retain
-See table above.
Negative Switch Source
LogicLab Data Type:
Unsigned8
Unsigned8
Default value:
03 h (Dig In 4).
This parameter defines the negative limit switch source for the homing mode procedure. The possible values are:
70
Opti code
00h
01h
02h
03h
04h
05h
06h
07h
80h
81h
82h
83h
84h
85h
86h
87h
FEh
FFh
Doc. 10460-1-C-M
Name
Description
Dig In 0
Dig In 1
Dig In 2
Dig In 3
Dig In 4
Dig In 5
Dig In 6
Dig In 7
Inv Dig In 0
Inv Dig In 1
Inv Dig In 2
Inv Dig In 3
Inv Dig In 4
Inv Dig In 5
Inv Dig In 6
Inv Dig In 7
Fieldbus
False
Digital Input 0.
Digital input 1.
Digital Input 2.
Digital Input 3.
Digital Input 4.
Digital Input 5.
Digital Input 6.
Digital Input 7.
Fieldbus source.
False: not used.
ENG
0.
1.
2.
3.
4.
5.
6.
7.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parDevCtrl.HMHomeSwitchSrc
29038
3003h.0h
rw, pdomap, retain
-See table above.
Home Switch Source
LogicLab Data Type:
Unsigned8
Unsigned8
Default value:
03 h (Dig In 4).
This parameter defines the home switch source for the homing mode procedure. The possible values are:
Opti code
00h
01h
02h
03h
04h
05h
06h
07h
80h
81h
82h
83h
84h
85h
86h
87h
FEh
FFh
Name
Description
Dig In 0
Dig In 1
Dig In 2
Dig In 3
Dig In 4
Dig In 5
Dig In 6
Dig In 7
Inv Dig In 0
Inv Dig In 1
Inv Dig In 2
Inv Dig In 3
Inv Dig In 4
Inv Dig In 5
Inv Dig In 6
Inv Dig In 7
Fieldbus
False
Digital Input 0.
Digital input 1.
Digital Input 2.
Digital Input 3.
Digital Input 4.
Digital Input 5.
Digital Input 6.
Digital Input 7.
Fieldbus source.
False: not used.
0.
1.
2.
3.
4.
5.
6.
7.
9.
FIELDBUS
9.1
CANOpen
CAN is an abbreviation for the Controller Area Network. CANOpen is a higher layer protocol based on CAN (Controller
Area Network), which enables the communication between devices of different manufacturers and guarantees an
interchange ability of devices.
71
Doc. 10460-1-C-M
ENG
Thus, devices of different manufacturers can be accessed via the bus in exactly the same manner. In this way, a very
high degree of vendor independence is achieved as the devices are interoperable and exchangeable.
CANOpen is a high speed serial interface which was designed for use in Automotive and Industrial applications. drive
is configurable as CANOpen standard slave node
one from some CANOpen standard profiles.
For further information about CANOpen standard definition refer to (§1) and (§3).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parCAN.Controller
30000
-rw, retain
n/a
See table above.
Can controller configuration.
Modbus Data Type:
Signed16
--
Default value:
0000h (Disabled)
CAN controller configuration.
Drive has two configurable CAN channel.
Option code
0000h
0001h
0002h
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Description
Disable CAN controller.
Main Controller: drive connector C1.
Aux Controller: drive connector S1.
parCANOpen.LssNodeId
30001
-rw, retain
n/a
1 to 127.
Name
-cstCanNode0
cstCanNode1
Lss Node ID
Modbus Data Type:
Signed16
--
Default value:
1
The node identifier (node ID) within a CANOpen network is set with this parameter. Each node within the network
(drives, peripherals ...) needs its own unique number.
WARNING: Do not assign the same node ID address to more than one slaves on the net!
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parCANOpen.LssTimingIndex
30002
-rw, retain
n/a
See table above.
Lss Timing Index
Modbus Data Type:
Signed16
--
Default value:
0004h (125Kbps)
Baudrate CAN communication protocol.
Description
1Mbps
800kbps
500kbps
250kbps
125Kbps
100Kbps
50Kbps
20Kbps
10Kbps
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Option code
0000h
0001h
0002h
0003h
0004h
0005h
0006h
0007h
0008h
parCANOpen.EmcyInhibitTime
30003
1015h.0h
rw, retain
100 µsec
Full scale.
Name Mask
cstCanBaudRate1000Kbps
Emergency Inhibit Time
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
The inhibit time for the EMCY can be adjusted via this entry. To guarantee that no starvation on the network occurs for
data objects with low priorities, data objects can be assigned an inhibit time; this defines the minimum time that has
72
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to elapse between two consecutive invocations of a transmission service for that data object. It could use only in
asynchronous transmission type.
The value shall be given in multiples of 100 µsec. The value zero disable the inhibit time.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parCANOpen.SyncCOB
30004
-rw, retain
n/a
001h to 57Fh, 680h to 7FFh
Sync COB ID
Modbus Data Type:
Unsigned16
Unsigned32
Default value:
0080h
Emgy COB ID
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
0080h + Node ID
COB-ID used by Sync COB message.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parCANOpen.EmgyCOB
30005
1014h.0h
rw, retain
n/a
n/a
COB-ID used by Emergency COB message.
Defines the COB-ID of the EMCY. Bits 0-10 define the COB-ID, bit 31 defines if the EMCY is enabled (equal to 0) or if
it is disabled (equal to 1); bits 11-30 should be leaved 0.
LSB
MSB
E
Unused (20 bit), should be 0
COB-ID (11 bit)
Figure 10 - Structure of COB-ID Emergency Message
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parCANOpen.GuardTime
30006
100Ch.0h
rw, retain
msec
4 to 32000
Guard Time.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
Node guarding protocol: the node guard is used to detect communication errors in the network. With node guarding, a
certain network node (NMT-master) requests the other nodes in the network with a CAN remote frame one after the
other at defined intervals (guard time) to transmit a data telegram with its current communication state (stopped,
operational, pre-operational) together with a toggle-bit. If the NMT Slave has not been polled during its life time, it
issues an EMCY object with error code 8130h and then the action indicated in the Abort Connection (object
6007h.0h) is issued. The error is cleared either restarting polling slave or by a reset node / reset communication
command. The value zero disables the guard time features.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parCANOpen.HeartbeatTime
30007
1017h.0h
rw, retain
msec
4 to 32000.
Hearbeat Time.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
Producer Heartbeat time.
With node monitoring according to the heartbeat principle, a node automatically transmits its communication state at
regular intervals as evidence of its communication ability. The interval between two heartbeat messages (heartbeat
interval) of a heartbeat producer is configured via this object.
The value shall be given in multiples of 1 ms. The value zero shall disable the producer heartbeat.
73
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parCANOpen.LifeTimeFactor
30008
100Dh.0h
rw, retain
n/a
Full scale.
Doc. 10460-1-C-M
Life Time Factor.
Modbus Data Type:
Unsigned16
Unsigned8
Default value:
0
ENG
Life time factor: multiplied with the guard time gives the life time for the Node Guarding Protocol. Set it to zero if not
used.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parCANOpen.CommCyclePeriod
30009
1006h.0h
rw, retain
µsec
Full scale.
Communication cycle period.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
0000 0000h
CAN protocol communication cycle period. This object defines the Sync interval in µsec.
The value shall be given in multiple of µsec. If the value is set to 0000 0000h the transmission of Sync messages
shall be disabled. By changing the value from 0000 0000h and the synchronous counter overflow value is greater than
0 the first Sync message shall start with the counter value reset to 1.
The transmission of Sync messages shall start within one communication cycle period as given by the value after it is
set to the new value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parCAN.DisableAlarmMask
30010
5730h.0h
rw, retain, pdomap
n/a
Full scale.
Can disable alarm mask.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
0000 0000h
If the value is different to 0000 0000h the alarm messages generated by the CAN protocol are disabled.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parCAN.Flags.ReSyncEnable
30011
-rw, retain
n/a
0(False) -1(True)
Synchronization Enable.
Modbus Data Type:
Unsigned16
--
Default value:
0(False)
Enable the internal machine cycle synchronization with the Sync object.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parCAN.Flags.SyncEvOnPeriodicCob
30012
-rw, retain
n/a
0(False) -1(True)
Enable CANOpen SYNC event from system periodic COB
sending.
Modbus Data Type:
Unsigned16
-Default value:
0(False)
Enable the internal machine cycle synchronization with the internal generated Sync object.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parCAN.Flags.DelayedTxPDO
30013
-rw, retain
n/a
0(False) -1(True)
Enable one realtime task delayed Tx PDO processing.
Modbus Data Type:
Unsigned16
-Default value:
0(False)
As standard requires RX and TX PDOs are processed in the same realtime cycle; as this is a time intensive task, when
applications does not require such data synchronization, this option let system split PDOs processing into two realtime
task ticks: in the first are processed RX PDOs, in the second the TX PDOs. For some applications this could be also an
74
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advantage, as output values could be the resulting feedback from the input values processed from the previous
realtime task tick.
9.1.1
CANOpen RxPDO Communication Parameters
The purpose of this data structure is to define the communication parameters for all RPDO; for each RPDO exist one
object, the object index range from 1400h (RPDO #1) to 1407h (RPDO #8).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
30101
1400h.1h
rw
n/a
n/a
COB-ID used by PDO
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
NODEID+40000200h
Define the COB-ID and the state (enabled/disabled) of the RPDO.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
30102
1400h.2h
rw
n/a
n/a
RPDO transmission type
Modbus Data Type:
Unsigned16
Unsigned8
Default value:
n/a
This field defines the transmission type of RPDO and when received data should be used.
Transmission type
0
1-240
255
cyclic
acyclic
X
X
synchronous
X
X
asynchronous
X
For further information on RPDOs refer to (§3).
9.1.2
CANOpen RxPDO Mapping Parameters
The purpose of this data structure is to define the data mapping for all RPDO; for each RPDO exist one object, the
object index range from 1600h (RPDO #1) to 1607h (RPDO #8).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
30200
1600h.0h
rw
n/a
n/a
Number of object mapped
Modbus Data Type:
Unsigned16
Unsigned8
Default value:
0
PDO Mapping
Modbus Data Type:
Unsigned32
Unsigned32
Number of mapped object.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
30201 - 30208
1600h.1h 1600h.8h
rw
n/a
n/a
Default value:
These entries describe the PDO contents by their index, sub-index and length.
For further information on RxPDO mapping refer to (§3).
9.1.3
CANOpen TxPDO Communication Parameters
The purpose of this data structure is to define the communication parameters for all RPDO; for each RPDO exist one
object, the object index range from 1800h (RPDO #1) to 1807h (RPDO #8).
75
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
30301
1800h.1h
rw
n/a
n/a
Doc. 10460-1-C-M
COB-ID used by PDO
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
ENG
Define the COB-ID and the state (enabled/disabled) of the TPDO. Bits 0-10 define the COB-ID, bit 31 defines if the
PDO is enabled (equal to 0) or if it is disabled (equal to 1); bit 30 defines if RTR is allowed (equal to 0) or not (equal
to 1) on this PDO; bits 11-29 should be leaved 0. COB-ID have to be defined between 181h and 57Fh.
MSB
E
R
LSB
COB-ID (11 bit)
Figure 11 Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
30302
1800h.2h
rw
n/a
n/a
-ID
TPDO transmission type
Modbus Data Type:
Unsigned16
Unsigned8
Default value:
n/a
This field defines the transmission type of TPDO and when the data should be transmitted.
Transmission type
0
1-240
252
253
254
255
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
cyclic
X
acyclic
X
synchronous
X
X
X
asynchronous
X
X
X
X
X
n/a
30303
1800h.3h
rw
100 µsec
Full scale.
RTR only
Inhibit Time
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
This defines the minimum time that has to elapse between two consecutive invocations of a transmission service for
the TPDO. It is possible to set this object only for asynchronous TPDO.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
30306
1800h.6h
rw
n/a
0 to 240
Sync Start Value
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
Sub-index 06h contains the Sync start value. The Sync start value of 0 shall indicate that the counter of the Sync
message shall not be processed for this PDO. The Sync start value 1 to 240 shall indicate that the counter of the Sync
message shall be processed for this PDO. In case the counter of the Sync message is not enabled sub-index 06h shall
be ignored. The Sync message of which the counter value equals the Sync start value shall be regarded as the first
received Sync message. The value shall not be changed while the PDO exists (bit 31 of sub-index 01h is set to 0b).
76
9.1.4
Doc. 10460-1-C-M
ENG
CANOpen TxPDO Mapping Parameters
The purpose of this data structure is to define the data mapping for all RPDO; for each RPDO exist one object, the
object index range from 1A00h (RPDO #1) to 1A07h (RPDO #8).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
30400
1A00h.0h
rw
n/a
n/a
Number of object mapped
Modbus Data Type:
Unsigned16
Unsigned8
Default value:
n/a
PDO Mapping
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
Number of mapped object.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
30401 - 30408
1A00h.1h 1A00h.8h
rw
n/a
n/a
These entries describe the PDO contents by their index, sub-index and length.
For further information on TxPDO mapping refer to (§3).
9.2
Serial Link
Modbus Protocol is a messaging structure developed by Modicon in 1979. It is used to establish master-slave/clientserver communication between intelligent devices. It is a de facto standard, truly open and the most widely used
network protocol in the industrial manufacturing environment. The Modbus protocol defines how a master device polls
one or more slave devices to read and write data in real time by means of RS232, RS422, or RS485 serial data
communication.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Use:


parSerialZeroBaseAddress
18020
5720h.0h
rw,retain
n/a
0 (Modbus) 1 (JBus)
Standard use for IPA numbering.
Modbus Data Type:
Unsigned16
Signed8
Default value:
1 (JBus)
onfiguration
MODBUS using a standard Modbus keyboard
JBus and Modbus are very similar; there is only a slight variance in the addressing scheme (J-bus registers start at
address xxxx1, Modbus addressing starts at address xxxx0. They support the same functions (as applied by the
manufacturer of your slave) and the same configuration.
The serial port default configuration is: 38400,8,N,1.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSerialDisModbusOverCAN
18021
572Ah.0h
rw,retain,reset
n/a
0 (False)-1(True)
Disable Modbus over CAN.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0 (False).
ModBus protocol over CAN is imply the Modbus protocol incapsulation on CAN frames.
0 (False): Disable ModBus protocol over CAN on the Auxiliary port (C1 connector).
1 (True): Enable ModBus protocol over CAN on the Auxiliary port (C1 connector).
77
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSerialAnswerToBCast
18029
5721h.0h
rw,retain
n/a
0 (Disabled)-1(Enabled)
Doc. 10460-1-C-M
Answer to broadcast request.
Modbus Data Type:
Unsigned16
Signed8
Default value:
1(Enabled).
ENG
With this flag enabled the drive answer to broadcast request.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSerialBaudrate
Serial baudrate.
Modbus Data Type:
18031
Unsigned32
5722h.0h
Unsigned32
rw,retain
Default value:
n/a
38400
1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200, 128000, 230400, 256000, 460800,
512000.
Baudrate selection.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSerialDataBits
18032
5723h.0h
rw,retain
n/a
7, 8.
Serial data bits.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
8
parSerialParity
18033
5724h.0h
rw,retain
n/a
None(0), Odd(1), Even(2).
Serial parity.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
None
parSerialStopBits
18034
5725h.0h
rw,retain
n/a
1, 2.
Serial stop bits.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
1
parSerialDuplex
18035
5726h.0h
rw,retain
n/a
0(Full) -1(Half)
Serial duplex selection.
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(Full)
Number data bits selection.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Parity selection.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Number stop bits.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Full duplex communication means that a device can receive and transmit data at the same time. Half duplex means
that the device cannot send and receive at the same time.
78
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSerialEndDelay
18036
5727h.0h
rw,retain
µsec
Full scale.
Doc. 10460-1-C-M
Serial End delay.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
Serial Rx-Tx delay.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
ENG
Delay after complete transmission frame.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSerialRxToTxDelay
18037
5728h.0h
rw, reatin
µsec
Full scale.
Delay between a complete receive frame and begin new frame transmission.
This delay should be useful to the user to avoid possible conflicts on the serial line.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSerialSlaveAddress
18070
5729h.0h
rw
n/a
0 to 127.
Serial slave address.
Modbus Data Type:
Unsigned16
Unsigned8
Default value:
0
Slave address (0 is used as broadcast).
WARNING: If one of these parameters has been changed it is necessary to align the setting of the Cockpit
Configurator (menu Target - Communication settings) and the LogicLab environment (menu:
Communication - settings) to avoid problems communication with the drive. For more details refer to (§4)
and to (§7).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSerialDisModbusOverCAN
18021
572Ah.0h
rw, retain, reset
n/a
0 (False) 1 (True)
Disable Modbus over CAN
Modbus Data Type:
Unsigned16
Unsigned8
Default value:
0 (False)
Disable Modbus over CAN (free aux CAN port).
AN il protocollo Modbus: Axel plc?
9.3
EtherCAT
The EtherCAT technology overcomes the system limitations of other Ethernet solutions: the Ethernet packet is no
longer received, then interpreted and copied as process data at every connection. Instead, the Ethernet frame is
processed on the fly: the newly developed FMMU (fieldbus memory management unit) in each slave node reads the
data addressed to it, while the telegram is forwarded to the next device. Similarly, input data is inserted while the
telegram passes through. The telegrams are only delayed by a few nanoseconds. EtherCAT can provide the same
communication mechanisms as the familiar CANOpen systems: object dictionary, PDO (process data objects) and SDO
(service data objects) - even the network management is comparable. For more details refer to (§6).
Drive parameters for EtherCAT configuration are show below.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parECAT.Flags.EnableModule
30800
-rw
n/a
0(False)-1(True)
Enable EtherCAT module
Modbus Data Type:
Unsigned16
--
Default value:
0(False)
79
Doc. 10460-1-C-M
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Enable EtherCAT software module.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parECAT.Flags.ReSyncEnable
30801
-rw
n/a
0(False) - 1(True)
EtherCAT Enable Sync
Modbus Data Type:
Unsigned16
--
Default value:
1()
Enable the internal machine cycle synchronization with the EtherCAT fieldbus.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parECAT.Flags.DelayedTxPDO
30802
-rw, retain
n/a
0(False) -1(True)
Enable one realtime task delayed Inputs processing.
Modbus Data Type:
Unsigned16
-Default value:
0(False)
As standard requires, Outputs and Inputs are processed in the same realtime cycle; as this is a time intensive task,
when applications does not require such data synchronization, this option let system split Outputs and Inputs
processing into two realtime task ticks: in the first are processed Outputs, in the second Inputs. For some applications
this could be also an advantage, as output values could be the resulting feedback from the input values processed
from the previous realtime task tick.
9.3.1
Monitor
EtherCAT frame error detection takesplace at two functial blocks, inside the Auto-Forwarder and inside the EhterCAT
Processing Unit. The following errors are detected by these units:
Auto-Forwarder




Physical Layer errors (RX
Errors);
Too long frames ( > 2000
Byte);
CRC errors;
Frames without Ethernet
SOF.
EtherCAT Processing Unit





Physical Layer errors (RX Errors);
EtherCAT
frame
length
errors
(e.g.,frame ends although more data
bytes are expected);
Too long frames (>2000 Bytes);
CRC errors;
Non-EtherCAT frames if register
0x0100.0=1.
Table 7 - Errors detected by Auto-Forwarded and EtherCAT Processing Unit
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgInInvFrameCnt
30810
-ro
n/a
Full scale.
Modbus Data Type:
Unsigned16
--
Default value:
0
Invalid frame counter of Port Input (counting is stopped when 0xFF is reached). Cleared if one of the RX Error
counters 0x0300-0x030B is written.
The invalid frame counters are incremented if there is an error in the frame format (Preamble, SFD Start of Frame
Delimiter, FCS Checksum, invalid length). If the FCS is invalid and an additional nibble is appended, the FCS error
is not counted. This is why EtherCAT forwards frames with errors with an invalid FCS and an additional nibble.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgInRxErrCnt
30811
-ro
n/a
Full scale.
Modbus Data Type:
Unsigned16
--
Default value:
0
80
Doc. 10460-1-C-M
ENG
RX Error counter of Port Input (counting i stopped when 0xFF is reached). This is coupled directly to RX ERR of MII
interface. Cleared if one of the RX Error counters 0x0300-0x030B is written.
Rx Errors may appear either inside or outside frames. Rx Errors inside frames will lead to invalid frames.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgInForwaredRxErrCnt
30812
-ro
n/a
Full scale.
Modbus Data Type:
Unsigned16
--
Default value:
0
Forwared error counter of Port Input (counting is stopped when 0xFF is reached).
Cleared if one of the RX Error counters 0x0300-0x030B is written.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgInLostLinkCnt
30813
-ro
n/a
Full scale.
Modbus Data Type:
Unsigned16
--
Default value:
0
Lost Link counter of Port Input (counting is stopped when 0xFF is reached).
Cleared if one of the Lost Link counter registers is written
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgInLinkDetect
30820
-ro
n/a
0 (False) 1(True)
Modbus Data Type:
Unsigned16
--
Default value:
0 (False)
Modbus Data Type:
Unsigned16
--
Default value:
0 (False)
Modbus Data Type:
Unsigned16
--
Default value:
0
Input port physical link detecti:
0 (False): No physical link.
1 (True): Physical link detected.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgInCommEst
30822
-ro
n/a
0 (False) 1(True)
Input Port communicati established status.
0 (False): communicati not established.
1 (True): communicati correctly established.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgOutInvFrameCnt
30814
-ro
n/a
Full scale.
Invalid frame counter of Port Output (counting is stopped when 0xFF is reached). Cleared if one of the RX Error
counters 0x0300-0x030B is written.
The invalid frame counters are incremented if there is an error in the frame format (Preamble, SFD Start of Frame
Delkimiter, FCS Checksum, invalid length). If the FCS is invalid and an additial nibble is appended, the FCS error is
not counted. This is why EtherCAT forwards frames with eroors with an invalid FCS and an additial nibble.
81
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgOutRxErrCnt
30815
-ro
n/a
Full scale.
Doc. 10460-1-C-M
Modbus Data Type:
Unsigned16
--
Default value:
0
ENG
RX Error counter of Port Output (counting is stopped when 0xFF is reached). This is coupled directly to RX ERR of MII
interface. Cleared if one of the RX Error counters 0x0300-0x030B is written.
Rx Errors may appear either inside or outside frames. Rx Errors inside frames will lead to invalid frames.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgOutForwaredRxErrCnt
30816
-ro
n/a
Full scale.
Modbus Data Type:
Unsigned16
--
Default value:
0
Forwared error counter of Port Output (counting is stopped when 0xFF is reached).
Cleared if e of the RX Error counters 0x0300-0x030B is written.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgOutLostLinkCnt
30817
-ro
n/a
Full scale.
Modbus Data Type:
Unsigned16
--
Default value:
0
Lost Link counter of Port Output (counting is stopped when 0xFF is reached).
Cleared if one of the Lost Link counter registers is written
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgOutLinkDetect
30821
-ro
n/a
0 (False) 1(True)
Modbus Data Type:
Unsigned16
--
Default value:
0 (False)
Modbus Data Type:
Unsigned16
--
Default value:
0 (False)
Output port physical link detecti:
0 (False): No physical link.
1 (True): Physical link detected.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgOutCommEst
30823
-ro
n/a
0 (False) 1(True)
Output Port communicati established status.
0 (False): communicati not established.
1 (True): communicati correctly established.
82
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgALStatus
30824
-ro
n/a
Init (1) Pre-Operational(2)
Doc. 10460-1-C-M
Modbus Data Type:
Default value:
Safe-Operational (4) Operational(8)
ENG
Unsigned16
-n/a
Request Bootstrap (3)
AL Status register reflect the current state of the slave.
The EtherCAT State machine is responsible for the coordination of master and slave applications at start up and during
operation. State changes are typically initiated by requests of the master. They are acknowledged by the local
application after the associated operations have been executed. Unsolicited state changes of the local application are
also possible.
Theere are four states an EtherCAT slave supports, plus e optial state:

Init;

Pre-Operational;

Safe-Operational;

Operational;

Requested BootStrap.
The states and the allowed state changes are shown in Figure (x):
Figure 12 - EtherCAT State Machine.
Each state defines required services. Before a state change is confirmed by the slave all services required for the
requested state have to be provided or stopped respectively.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varECATDgALSyncType
30825
1C33h.1h
ro
n/a
Free Run (0x00) DC Mode (0x04)
Modbus Data Type:
Default value:
SM Mode(0x22)
Unsigned16
Unsigned16
n/a
The following synchrizati modes are described in this document:

Free Run - EtherCAT slave is not sync with EtherCAT. The slave works automously according to its clock and
sync in particular with the EtherCAT cycle.

Sync with MS Event - EtherCAT slave is SyncManager 2 (SM2) synchrized event (if the outputs are
transmitted cyclical) or SM3 with the event (if only the cyclic inputs are transmitted). The event is triggered
by SM2/SM3 SyncManager during the processing frame in transit.

Sync with SYNC event (distributed clock) - EtherCAT slave is synchrized with SYNC0 or SYNC1 case where
the clock of a distributed system. This applicati has been described in detail in the preceding pages
83
9.4
Doc. 10460-1-C-M
ENG
Sync Manager
The drive monitor continuously the time period of the Sync object, giving the user the ability to have a feedback on the
quality of the Sync object; this is given in the form of three parameters, the minimum cycle time, the maximum cycle
time and the average cycle time. Those parameters are updated every user specified amount of time (default 500
msec), giving back the cycle time quality of the past period and letting the user never miss any discontinuity of the
Sync (e.g. missing transmission of Sync objects).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSyncMgr.TSFIlter
31000
-rw,retain
n/a
Full scale.
Time constant filter
Modbus Data Type:
Unsigned16
--
Default value:
64000
Time constant of the filter applied to the Sync signal. If the value is set to zero the filter is disabled.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSyncMgr.ReSyncDelta
31001
-rw, retain
nsec
Full scale.
Delta for sync signal
Modbus Data Type:
Unsigned32
--
Default value:
110184
Time shift used to re-calculated the centring value of the Sync signal.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSyncMgr.PeakNDiscard
31004
-rw, retain
n/a
Full scale.
Discard number
Modbus Data Type:
Unsigned16
--
Default value:
16
Maximum number of Sync signal consecutive sample that can be discarded. When the number of Sync signal discard
is greater than this number a CAN alarm is generated.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parSyncMgr.PeakThreshold
31005
-rw, retain
n/a
Full scale
Peak threshold
Modbus Data Type:
Unsigned32
--
Default value:
8192
Threshold for Sync signal peak detection. When the actual value of Sync signal is lower than this value a Sync signal
estimated is considered a discard sample.
9.4.1
Monitor
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSyncMgr_SyncTime
31010
-ro
nsec
Full scale.
Sync time period
Modbus Data Type:
Unsigned32
--
Default value:
n/a
Period of the Sync signal.
84
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSyncMgr_SyncMax
31011
-ro
nsec
Full scale.
Doc. 10460-1-C-M
Max sync time period
Modbus Data Type:
Unsigned32
--
Default value:
n/a
Min sync time period
Modbus Data Type:
Unsigned32
--
Default value:
n/a
ENG
Maximum Sync signal period measured.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSyncMgr_SyncMin
31012
-ro
nsec
Full scale.
Minimum Sync signal period measured.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSyncMgr_Valid
31013
-ro
n/a
0(False) -1(True)
Sync valid and system synchronized
Modbus Data Type:
Unsigned16
-Default value:
n/a
Sync signal is correct and the internal machine cycle is synchronized with the master unit.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSyncMgr_InstSyncTime
31014
-ro
0.52429 nsec
Full scale.
Instantaneous sync time period
Modbus Data Type:
Unsigned32
-Default value:
n/a
High resolution instantaneous Sync signal time period: this variable hold period calculation every time a Sync signal is
received.
10. SYSTEM
10.1 Brake Unit
Variables to set brake resistor behaviour and dc bus link voltage limit. These parameters are saved into Eeprom chip
memory of the drive power stage board.
The drive can be equipped, depending on the model size, with an internal or external regeneration resistor. The
algorithm controlling the duty cycle of the resistor ensures that the power dissipated by the resistor is maintained at
the resistor rating provided by the user.
The recommended regeneration resistors are detailed in (§4).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPStage.VBrakeLow
27400
3140h.0h
rw, pdomap
100 mV
0 to max operative limits.
Vdc Brake Low Threshold.
Modbus Data Type:
Signed16
Signed16
Default value:
7200
Set the threshold to deactivate the recovery circuit system.
If the value is set lower to zero an alarm Parameter value out of range is generated.
If the value is set to zero a default value will be used.
85
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPStage.VBrakeHigh
27401
3141h.0h
rw, pdomap
100 mV
Doc. 10460-1-C-M
Vdc Brake High Threshold.
Modbus Data Type:
Signed16
Signed16
Default value:
7500
ENG
Set the threshold to activate the recovery circuit system.
If the value is set lower to zero or lower to parPStage.VBrakeLow an alarm Parameter value out of range is generated. If
the value is set to zero a default value will be used.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPStage.UndervoltageThreshold
27402
3142h.0h
rw, pdomap
100 mV
Undervoltage threshold.
Modbus Data Type:
Signed16
Signed16
Default value:
0
This parameter defines the undervoltage threshold. If the dc bus voltage is lower this value if the drive is disabled a
warning is generated, otherwise an Undervoltage alarm is generated.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPStage.OvervoltageThreshold
27403
3143h.0h
rw, pdomap
100 mV
Overvoltage threshold.
Modbus Data Type:
Signed16
Signed16
Default value:
9500
Over Voltage threshold is the maximum dc bus voltage value that the drive can reach. The user can modify the Over
voltage threshold detection
only to set a value lower than the hardware drive power stage.
If the dc bus voltage is greater than this value an alarm Overvoltage is generated
WARNING:
voltage limit is restored. This
change takes effect only after the Save parameters command and Reset of the drive.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parThermalModel.BrakeResistorValue
28100
3220h.0h
rw,retain
100 m
Full scale.
Brake resistor value.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
The default value matches to the drive internal resistance. This value is used to calculate the brake power
consumption.
WARNING: If an externa
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parThermalModel.BrakeResistorPower
28101
3221h.0h
rw,retain
100 mW
Full scale.
the own value.
Brake resistor power.
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
0
Maximum power wasted by the brake resistor. Defines the edge limit of the Brake Error alarm.
WARNING: The internal resistor max power depends on the drive model. The internal braking resistor is
able to dissipate a maximum of 10W braking power. If the power dissipation is higher, it becomes
necessary the use of an external resistor. Refer to (§4) for the connection of the external resistor.
86
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parThermalModel.BrakeResistorEnerg
y
28107
3225h.0h
rw,retain
Joule
Full scale.
Doc. 10460-1-C-M
ENG
Brake resistor energy.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
0
Maximum brake resistor energy.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parThermalModel.Flags.NoBrakeDisab
leOnFlt
28109
3227h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
No brake drive disable on overpower
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
When an brake overpower fault is detected, the brake drive is switched off at same time of power stage disable. This
parameter allow user to leave brake unit active until dcbus voltage fall below overvoltage threshold: by doing so system
priority will be the protection of power stage against voltage excess.
WARNING: The activation of this parameter could lead in some situation to destroy the brake resistor and/or
the power stage of brake unit.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parThermalModel.Flags.NoFatalOnBra
keFlt
28110
3228h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
No fatal fault on brake overpower
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
When thermal protection system detect brake resistor close to overpower, the default behavior is to trigger the
non-fatal fault reaction managed by parDevCtrl.FaultReactionOptCode.
For custom application the fault reaction could be disabled, thus gaining some margin before triggering the fatal fault
for brake overpower.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPStage_DisableACMgm
27508
311Ch.0h
rw,reset,retain
n/a
0 (False) 1 (True)
Disable power stage AC monitoring
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
By default and for AC input power stage that has voltage sensing on the AC line input, the drive constantly monitor the
quality and the presence of all AC input phases. This parameter let user disable AC input stage monitoring, including
related monitoring variables.
When enabled the three input voltages VRS, VST and VTR are constantly compared each other; when the minor one is less
than parPStage.VacMinStrainAllowed percent of the maximum one, a AC Input Phase Missing Fault fault is generated.
However, if maximum voltage detected is below the undervoltage threshold or undervoltage threshold is disabled, no
fault is generated.
The fault will be generated only when power is active, when power is disabled system issue a warning.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parPStage.VacMinStrainAllowed
27510
311Eh.0h
rw,retain,pdomap
%
0% to 100%.
Minimum AC phases strain allowed
Modbus Data Type:
Unsigned16
Unsigned16
Default value:
70%
87
Doc. 10460-1-C-M
ENG
Minimum strain allowed between AC input phases. Refer to parPStage_DisableACMgm.
10.1.1 Monitor
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPStageVdcBus
27440
3104h.0h
ro, pdomap
100 mV
Full scale.
Dc bus voltage.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Over Voltage Threshold
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Dc bus voltage.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Dc bus voltage.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Power dissipated.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Energy dissipated.
Modbus Data Type:
Unsigned32
Signed32
Default value:
n/a
Dc bus link actual voltage.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPStageOverVoltageThreshold
27501
3115h.0h
ro, pdomap
100 mV
Full scale.
Actual drive over voltage threshold detected.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPStageVbrakeLow
27502
3116h.0h
ro, pdomap
100 mV
Full scale.
Actual drive brake low voltage threshold.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPStageVbrakeHigh
27503
3116h.0h
ro, pdomap
100 mV
Full scale.
Actual drive brake high voltage threshold.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelRBrakePower
28167
3207h.0h
ro, pdomap
100 mW
Full scale.
Actual drive power dissipated by the brake resistor.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelRBrakeEnergy
28179
320Ah.0h
ro, pdomap
Joule
Full scale.
Actual drive energy dissipated by the brake resistor.
88
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelBrakeResistorValue
28176
-ro
Doc. 10460-1-C-M
Brake Resistor value.
Modbus Data Type:
Unsigned16
--
Default value:
n/a
Brake Resistor Power.
Modbus Data Type:
Unsigned16
--
Default value:
n/a
Brake Resistor Energy.
Modbus Data Type:
Unsigned32
--
Default value:
n/a
Power Stage Vr-Vs AC phases.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
ENG
Full scale.
Brake resistor configured value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelBrakeResistorPower
28177
-ro
100 mW
Full scale.
Brake resistor power configured value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelBrakeResistorEnergy
28178
--ro
Joule
Full scale.
Brake resistor energy configured value.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPStageVacRS
27450
3134h.0h
ro, pdomap
100 mV
Full scale.
Input AC phase voltage between phase R and phase S, for further information refer to parPStage_DisableACMgm.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPStageVacST
27451
3135h.0h
ro, pdomap
100 mV
Full scale.
Power Stage Vs-Vt AC phases.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Input AC phase voltage between phase S and phase T, for further information refer to parPStage_DisableACMgm.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varPStageVacTR
27452
3136h.0h
ro, pdomap
100 mV
Full scale.
Power Stage Vt-Vr AC phases.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Input AC phase voltage between phase T and phase R, for further information refer to parPStage_DisableACMgm.
89
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
varPStageVacStatus
27449
3133h.0h
ro, pdomap
-See table below
ENG
Power Stage input phases monitoring status.
Modbus Data Type:
Unsigned16
Unsigned8
Default value:
n/a
Status of AC lines input monitoring, as following table:
Value
0
1
2
3
Description
No error
Phase R failure
Phase S failure
Phase T failure
Name
cstPStageVacNoError
cstPStageVacFailPhaseR
cstPStageVacFailPhaseS
cstPStageVacFailPhaseT
10.2 Thermal Model
Limit for thermal model functionalities.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parThermalModel.CoolingTemp
28104
3222h.0h
rw,retain,pdomap
100 m°C
Full scale.
cooling temperature.
Modbus Data Type:
Signed16
Signed16
Default value:
500
Temperature to turn on the bridge fan: e.g. 50°C.
WARNING: The value parameter has to be greater parThermalModel.CoolingTempOff value; otherwise an
alarm Parameter value out of range is generated.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parThermalModel.CoolingTempOff
28105
3223h.0h
rw,reatin,pdomap
100 m°C
Full scale.
False cooling temperature.
Modbus Data Type:
Signed16
Signed16
Default value:
450
Motor overtemperature.
Modbus Data Type:
Signed16
Signed16
Default value:
1500
Temperature to turn False the bridge fan: e.g. 45°C.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parThermalModel.MotorOverTemp
28106
3224h.0h
rw,retain,pdomap
100 m°C
Full scale.
Motor temperature threshold. When motor
generated.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
parThermalModel.Flags.DisFltReactOn
Limit
28108
3226h.0h
rw,reset,retain
n/a
0 (False) 1 (True)
greater than this limit a Motor overtemperature alarm is
Disable fault reaction on current derating
Modbus Data Type:
Unsigned16
Signed8
Default value:
0(False)
When thermal protection system detect a temperature close to maximum allowed, the default behavior is to trigger the
non-fatal fault reaction managed by parDevCtrl.FaultReactionOptCode.
For custom application the fault reaction could be disabled, thus gaining some temperature margin before triggering
the fatal fault for temperature excess (Heatsink Overtemperature or Junction Overtemperature).
90
Doc. 10460-1-C-M
ENG
10.2.1 Monitor
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelTNtc
28154
3200h.0h
ro, pdomap
100m°C
Full scale.
Igbt NTC temperature.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Igbt temperature measured by NTC sensor placed into the Igbt power block.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelTjMax
28166
3201h.0h
ro, pdomap
100m°C
Full scale.
Temperature junction.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Igbt maximum temperature junction measured by the thermal model.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelTHeatSink
28168
3208h.0h
ro, pdomap
100m°C
Full scale.
Heatsink temperature.
Modbus Data Type:
Signed16
Signed16
Default value:
n/a
Iq Limit Max.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Heatsink temperature measured by the thermal model.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelIqLimMax
28169
3203h.0h
ro, pdomap
0.1 mA
Full scale.
Maximum allowed quadrature current calculated by the thermal model.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelIqLimMin
28170
3204h.0h
ro, pdomap
0.1 mA
Full scale.
Iq Limit Min.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Minimum allowed quadrature current calculated by the thermal model.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelIdLimMax
28171
3205h.0h
ro, pdomap
0.1 mA
Full scale.
Id Limit Max.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
Maximum allowed direct current calculated by the thermal model.
91
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelIdLimMin
28172
3206h.0h
ro, pdomap
0.1 mA
Full scale.
Doc. 10460-1-C-M
Id Limit Min.
Modbus Data Type:
Signed32
Signed32
Default value:
n/a
ENG
Minimum allowed direct current calculated by the thermal model.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelTMotor
28174
3209h.0h
ro, pdomap
°C
Full scale.
Motor Temperature.
Modbus Data Type:
Real32
Real32
Default value:
n/a
Motor temperature actual value.
When this value is greater than motor over temperature limit (parThermalModel.MotorOverTemp) a Motor
overtemperature alarm is generated.
WARNING: This parameter can be used only with motor equipped by NTC and KTY sensor type.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelIuAvgPeak
28151
-ro
0.1 mA
Full scale.
Iu average peak value by thermal model.
Modbus Data Type:
Signed32
-Default value:
n/a
Long-term average of the phase U peak current.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelIvAvgPeak
28152
-ro
0.1 mA
Full scale.
Modbus Data Type:
Signed32
-Default value:
n/a
Long-term average of the phase V peak current.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varThModelIwAvgPeak
28153
-ro
0.1 mA
Full scale.
Modbus Data Type:
Signed32
-Default value:
n/a
Long-term average of the phase W peak current.
11. ADDITIONAL PARAMETERS
The following objects are not present in the menu selection of the Cockpit configurator but could be used by the user.
They are collected in CANOpen dictionary and are accessible through CANOpen SDO protocol. Moreover some of these
objects are also connected to the window Target Information activated by the menu Service of the Cockpit
configurator.
92
Doc. 10460-1-C-M
ENG
11.1 CANOpen additional parameters
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-1000h.0h
ro
n/a
n/a
Identity Device type.
Modbus Data Type:
-Unsigned32
Default value:
0002 0192h
Describes the type of device and its functionality. It is composed of a 16-bit (LSB) field, which describes the device
profile that is used, and a second 16-bit (MSB) field, which gives additional information about optional functionality of
the device. In this case the device profile is 402 (0192h) and the additional information indicate that is a servo drive
(0002h).
MSB
Additional information (16 bit)
LSB
Device profile type (16 bit)
Figure 13 - Structure of Device Type
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-1001h.0h
ro
n/a
n/a
CiA301 Errors register.
Modbus Data Type:
-Unsigned8
Default value:
n/a
This object is an error register for the drive. It is a part of the EMCY object.
Every bit in the error register refer to a specific faults of the motion controller; more than one bit at time could be set
to 1, meaning that more than one fault is active.
Bit
0
1
2
3
4
5
7
Meaning
generic error
current
voltage
temperature
communication error (overrun, error state)
device profile specific
manufacturer specific
Table 8 - Error register reference
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-1018h.1h
ro
n/a
n/a
CiA301 Vendor ID.
Modbus Data Type:
-Unsigned32
Default value:
n/a
This is a unique value assigned to each manufacturer by CIA, in this case for Phase Motion Control is 0000 00D9h.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-1018h.2h
ro
n/a
n/a
Product Code.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
This is the product code of the device.
available using the Target Information service from Cockpit
configurator.
93
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-1018h.3h
ro
n/a
n/a
Doc. 10460-1-C-M
Revision Number.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
ENG
This is the firmware release number, with the subfields structured as follow:
LSB
MSB
major (16 bit)
mid (8 bit)
minor (8 bit)
Figure 14 - Structure of revision number
These parameters
Cockpit Configurator.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
available using the Target Information service from
n/a
-1018h.4h
ro
n/a
n/a
Serial number.
Modbus Data Type:
Unsigned32
Unsigned32
Default value:
n/a
This is the serial number of the drive; the same appears on the plate of the drive.
available using the Target Information service from Cockpit
configurator.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-1002.0h
ro, pdomap
n/a
n/a
Manufacturer Status Register
Modbus Data Type:
-Unsigned32
Default value:
n/a
This is the common status register specific for the manufacturer. It is a part of the EMCY object.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-1005.0h
rw, retain
n/a
n/a
COB-ID Sync Message
Modbus Data Type:
-Unsigned32
Default value:
0000 0080h
Defines the COB-ID of the Synchronization Object.
Bits 0-10 define the COB-ID, bits 11-31 should be leaved 0.
LSB
MSB
COB-ID (11 bit)
Figure 15 - Structure of COB-ID Sync Message
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-1008.0h
ro
n/a
n/a
Manufacturer Device Name
Modbus Data Type:
-string
Default value:
n/a
Contain the application name of the code currently using by the drive.
94
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSysFirmwareInfo
-100A.0h
ro
n/a
n/a
Doc. 10460-1-C-M
ENG
Manufacturer Software version.
Modbus Data Type:
visible_string
Default value:
n/a
Contain the software release number and release date.
This parameter is a data structure composed by different fields
s not present in table parameter.
Its members are avalaible using the Target Information service from Cockpit configurator.
Description:
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Application type.
Major version.
Default Value:
1
1
Minor version.
5
Incremental build number version.
n/a
Version date.
(YYYYMMDD).
Version description.
AxX System Application
wksSysSaveParameters
-1010.0h
ro
n/a
n/a
Store Parameters
LogicLab Data Type:
Unsigned16
Unsigned32
Default value:
n/a
This object let the drive to save all parameters in non-volatile memory. By read access the device provides information
about its saving capabilities.
Sub-index:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
0h
-1010.0h
ro
n/a
n/a
Large sub-index supported
Modbus Data Type:
-Unsigned8
Default value:
n/a
Store All
Modbus Data Type:
-Unsigned32
Default value:
n/a
The large sub-index supported for this object, in this case 1.
Sub-index:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
1h
-1010.1h
rw
n/a
n/a
This command let the drive store all parameters that have the attribute NV storage. In order to avoid storage of
parameters by mistake, storage is only executed when a specific signature is written to the appropriate sub-Index. The
signature is the string save (or the 32 bit number 6576 6173h). read the drive provides information about its storage
functionality, in this case storage is executed only on command, not autonomously.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksSysRestoreParameters
-1011.0h
ro
n/a
n/a
Store Parameters
LogicLab Data Type:
Unsigned16
Unsigned32
Default value:
n/a
With this object the default values of parameters according to the communication or device profile are restored.
95
Sub-index:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
0h
-1011.0h
ro
n/a
n/a
Doc. 10460-1-C-M
Large sub-index supported
Modbus Data Type:
-Unsigned8
Default value:
n/a
Restore all defaults
Modbus Data Type:
-Unsigned32
Default value:
n/a
ENG
The large sub-index supported for this object, in this case 1.
Sub-index:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
1h
-1011.1h
rw
n/a
n/a
This command let the drive restore all parameters to the factory settings. In order to avoid restore of parameters by
mistake, restore is only executed when a specific signature is written to the appropriate sub-Index. The signature is the
string load (or the 32 bit number 6461 6F6Ch). This command has to be completed by issuing a reset command.
11.2 Position additional parameters
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-607A.0h
rw, pdomap
Position factor unit
Full scale
Target Position
Modbus Data Type:
-Signed32
Default value:
n/a
This the 32 bit target position used in positioner mode of operation.
motion control parameters such as velocity, acceleration, deceleration, motion profile type etc.
At start-up the content is unforeseeable, and then the first positioning should be only absolute.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-6064.0h
ro, pdomap
Full scale
Position actual value
Modbus Data Type:
-Signed32
Default value:
n/a
This object represents the actual value of the position measurement device, normalized with home Offset and
polarized with the direction object.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-3000.0h
rw, pdomap
Full scale
Target position 64 bit
Modbus Data Type:
-Signed64
Default value:
n/a
This the 64 bit target position used in positioner mode of operation.
motion control parameters such as velocity, acceleration, deceleration, motion profile type etc.
At start-up the content is unforeseeable, and then the first positioning should be only absolute.
96
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
n/a
-3356.0h
ro, pdomap
Full scale
Doc. 10460-1-C-M
Demand Position.
Modbus Data Type:
-Signed64
Default value:
n/a
ENG
Position output from positioner software module, this is the reference position for the space speed control loop.
11.3 System additional parameter
These variables are used to reset the drive and to read alarms and warnings.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksSysReset
--rw
n/a
0 (False) 1 (True)
System reset
LogicLab Data Type:
Unsigned16
--
Default value:
0(False)
System alarms
LogicLab Data Type:
Unsigned16
--
Default value:
n/a
System alarms subcode
LogicLab Data Type:
Unsigned32
--
Default value:
n/a
Flag to command system reset.

0(False): no system reset.

1(True): enable system reset.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSysAlarms
18089
-ro
n/a
Full scale.
Active alarm mask.
For more details refer to (§C).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSysAlarmSubCode
18090
-ro
n/a
Full scale.
Last alarms subcode.
For more details refer to (§C).
11.4 Physical Digital/Analog Input/Output
These variables are used to set the status of digital output and analog output.
For electrical specification of digital and analog input/output refer to (§4).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksIODigOutputs
--rw
n/a
0 (False) 1 (True)
Digital Outputs signal.
Modbus Data Type:
Unsigned16
--
Default value:
0 (False)
Array of8 digital outputs signal. The hardware digital output is physically four channels.
Their value has source to 0-3 array channels; while 4-7 virtual channels are virtual channels handled by Control Panel
Logical Outputs from the Cockpit configurator.
Wks variable to command digital state of output signal.

0(False): digital output value is low.

1(True): digital output value is high.
97
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksIOAnaOutputs
--rw
mV
0 - 10000
Doc. 10460-1-C-M
Analog Outputs signal.
Modbus Data Type:
Signed16
--
Default value:
0
ENG
Array of 4 analog outputs signals. The hardware analog outputs are physically two channels.
Their value has source to 0-1 array channels; while 2-3 array channels are virtual channels handled by Control Panel
Logical Outputs from the Cockpit configurator.
Wks variable to set the value of analog signal outputs.

value corresponds to the ADC scale appropriate [0-10000 means 0-10V].
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varIODigInputs
--rw
n/a
0 (False) 1 (True).
Digital Inputs signal
Modbus Data Type:
Unsigned16
--
Default value:
0 (False)
Array of 8 digital inputs signal. The hardware digital inputs are physically eight channels.
Their value can be source to 0-7 channels (D0-D7) or can be source to 0-7 array virtual channels handled by Control
Panel Logical Outputs from the Cockpit configurator. For more detail refer to (§4).
Variable to read digital state of input signal.

0(False): digital input value is low.

1(True): digital input value is high.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varIOAnaInputs
--rw
mV
± 10000
Physical Analog Inputs
Modbus Data Type:
Signed16
--
Default value:
0
Array of 3 analog inputs signal. The hardware analog inputs are physically two channels.
Their value can be source to 0-1 array channels or can be source to 2 array virtual channels handled by Control Panel
Logical Outputs from the Cockpit configurator. For more detail refer to (§4).
Variables to read the value of analog signal inputs.

value corresponds to the ADC scale appropriate [± 10000 means
±10V].
12. PLC VARIABLES
Following tables describe the system variables available in the file SysApp.tgt divided for group identifier and data
type. These system variables are also reported in LogicLab environment under Target variables tab of Library tools
windows. The Target variables are the interface between the firmware and Plc application code.
Each group is divided in constant, parameters, monitor variables and working variables (WKS) used to control drive
behaviour.
LogicLab is an IEC61131-3 Integrated Development Environment supporting the whole range of languages defined in
the standard. Use the software development tool LogicLab in order to create custom applications for the Ax Drives
Series. For more detail refer to (§4) or refer to (§7).
Basic data types used for accessing the object from Plc program application are:
par*: the parameter variables are data structures based on drive parameters.
cst*: the constant variable should be used by the user to write own program Plc application.
wks*: the working variables are used to set and control the drive and the tasks behaviour.
var*: the monitor variables.
98
Doc. 10460-1-C-M
ENG
12.1 Globals Group
Globals Group data structure describes the electrical and mechanical features of the motor.
Object:
IEC address:
Attributes:
Description:
parMotorData
%MB205.0
Structure members:
SerialNumber
Productiondate
Model
Resistance
Inductance
Kt
CurrentNominalZeroSpeed
CurrentNominal
CurrentPeak
SpeedNominal
ThermalConstant
StatorInertia
PhaseOffset
Type
PoleNumbers
CoolingTemp
CoolingTempOff
MaximumTemp
DirectInductance
PAR_MOTORDATA
LogicLab Type:
rw
Motor specifications.
Description: Motor serial number (s/n).
Production date: (YYYYMMDD).
Motor model.
Motor winding inductance [H].
Motor constant torque [Nm/Arms].
Nominal current at zero speed [Arms].
Motor nominal current [Arms].
Motor peak current [Arms].
Motor nominal speed [rad/s].
Thermal constant in air [s].
Motor stator inertia [kg*m²].
Electrical phase Offset [0:65535=0:359electrical°].
Motor type.
Motor poles number.
Start cooling at (if available) [100m°C].
Stop cooling at (if available) [100m°C].
Maximum coil temperature [100m°C].
Synchronous or direct inductance [H].
These parameters should be memorized into the non volatile memory of the Endat encoder.
If there are not informations saved into Endat electronic plate, these parameters will assume the default value or their
value saved in the non volatile memory of drive.
For more details refer to parEncMgr.Flags.DisableEPlate.
12.2 PLC Group
Constants to set the task configuration of drive.
Constant name
cstPlcTaskCfgAuto
cstPlcTaskCfgOff
cstPlcTaskCfgPlc
Description
Task configuration default: handle by the firmware.
Task configuration disable: task is switched-off.
Task configuration handles by PLC program.
Data Type
Unsigned8
Unsigned8
Unsigned8
Mask value
00h
01h
02h
Wks variables are used to set and control the drive tasks behaviour.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksPlcSlowTaskCopyOutImmediate
--rw
n/a
0 (False) 1 (True)
LogicLab Data Type:
Unsigned16
--
Default value:
0 (False)
Copy output data of slow task immediately at the end of execution time.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksPlcPwrDisOverTime
--rw
n/a
0 (False) 1 (True)
LogicLab Data Type:
Unsigned16
--
Default value:
0 (False)
If enabled, in case of task overtime all power outputs are immediately set in safe state.
99
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
wksPlcSlowTaskPeriod
--rw
msec
1 to 64
Doc. 10460-1-C-M
LogicLab Data Type:
Unsigned16
--
Default value:
8
ENG
Plc program slow task execution period. This variable has to be set during pre-boot task of Plc program.
Object:
IEC address:
Attributes:
Description
wksPlcTaskCfg
%MB1003.0
Structure members:
ubRtHookPosition
ubModActiveFrontEnd
ubModPiDcBusCntrlLp32bit
ubPositioner
ubSpaceSpeedCntrLp
ubThermalModel
ubMotorHandler
DRVTSKCTRL_PLC_CONONFIG
LogicLab Type:
rw
Tasks configuration parameters
Description: Hook Position.
ubMotionController
ubActiveFrontEndController
ubEncoderManager
ubEncFeedBackSelection
Active front-end task.
PI control loop on DC bus task.
Positioner task.
Space speed control loop task.
Thermal model task.
Motor handler task.
Motion controller task (CiA402 state machine and profile
mode).
Active front-end controller task.
Encoder manager task.
Encoder feedback selection task.
This variable contains the list of tasks available on the drive and can be used during pre-boot task of Plc program. Its
purpose is to define the input tasks configuration through the use of the constant Plc variables. The input task should
be generated from Plc program or from firmware drive.
Plc program example code:
wksPlcTaskCfg.ubMotorHandler
:= cstPlcTaskCfgPlc ; task input managed by PLC program
wksPlcTaskCfg.ubMotionController := cstPlcTaskCfgAuto ;
task input managed by drive firmware
wksPlcTaskCfg.ubEncoderManager := cstPlcTaskCfgOff ; the task is switched-off.
For more details about the drive task manager configuration refer to (§4) and (§7).
12.3 Encoder Group
Constants to get the encoder Endat status information.
Constant name
cstEndatSelMain
cstEndatSelAux
cstEndatErrMaskNoModule
cstEndatErrMaskTimeout
cstEndatErrMaskCRCError
Description
Endat encoder on main C1 connector.
Endat encoder on Auxialiry E1 connector.
Endat encoder communication error.
Timeout error on Endat protocol.
CRC error on Endat protocol.
Data Type
Unsigned16
Unsigned16
Unsigned32
Unsigned32
Unsigned32
Mask value
0001h
0000h
0100 0000h
8000 0000h
4000 0000h
Data Type
Unsigned8
Unsigned8
Unsigned8
Mask value
00h
01h
02h
Constants to enable the field orientation procedure.
Constant name
cstEncEfsTypeDisabled
cstEncEfsTypeIdRamp
cstEncEfsTypeIdRampPosition
Description
Disable the electrical field orientation.
Enable the electrical field orientation.
Enable the electrical field orientation.
These data structures are referred to encoder main and auxiliary configuration.
100
Doc. 10460-1-C-M
Object:
IEC address:
Attributes:
Description:
parEncMEndat
%MB401.0
rw
Main Encoder Endat parameters.
LogicLab Type:
Structure members:
ClockFreq
MTurnStartPos
Dummy
Description: Clock frequency selector (KHz).
PAR_ENDAT
Offset for multiturn position at start-up.
Dummy parameter.
Object:
IEC address:
Attributes:
Description:
parEncAEndat
%MB402.0
rw
Auxiliary Encoder Endat parameters.
LogicLab Type:
Structure members:
ClockFreq
MTurnStartPos
Dummy
Description: Clock frequency selector (KHz).
Object:
IEC address:
Attributes:
Description:
parEncAn
%MB403.0
Structure members:
PoleCounts
AnalogAlarmThreshold
Dummy
AnalogGain
Structure flags:
PAR_ENDAT
Offset for multiturn position at start-up.
Dummy parameter.
LogicLab Type:
rw
Encoder main: absolute encoder parameters.
PAR_SINCOS
Description: Encoder number of poles.
SinCos Level Alarm threshold.
Dummy parameter.
If enabled, Angle = 360° - arctan (Sin/Cos), otherwise
Angle = arctan (Sin/Cos).
High for Sincos encoder, low for Resolver.
ReverseSignal
Object:
IEC address:
Attributes:
Description
parEncMInc
%MB405.0
rw
Encoder main: incremental traces.
LogicLab Type:
Structure members:
LineCounts
IndexErrorTolerance
EnableAnalogInterp
DisableIndexError
DisableAnalogError
EnableIndexTrack
SwapTracks
Description: Encoder line counts per turn.
PAR_INC
Analog Tracks Level Alarm Threshold.
Index Error tolerance.
Enable incremental analog tracks interpolation.
Disable Analog Tracks Levels Error.
Enable Index Track.
Swap input tracks A and B.
Enable step pulse (track A) and direction (track B) mode.
Enable up pulse (track A) and down pulse (track B)
mode.
EnableStepDir
EnableUpDown
Object:
IEC address:
Attributes:
Description
parEncAInc
%MB406.0
rw
Encoder auxiliary: incremental traces.
LogicLab Type:
Structure members:
LineCounts
IndexErrorTolerance
EnableAnalogInterp
DisableIndexError
DisableAnalogError
EnableIndexTrack
SwapTracks
Description: Encoder line counts per turn.
EnableStepDir
EnableUpDown
ENG
PAR_INC
Analog Tracks Level Alarm Threshold.
Index Error tolerance.
Enable incremental analog tracks interpolation.
Disable Analog Tracks Levels Error.
Enable Index Track.
Swap input tracks A and B.
Enable step pulse (track A) and direction (track B) mode.
Enable up pulse (track A) and down pulse (track B)
mode.
101
Doc. 10460-1-C-M
Object:
IEC address:
Attributes:
Description
parEncHall
%MB404.0
rw
Encoder main: hall sensor type.
LogicLab Type:
Structure members:
Enable4Wire
Description: 4 wire type enable
Object:
IEC address:
Attributes:
Description
parEncSimInc
Structure members:
IndexLineCounts
IndexOffset
Maxpositionerror tolerance
ENG
PAR_HALL
PAR_SIMINC
LogicLab Type:
%MB408.0
rw
Encoder auxiliary: encoder simulation (incremental traces).
Description: Encoder line counts per turn
Analog Tracks Level Alarm Threshold
Index Error tolerance
Plc program application should generate the feedback encoder position.
Plc name variables: plcEncFbSet*1. The meaning of these variables are the same of IPA parameters: varEncFb*.
Plc program application should simulate an incremental encoder (TTL standard).
The encoder position, the electrical angle position and the other features necessary to the simulated incremental
encoder have generated by the Plc program application.
Plc name variables: plcEncSim*.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcEncSimSetMechLo
--rw
Full scale.
LogicLab Data Type:
Unsigned32
--
Default value:
n/a
This is the simulated encoder position in mechanical turns unit.
The simulated turns is the 32 MSB bit of 64 bit simulated encoder position. For more details about the format
position refer to the manual (§4).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcEncSimSetMechHi
--rw
Full scale.
LogicLab Data Type:
Signed32
--
Default value:
n/a
This is the simulated encoder position in mechanical angle unit.
The simulated turns is the 32 LSB bit of 64 bit simulated encoder position. For more details about the format position
refer to the manual (§4).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcEncSimSetMechSpeed
--rw
Full scale.
LogicLab Data Type:
Signed32
--
Default value:
n/a
This object represents the actual value of the velocity measurement device.
1
*Symbol: denotes parameters have the same initial truncation name (e.g.: plcEncFbSetMechSpeed, varEncFbMechSpeed).
102
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcEncSimSetMechAccel
--rw
Full scale.
Doc. 10460-1-C-M
LogicLab Data Type:
Signed32
--
Default value:
n/a
LogicLab Data Type:
Unsigned16
--
Default value:
n/a
LogicLab Data Type:
Unsigned32
--
Default value:
n/a
ENG
This object represents the actual value of the acceleration.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcEncSimSetElecAngle
--rw
Full scale.
This is the simulated electrical position of the motor.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcEncSimSetMechAbsPosOffsetLo
--rw
Full scale.
This is the Offset from the simulated encoder relative position in mechanical turns unit in order to calculate the
simulated encoder absolute position (if apply, depending from the encoder configuration).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcEncSimSetMechAbsPosOffsetHi
--rw
Full scale.
LogicLab Data Type:
Signed32
--
Default value:
n/a
This is the Offset from the simulated encoder relative position in mechanical angle unit in order to calculate the
simulated encoder absolute position (if apply, depending from the encoder configuration).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcEncSimSetStatus
--rw
n/a
Refer to Table 2
LogicLab Data Type:
Unsigned8
--
Default value:
n/a
Simulated encoder information status to be setup from the application to notify the system on encoder status.
12.4 Torque Loop Group
This data structure is referred to the torque loop configuration.
103
Object:
IEC address:
Attributes:
Description:
parILoop
%MB21.0
Structure members:
VBrakeLow
VBrakeHigh
UnderVoltageThreshold
OverVoltageThreshold
OverCurrentThreshold
ILoopKi
ILoopKp
Dummy0
IqLimit
IdLimit
Dummy1
Bridgelayout
Doc. 10460-1-C-M
ENG
PAR_MOTHLR
LogicLab Type:
rw
Torque loop and power stage control parameters.
Description: Dc bus voltage brake low threshold.
Dc bus voltage brake high threshold.
Dc bus Under Voltage threshold.
Dc bus Over Voltage threshold.
Dc bus Over Current thrsehold.
Modulator Ki.
Modulator Kp.
Dummy parameter.
Quadrature current limits.
Direct current limits.
Dummy parameter.
Bridge Layout Assignment.
Through Plc program application it should possible to realize a Torque Mode profile. In this way the torque reference
and the limits of the torque loop are managed by Plc program instead of drive firmware.
Plc variables: plcILoop.*.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcILoopIdRef
--rw
0.1 mA
Full scale.
Direct current reference
LogicLab Data Type:
Signed32
--
Default value:
0
Quadrature current reference
LogicLab Data Type:
Signed32
--
Default value:
0
LogicLab Data Type:
Unsigned16
--
Default value:
0
Iq Lim Max
LogicLab Data Type:
Signed32
--
Default value:
n/a
Direct current target for current loop control.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcILoopIqRef
--rw
0.1 mA
Full scale.
Quadrature current target for current loop control.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcILoopElecAngle
--rw
Full scale.
Electrical angle.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcILoopIqLimMax
--rw
0.1 mA
Full scale.
Applied upper limit for the quadrature current.
104
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcILoopIqLimMin
--rw
0.1 mA
Full scale.
Doc. 10460-1-C-M
Iq Lim Min
LogicLab Data Type:
Signed32
--
Default value:
n/a
Id Lim Max
LogicLab Data Type:
Signed32
--
Default value:
n/a
Id Lim Min
LogicLab Data Type:
Signed32
--
Default value:
n/a
ENG
Applied lower limit for the quadrature current.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcILoopIdLimMax
--rw
0.1 mA
Full scale.
Applied upper limit for the direct current.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcILoopIdLimMin
--rw
0.1 mA
Full scale.
Applied lower limit for the direct current.
12.5 Power Stage Group
Constants to set the power stage configuration.
Constant name
cstPStageOptDisableBrakeDrive
cstPStageOptBackEMFDataEnable
cstPStageOptBackEMFATanEnable
Description
Disable Brake resistor.
Enable BEMF calculation.
Calculate Motor BackEMF
Data Type
Unsigned16
Unsigned16
Unsigned16
Mask Value
0001h
0002h
0003h
In this case the variable points to the same data structure of the Torque Loop Group.
Object:
IEC address:
Attributes:
Description
parPStage
Structure members:
VBrakeLow
VBrakeHigh
UnderVoltageThreshold
OverVoltageThreshold
OverCurrentThreshold
ILoopKi
ILoopKp
Dummy0
IqLimit
IdLimit
Dummy1
Bridgelayout
LogicLab Type:
%MB21.0
rw
Torque loop and power stage control parameters.
PAR_MOTHLR
Description: Dc bus voltage brake low threshold.
Dc bus voltage brake high threshold.
Dc bus Under Voltage threshold.
Dc bus Over Voltage threshold.
Dc bus Over Current thrsehold.
Modulator Ki.
Modulator Kp.
Dummy parameter.
Quadrature current limits.
Direct current limits.
Dummy parameter.
Bridge Layout Assignment
The power stage features can be controlled through Plc program.
105
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
plcPStagePowerEnable
--rw
n/a
0 (False) 1 (True)
LogicLab Data Type:
Unsigned16
--
Default value:
0 (False)
ENG
Parameter to enable the drive power section; the power is applied to the motor.

0(False): disable the drive power section.

1(True): enable the drive power section.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcPStageReferenceEnable
--rw
n/a
0 (False) 1 (True)
LogicLab Data Type:
Unsigned16
--
Default value:
0 (False)
Parameter to enable the reference of the drive; the drive function is enabled.

0(False): disable the reference.

1(True): enable the reference.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcPStageDisableBrakeDrive
--rw
n/a
0 (False) 1 (True)
LogicLab Data Type:
Unsigned16
--
Default value:
0 (False)
Parameter to define if the break resistor is handling or not by the firmware.

0(False): disable the break resistor handling.

1(True): enable the break resistor handling. This is possible only on event Power Enabled occurred.
12.6 Space Speed Control Loop Group
This data structure is referred to the space speed control loop configuration.
Object:
IEC address:
Attributes:
Description
parSSCntrLp
%MB31.0
rw
Space speed control loop.
LogicLab Type:
Structure members:
UseDifferentKp
PosKp
SpdKpRef
SpdKpFbk
AccKpRef
AccKpFbk
Ki
PosGainShift
AccGainShift
ILimit
Description: Use different speed proportional gain.
PAR_SSCNTRLP
Position proportional gain.
Speed: proportional gain reference value.
Speed: proportional gain feedback avlue.
Acceleration: proportional gain reference value.
Acceleration: proportional gain feedback value.
Integral gain.
Position gain shift.
Acceleration gain shift.
Maximum and Minimum limit torque.
For more details about parameters refer to Loop Schema (§E).
The Space speed control loop should receive its references (demand position, demand speed and demand
acceleration) from a Plc program application instead of drive firmware positioner module.
Plc variables: plcSSCntrLp.*.
106
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcSSCntrlRefMechLo
--rw
Full scale.
Doc. 10460-1-C-M
LogicLab Data Type:
Unsigned32
--
Default value:
n/a
ENG
Reference position into mechanical angle unit. Represents the 32 LSB bit position input of the speed/position loop as
computed by the Plc program. For more details about the format position refer to the manual (§4).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcSSCntrlRefMechHi
--rw
Full scale.
LogicLab Data Type:
Signed32
--
Default value:
n/a
Reference position into mechanical turns. Represents the 32 MSB bit position input of the speed/position loop as
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcSSCntrlRefMechSpeed
--rw
Full scale.
LogicLab Data Type:
Signed32
--
Default value:
n/a
LogicLab Data Type:
Signed32
--
Default value:
n/a
LogicLab Data Type:
Unsigned16
--
Default value:
0 (False)
Input velocity reference in the speed/position loop.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcSSCntrlRefMechAccel
--rw
Full scale.
Input acceleration reference in the speed/position loop.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:


plcSSCntrlEnableIntegralGain
--rw
n/a
0 (False) 1(True)
0 (False): disable the integral gain use of the space speed control loop.
1 (True): enable the integral gain use of the space speed control loop.
12.7 Positioner Group
This data structure is referred to the configuration and set-up of the positioner module.
107
Doc. 10460-1-C-M
Object:
IEC address:
Attributes:
Description
parPositioner
%MB41.0
rw
Positioner and ramp generator.
LogicLab Type:
Structure members:
EndVelocity
ProfileVel
ProfileAcc
ProfileDec
QuickStopDec
PositionErrorMaxLo
PositionErrorMaxHi
ZeroSpeedThreshold
Description: End Velocity.
ENG
PAR_POSITIONONER
Profile velocity.
Profile acceleration.
Profile deceleration.
Quick stop deceleration.
Max position error (32 LSB).
Max position error (32 MSB).
Threshold speed.
Positioner software module should receive its inputs from Plc program application.
Plc variables: plcPosRG.*.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcPosRGQuickStop
--rw
n/a
0 (False) 1 (True)
LogicLab Data Type:
Unsigned16
--
Default value:
0 (False)
LogicLab Data Type:
Unsigned16
--
Default value:
0 (False)
LogicLab Data Type:
Unsigned16
--
Default value:
0 (False)
LogicLab Data Type:
Unsigned16
--
Default value:
0 (False)
Flag to activate the quick stop functionality.

0(False): disable the quick stop functionality.

1(True): enable the quick stop functionality.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcPosRGVelocity
--rw
n/a
0 (False) 1 (True)
Flag to activate the ramp generator.

0(False): disable the ramp generator functionality.

1(True): enable the ramp generator functionality.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcPosRGPosition
--rw
n/a
0 (False) 1 (True)
Flag to activate the positioner module.

0(False): disable the positioner module.

1(True): enable the positioner module.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcPosRGNewTarget
--rw
n/a
0 (False) 1 (True)
Flag to know at the position

0(False): no new target to the positioner module.

1(True): new target to the positioner module.
108
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcPosRGEnablePositioner
--rw
n/a
0 (False) 1 (True)
Doc. 10460-1-C-M
LogicLab Data Type:
Unsigned16
--
Default value:
0 (False)
ENG
Flag to enable the positioner module operation.

0(False): disable the operation of the positioner module.

1(True): enable the operation of the positioner module.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcPosRGEnableInterpolation
--rw
n/a
0 (False) 1 (True)
LogicLab Data Type:
Unsigned16
--
Default value:
0 (False)
LogicLab Data Type:
Unsigned32
--
Default value:
n/a
Flag to activate the interpolated module.

0(False): disable the interpolated module.

1(True): enable the interpolated module.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcPosRGTargetPosLo
--rw
Full scale
Reference position into mechanical angle unit. Represents the 32 LSB bit position input of the speed/position loop as
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcPosRGTargetPosHi
--rw
Full scale
LogicLab Data Type:
Signed32
--
Default value:
n/a
Reference position into mechanical turns unit. Represents the 32 MSB bit position input of the speed/position loop as
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcPosRGTargetSpeed
--rw
Full scale
LogicLab Data Type:
Signed32
--
Default value:
n/a
It corresponds to the target velocity computed by the Plc program.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcPosRGQuickStopDec
--rw
Full scale
LogicLab Data Type:
Signed32
--
Default value:
n/a
The quick stop deceleration is the deceleration used to stop the motor if the quick stop ramp is selected as option
code.
109
Doc. 10460-1-C-M
ENG
12.8 Device Control Group
Constants to set the option code to determine what action should be taken by the drive to move itself to power disable,
fault or quick stop states.
Constant name
cstDevCtrlOptCodePowerFalse
cstDevCtrlOptCodeSlowDownAndStay
cstDevCtrlOptCodeQuickStopAndStay
Description
Disable drive function.
Slow down with slow down ramp; disable of the drive
function.
Slow down with quick stop ramp; disable of the drive
function.
Slow down with slow down ramp and stay in quick stop.
Slow down with quick stop ramp and stay in quick stop.
Data Type
Unsigned16
Mask Value
0000h
Unsigned16
0001h
Unsigned16
0002h
Unsigned16
Unsigned16
0005h
0006h
In this case the par variables should be used to set and control the CiA402 device control.
Object:
IEC address:
Attributes:
Description
parDevCtrl
%MB51.0
rw
CiA402 device control
LogicLab Type:
Structure members:
ModeOfOperation
Dummy
QuickStopOptCode
ShutdownOptCode
DisableOperationOptCode
FaultReactionOptCode
FollowingErrWindowLo
FollowingErrWindowHi
FollowingErrTimeout
TargetPosWindowLo
TargetPosWindowHi
TargetPosTimeout
VelocityWindow
VelocityTimeout
VelocityThresholdWindow
VelocityThresholdTimeout
IPTimeUnits
IPTimeIndex
Description: CiA402 mode of operation.
PAR_DEVCTRL
Dummy.
Quick Stop Option Code.
ShutDown Option Code.
Disable Operation Code.
Fault reaction Option Code.
Following error window (32 LSB).
Following error window (32 MSB).
Following error timeout.
Target Postion (32 LSB).
Target Position (32 MSB).
Target Position Timeout.
Velocity Window.
Velocity Timeout.
Velocity Threshold Window.
Velocity Threshold Timeout.
Interpolated Mode Time Units.
Interpolated Mode Time Index.
The CiA402 finite state machine and the position target should be realized through Plc program application.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcDevCtrlControlWord
--rw
n/a
n/a
LogicLab Data Type:
Unsigned16
--
Default value:
n/a
This variable contains the bits for controlling the state machine and the specific operating mode.
For more details about Control word refer to (§1) or to (§3) or to wksControlWord variables.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
plcDevCtrlTargetPosLo
--rw
n/a
LogicLab Data Type:
Unsigned32
--
Default value:
n/a
User target position in mechanical angle.
The Positioner application allows the user to control the drive as programmable multi-position positioner.
110
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
Doc. 10460-1-C-M
plcDevCtrlTargetPosHi
--rw
n/a
LogicLab Data Type:
Signed32
--
Default value:
n/a
ENG
User target position in mechanical turns.
The Positioner application allows the user to control the drive as programmable multi-position positioner.
12.9 Thermal Model Group
This data structure is referred to the thermal model configuration.
Object:
IEC address:
Attributes:
Description
parThermalModel
%MB72.0
rw
Thermal Model
LogicLab Type:
Structure members:
BrakeResistorValue
BrakeResistorPower
CoolingTemp
CoolingTempOff
MotorOverTemp
BrakeResistorEnergy
Description:
PAR_THERMALMODEL
Brake resistor power [100 mW].
cooling temperature [100m °C].
Off cooling temperature [100m °C].
Motor overtemperature [°C].
Brake resistor energy [J].
12.10 CANOpen Group
Constants to set the CiA301 state machine for the network management (NMT) objects. Through NMT services,
CANOpen devices are initialized, started, monitored, reset or stopped. All CANOpen devices are regarded as NMT
slaves.
Constant to command the NMT state machine.
Constant name
cstCanOpenNMTCStart
cstCanOpenNMTCStop
cstCanOpenNMTCEnterPreoperational
cstCanOpenNMTCResetNode
cstCanOpenNMTCResetCommunication
Description
NMT command start
NMT command stop
NMT command to pre-operational
NMT command to reset the CAN node
NMT command to reset communication
Data Type
Unsigned8
Unsigned8
Unsigned8
Unsigned8
Unsigned8
Mask Value
01h
02h
80h
81h
82h
Data Type
Unsigned8
Unsigned8
Unsigned8
Unsigned8
Mask Value
00h
04h
7Fh
05h
Constant to read state of NMT Can communication.
Constant name
cstCanOpenNMTSBootup
cstCanOpenNMTSStopped
cstCanOpenNMTSPreoperational
cstCanOpenNMTSOperational
Description
NMT state initialization
NMT state stopped
NMT state pre-operational
NMT state operational
For more details refer to (§1).
This data structure is referred to the CANOpen communication set-up.
111
Object:
IEC address:
Attributes:
Description
Structure members:
parCANOpen
%MB303.0
rw
CANOpen parameters.
Dummy1
LssNodeId
LssTimingIndex
Dummy2
tSyncCOB
EmcyCOB
EmcyInhibitTime
GuardTime
HeartbeatTime
LifeTimeFactor
Dummy3
CommCyclePeriod
Doc. 10460-1-C-M
ENG
PAR_CANOPEN
LogicLab Type:
Description: Dummy parameter.
Lss Node ID.
Lss Timing Index.
Dummy parameter.
COB-ID used by SYNC COB.
COB-ID used by Emergency COB.
Emergency COB Inhibit Time [100usec].
Guard Time [ms].
Heartbeat [ms].
Life Time Factor.
Dummy parameter.
Communication Cycle Period [usec].
This variable is used to monitor the state machine of the network management (NMT).
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varCANOpenNMTStatus
--rw
n/a
n/a
LogicLab Data Type:
Unsigned16
--
Default value:
n/a
NMT state machine actual status.
To evaluate the NMT state machine actual status the user have use the constant to read NMT state machine.
12.11 CAN Group
Constants to set and control the CAN physical layer properties.
Constant name
cstCanNode0
cstCanNode1
cstCanDrvRun
cstCanDrvErrPasv
cstCanDrvBusOff
cstCanDrvHwOverrun
Description
Number Node 0
Number Node 1
Driver CAN in run mode.
Driver CAN in error passive mode.
Driver CAN in bus off status.
Driver CAN in hardware over-run status.
Data Type
Unsigned16
Unsigned16
Unsigned16
Unsigned16
Unsigned16
Unsigned16
Mask Value
0000h
0001h
0001h
0002h
0004h
0008h
This data structure is referred to the CAN hardware configuration and communication set-up.
Object:
IEC address:
Attributes:
Description
Structure members:
parCAN
%MB301.0
rw
CAN bus parameters.
ReSyncEnable
CanController
DisableCanAlarmMask
Logic Lab Type:
PAR_CAN
Description: Enable pwm synchronization with filedbus
CAN controller selection
CAN alarm disable mask
12.12 EtherCAT Group
This data structure is referred to activation of EtherCAT protocol communication module.
112
Doc. 10460-1-C-M
Object:
IEC address:
Attributes:
Description
parECAT
%MB800.0
rw
EtherCAT parameters
LogicLab Type:
Structure members:
ReSyncEnable
EnableModule
CfgStationAlias
Description: Enable pwm synchronization with filedbus
ENG
PAR_ECAT
Enable EtherCAT module (reset required)
Configured station alias
For more details about EtherCAT fieldbus please refer to (§6).
12.13 Sync Manager Group
This data structure is referred to the Sync manager status and configuration.
Object:
IEC address:
Attributes:
Description
parSyncMgr
%MB218.0
rw
SyncManager parameters
Structure members:
TSFilter
ReSyncDelta
FiltKp
FiltKd
PeakNDiscard
PeakThreshold
PAR_SYNCMGR
LogicLab Type:
Description: Time constant of the filter (0=no filter).
Time shift for Sync point [nsec].
PLL proportional gain.
PLL derivative gain.
Number of consecutive discardable sample.
Threshold for peak detection.
The following variables are used to monitor the Sync signal status.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSyncMgr_Correction
--rw
n/a
Full scale.
LogicLab Data Type:
Signed16
--
Default value:
n/a
Instantaneous value used for the correction of the Sync signal status.
Object:
Modbus IPA:
CANopen/COE index:
Attributes:
Unit:
Value range:
varSyncMgr_LastSamplePoint
--rw
n/a
Full scale.
LogicLab Data Type:
Signed16
--
Default value:
n/a
Last fieldbus sample point, averaged.
113
A.
Doc. 10460-1-C-M
ENG
ENCODER POSITION FORMAT
The encoder position is calculated on 64 bit range, subdivide us show in table above.
This means that the internal device unit (d.u.) for the position is expressed as: the MSB 32 bit give the number of
turns, the LSB 32 bit give the angular position in one turn, giving the relations shown in the conversion factor group
unit (§4).
MSB
Position Turn (MSB 32 bit)
LSB
Angular position (LSB 32 bit)
Figure 16 - Encoder Position
Position Turn.
Signed total number of mechanical turns.
Angular position.
The position angle calculated over one turn, where 232 means 360 mechanical degrees. Some object represent
position with 32 bit, in this case 216 means 360 mechanical degrees.
When the position reach upper or lower boundary the drive automatically wrap the position to the opposite boundary.
The position error is calculated as 64 bit difference from the reference and feedback positions; then drive chooses
fastest direction to reach the target position.
The speed is calculated as difference between two consecutive reading of the position encoder (125s) and then
filtering to improve the quality of the speed loop.
The acceleration is simply computed as difference of the speed, still every 125s.
B.
PHYSICAL UNITS VS. DEVICE UNITS CONVERSION
Current:
I[d.u.] ~ 1.0 104 I[Arms]
Position 64bit:
θ[d.u.] ~ 6.836 108
θ[rad ]
θ[rad ] ~ 1.463 10-9
θ[d.u.]
Position 32bit:
θ[d.u.] ~ 1.043 104
θ[rad ]
θ[rad ] ~ 9.587 10-5
θ[d.u.]
Velocity:
ω[d.u.] ~ 8.544 10 4
 s
ω rad
Acceleration:
 [d.u.] ~ 4.374
ω
 rad 2 
ω

s 
 rad 2  ~ 2.285
ω

s 
Electrical Angle:
φ[d.u.] ~ 1.043
C.
10 4
10 4
I[Arms ] ~ 1.0 10
ω rad
φ[rad ]

s
-4
 ~ 1.170
φ [rad ] ~ 9.587
I[d.u.]
10
10
10 -5
ω[d.u.]
-5
-5
 [d.u.]
ω
φ [d.u]
ALARM LIST
If more alarms are together active, the drive visualizes through leds status only the more important one. (E.g.: if the
only the Endat alarm is visualized). To get a
114
Doc. 10460-1-C-M
ENG
complete list of the active alarms, use the function Active Alarms
of the Cockpit configurator. The alarm type
messages are referred to the alarm indicated by the Cockpit configurator.
Group Alarm Code
Alarm Type
0000 0001h
Software Fault
Leds Panel
SubCode Alarm
0008 0000h
0010 0000h
0020 0000h
0040 0000h
0080 0000h
Internal software integrity alarms group
Subcode Identification
Description
Fpga watchdog monitoring control failure.
FPGA WDT fail
Fpga Crc fail
Fpga CRC checksum algorithm calculation failure.
Fpga locked. The power section will be locked.
Fpga lockout
Fpga PLL loss of clock
Fpga PLL circuit loss the reference clock signal.
I/O expansion board watchdog monitoring control failure.
IOExpBoard WDT fail
Suggested Action
Contact the PMC Service.
Group Alarm Code
Alarm Type
Leds Panel
0000 0002h
PLC Failure
SubCode Alarm
PLC user application alarms group
Description
4
4
0000 0001h
PLC Slow Task overtime
The run time of Slow task is greater than its activation period (1-64
msec).
0000 0002h
PLC Fast Task overtime
The run time of Fast task is greater than its programmed activation
period 125 µsec.
0000 8001h
0000 8002h
0000 8003h
0000 8004h
0000 8005h
0000 8006h
0000 8007h
0000 800Bh
0000 800Ch
0000 800Dh
0000 800Eh
0000 800Fh
0000 8010h
PLC Internal Consistency Fail
(exe)
PLC Parameter Definition Out of
memory (RAM)
PLC Parameter Definition Out of
memory (Flash)
PLC Internal Consistency Fail
(ptr)
PLC Parameter Definition
Storage Failure
PLC Parameter Definition BOOL
cannot be PDO Mappable
PLC Parameter Definition
Unknown
PLC Parameter Restore failed
(11)
(12)
(13)
(14)
(15)
(16)
Internal PLC application consistency fail.
Out of memory while mapping user application parameters.
Out of memory while mapping user application parameters.
3
3
2
2
1
1
0
0
S
S
C
E
C
E
Suggested Action
If a user application is active, optimize the Slow run
time. If Base app or SpeedV application is active,
then contact the technical PMC Service.
If a user application is active, optimize the Fast run
time. If Base app or SpeedV applications are active,
then contact the technical PMC Service.
Try reduce the number of user application
parameters.
Try reduce the number of user application
parameters.
Consistency fail while restoring user application parameters.
BOOL user application parameter cannot be PDO-mappable
Disable PDO-mappable flag in the BOOL type user
application parameters.
115
Group Alarm Code
Alarm Type
0000 0004h
Boot Failure
SubCode Alarm
0000 0001h
0000 0002h
Doc. 10460-1-C-M
Leds Panel
4 3 2
Faults detected during start up system integrity and configuration check
Description
Invalid hardware configuration. The hardware configuration flash
Invalid HW Configuration
sector is damaged.
Invalid Flash Parameters.
Invalid Flash Parameters.
The flash sector where the parameters are saved is damaged.
1
0
S
C
ENG
E
Suggested Action
Try to reload software and parameters table on the
drive. Then contact PMC service.
Auxiliary power supply too low. If the problem persist
also when the power supply value is correct then
contact PMC service.
Try to reload firmware. If the problem persists,
contact the PMC service.
0000 0003h
Boot failure due to power fail.
Boot Failure due to power fail.
0000 0013h
FPGA Programming Failed.
FPGA firmware download failed.
0000 0015h
FPGA Flash Failure.
The internal flash for the FPGA is corrupted.
FPGA No matching hardware
found.
Boot failure due to incompatible
FPGA.
FPGA Test Failed.
IOExpBoard Programming
Failed.
The FPGA code does not match hardware configuration. For more
detail refer to §(4).
Boot failure due to incompatible firmware release and FPGA
hardware revision. For more detail refer to §(4).
Internal FPGA self-test failed.
IOExpBoard Flash Failure.
The internal flash for the I/O expansion board is corrupted.
IOExpBoard No matching
hardware.
POST Failure (Lo-side Power
Bridge Failure).
POST Failure (Hi-side Power
Bridge Failure).
POST Failure (Motor Power
Phases Terminal Connection
Failure).
POST Failure (Brake Unit
Failure/Brake Resistor
Disconnected).
The firmware does not match hardware configuration of the I/O
expansion board.
0000 0050h
POST Aborted Due to Power
Detect.
During power-on self test high voltage was detected on the power
bridge.
0000 0060h
Analog Single Ended Not
available.
0000 0061h
Analog Low Gain Not available.
Single ended analog inputs are not available on the selected
hardware.
Low gain selection for analog inputs is not available on the selected
hardware.
0000 0062h
IOExpBoard Not Available.
Group Alarm Code
Alarm Type
0000 0008h
System boot locked by parameter(s) value out of range.
SubCode Alarm
Description
N/A
N/A
Boot system fail for invalid parameter configuration.
Group Alarm Code
Alarm Type
0000 0010h
Power Section Fault.
SubCode Alarm
Description
Suggested Action
N/A
N/A
Fault on the IGBT control of the main power bridge.
Reset the drive and check if the error returns.
If the problem persists, contact the PMC Service.
Group Alarm Code
Alarm Type
0000 0020h
Internal Flash Memory Failure.
SubCode Alarm
Description
N/A
N/A
The internal flash memory is damaged.
Group Alarm Code
Alarm Type
0000 0040h
Safe Torque Off (STO) activated.
SubCode Alarm
Description
Suggested Action
N/A
The Safe Torque Off system is activated. Safe Torque Off performs
a safety function such that when the Enable input is not asserted,
i.e. open-circuit or set at nominally 0V, the drive will not develop
torque in the motor.
Verify the presence of 24 Vdc power supply for the
Safe Torque circuit.
0000 0016h
0000 0018h
0000 0019h
0000 0023h
0000 0025h
0000 0028h
0000 0041h
0000 0042h
0000 0043h
0000 0044h
N/A
I/O expansion board firmware download failed.
Detected one or more lo-side power IGBT broken.
Detected one or more hi-side power IGBT broken.
Detected one motor phase disconnected.
Detected brake unit circuit open.
I/O expansion board not available on the selected hardware or I/O
expansion board not detected.
Verify motor power connections. If the problem
persists, contact the PMC Service.
Verify brake resistor connection and/or brake resistor
integrity. If the problem persists, contact the PMC
Service.
High voltage should not be applied until drive
complete boot procedure. Remove the high voltage
and try again.
SE analog inputs are available only on control board
revision 2.xx or earlier.
Low gain selection is available only on control board
revision 4.xx or earlier.
I/O expansion board is supported only on selected
hardware. If it is available then contact the PMC
Service.
Leds Panel
4
3
2
0
S
C
E
Suggested Action
Check the value of varSysWrongParCode parameter
that should indicate which parameter has the wrong
value. Correct parameter, save and reset the drive
should solve the error.
Leds Panel
4 3 2
Leds Panel
4 3 2
1
1
0
0
S
S
C
C
E
E
Suggested Action
Try to reload firmware and parameters table. If the
problem persists, contact the PMC service
Leds Panel
4 3 2
1
1
0
S
C
E
116
Group Alarm Code
Alarm Type
0000 0080h
Motor Fault.
Doc. 10460-1-C-M
Leds Panel
4 3 2
1
0
S
C
ENG
E
Motor monitoring faults
SubCode Alarm
Description
0000 0001h
Motor Power Phases Terminal
Connection Failure
Detected one or more motor phase disconnected.
0000 0002h
Motor Blocked / Following Error
Timeout
Following error exceed maximum specification, motor cannot follow
requested position profile.
0000 0004h
Motor Overspeed
Maximum specified user speed reached.
Group Alarm Code
Alarm Type
0000 0100h
Overcurrent Fault.
SubCode Alarm
Description
N/A
N/A
The actual drive current has got an instant value higher than the
maximum value allowed by the drive.
Group Alarm Code
Alarm Type
0000 0200h
Overvoltage Fault.
SubCode Alarm
N/A
Alarm Type
0000 0400h
Undervoltage Fault.
SubCode Alarm
N/A
AC Input Phase Missing Fault
Group Alarm Code
Alarm Type
0000 8000h
Encoder Fault.
SubCode Alarm
0000 0001h
0000 0002h
0000 0004h
0000 0008h
0000 0010h
Electrical Field Orientation
Failure
Aux Endat not supported on
current hardware
Hiperface not supported on
current hardware
3
2
1
0
S
C
E
Suggested Action
Check the current loop gains setting, the possible
mechanical obstacle and the correct motor size for
the use.
Leds Panel
4
3
2
1
0
S
C
E
Suggested Action
Check if the brake resistor is present and connected.
Leds Panel
4
Detected one AC input phase disconnected or Vac harmonic
distortion exceed.
3
2
1
0
S
C
E
Suggested Action
Verify if the power supply is present.
Verify AC power input connections, verify the quality
of the grid voltage. For further information refer to
parPStage_DisableACMgm.
Leds Panel
4
General encoder management faults
Description
Main Encoder Abs/Rel Track
The difference between absolute and incremental (relative) position
value is too high.
Check Failure
Encoder Supply Voltage Failure
Verify overspeed detection parameters.
4
Power input section monitoring faults
Description
The DC bus voltage is under the threshold when the drive is
N/A
enabled.
0000 0001h
Verify motor power connections. If the problem
persists, contact the PMC Service. For further
information
refer
to
parPStage_DisableMotorPhasesCheck.
Verify that the output shaft is free of rotating, verify
space speed control loop gains, verify following error
detection parameters.
Leds Panel
Power input section monitoring faults
Description
Overvoltage fault: too high voltage level on DC bus voltage has been
N/A
detected.
Group Alarm Code
Suggested Action
The encoder power supply voltage is out of valid range.
The EFS procedure was unable to detect the electrical angle offset.
Selected Endat encoder on the auxiliary port is not supported by
current hardware and/or firmware
Selected Hiperface encoder on the main port is not supported by
current hardware and/or firmware.
3
2
1
0
S
C
E
Suggested Action
Check the encoder connections (E1) and the
configuration of the encoder parameters.
Check the power supply voltage, the encoder
connections (E1) and the configuration of the
encoder parameters.
Verify that the output shaft is free of rotating, verify
the Electrical Field Orientation parameters.
Use another encoder type on the auxiliary port,
contact the PMC Service.
Use another encoder type on the main port, contact
the PMC Service.
117
Group Alarm Code
Alarm Type
0001 0000h
Endat Encoder Fault
SubCode Alarm
Heidenhain Endat encoder faults
Description
8003 0001h
Main Endat Init Fail (Timeout)
4003 0001h
Main Endat Init Fail (CRC Error)
0002 0001h
Main Endat Unsupported Clock
Frequency
Insufficient communication quality on the digital link interface to
establish a reliable connection.
Unsupported clock frequency. The supported values are: 2 kHz and
8 kHz.
XXXX 0001h
Main Endat Init Fail
Error during the initialization procedure of the Endat configuration.
0000 0002h
Main Endat Alarm Flag
Endat encoder device in alarm condition.
0000 0004h
Main Endat CRC Error
0000 0008h
Main Endat Data Overtime
8003 8001h
Aux Endat Init Fail (Timeout)
4003 8001h
Aux Endat Init Fail (CRC Error)
0002 8001h
Aux Endat Unsupported Clock
Frequency
establish a reliable connection.
Unsupported clock frequency. The supported values are: 2 kHz and
8 kHz.
XXXX 8001h
Aux Endat Init Fail
Error during the initialization procedure of the Endat configuration.
0000 8002h
Aux Endat Alarm Flag
Endat encoder device in alarm condition.
0000 8004h
Aux Endat CRC Error
0000 8008h
Aux Endat Data Overtime
Group Alarm Code
Alarm Type
0002 0000h
Absolute Analog Encoder Fault
SubCode Alarm
0000 0001h
Analog sin-cosine encoder faults
Invalid line Count
0000 0002h
Low Tracks Level
Group Alarm Code
Alarm Type
0004 0000h
Incremental Encoder fault
SubCode Alarm
Digital and analog quadrature encoder faults
Description
Leds Panel
4 3 2
Communication timeout on the digital link interface.
establish a reliable connection..
Error in Endat communication: the read position command
terminate its procedure within the time period calculated during
the Endat configuration procedure.
Communication timeout on the digital link interface.
establish a reliable connection..
Error in Endat communication: the read position command
terminate its procedure within the time period calculated during
the Endat configuration procedure.
Description
The drive has detected an incorrect index position.
The voltage ripple of the encoder analogic channels was higher
than the maximum limit set by the parameter.
0000 0002h
Main Incremental Encoder Low
Tracks Level
The voltage ripple of the encoder analogic channels was higher
than the maximum limit set by the parameter.
0000 0020h
S
C
E
1
0
S
C
E
Suggested Action
Check the encoder connections (E1).
Check the encoder connections (E1). Verify also the
parameter related to the configuration of threshold
alarm: parEncAn.AnalogAlarmThreshold
4
0000 0010h
0
Leds Panel
Main Incremental Encoder
Invalid Line Count
Invalid Digital Decoding
Invalid Analog/Digital Decoding
Main Incremental Encoder Filter
Watchdog Fault
1
ENG
Suggested Action
Check the encoder connections (E1) and the Endat
parameters configuration.
parameter parEncMEndat.ClockFreq configuration.
parameters configuration port, contact the PMC
Service.
parameter parEncMEndat.ClockFreq configuration.
parameters configuration port, contact the PMC
Service.
Leds Panel
4 3 2
0000 0001h
0000 0004h
Doc. 10460-1-C-M
Invalid transition state in digital decoding algorithm.
Incremental encoder fault in conversion analog/digital algorithm.
Filter watchdog line monitoring failed due to high EMI noise.
0000 8001h
Aux Incremental Encoder
Invalid Line Count
0000 8004h
Aux Incremental Encoder
Invalid Digital Decoding
Invalid transition state in digital decoding algorithm.
0000 8008h
Incremental Encoder Simulation
Failure
When the difference between main encoder position and the
calculated encoder simulation position is greater than maximum
position error tolerance an auxiliary incremental encoder fault is
generated.
0000 8020h
Aux Incremental Encoder Filter
Watchdog Fault
Filter watchdog line monitoring failed due to high EMI noise.
Group Alarm Code
Alarm Type
0008 0000h
Hall sensors Encoder Fault
SubCode Alarm
Description
0000 0001h
Encoder Count Loss.
Encoder hall sensor: invalid line counts.
0000 0002h
Encoder invalid State.
For 4 Wire configurations, invalid hall sensor state.
3
2
1
0
S
C
E
Suggested Action
Check the encoder cabling (E1) and the shield
connection. Verify also the parameters related to the
index tolerance: parEncMInc.Flags.DisableIndexError
and parEncMInc.IndexErrorTolerance.
connection. Verify also the parameters related to the
threshold alarm:
parEncMInc.Flags.DisableAnalogError and
parEncMInc.AnalogAlarmThreshold.
connection.
connection.
connection.
Check the auxiliary encoder connection (C1
connector) and the shield connection. Verify also the
parameters related to the index tolerance:
parEncAInc.Flags.DisableIndexError and
parEncAInc.IndexErrorTolerance.
Check the encoder connection (C1 connector) and the
shield connection.
Check the encoder connection (C1 connector) and the
shield connection. Verify also the parameters related
to the simulated encoder
parEncSimInc.MaxPosErrTolerance.
connection.
Leds Panel
4
3
2
1
0
S
C
E
Suggested Action
Check parameters configuration and the encoder
connections (E1 connector).
Check parameters configuration and the encoder
connection (E1 connector).
118
Doc. 10460-1-C-M
ENG
Group Alarm Code
Alarm Type
0010 0000h
Thermal Model Fault
Leds Panel
SubCode Alarm
0000 0001h
IGBT NTC Fail
0000 0002h
Junction Overtemperature
0000 0004h
Fan Cooler Blocked
The drive reports a bad performance of the cooling system.
0000 0008h
Heatsink Overtemperature
The heatsink has reached an excessive temperature.
Group Alarm Code
Alarm Type
0040 0000h
Sensorless
SubCode Alarm
Description
0000 0001h
KT Value Out of Range
The estimate torque constant is out of range (± 25 % of Kt motor).
0000 0002h
Invalid KT Ratio
Invalid estimated sensorless speed constant.
0000 0008h
Sync Lost
Synchronization lost between the electrical excitation and the rotor
position.
0000 0010h
Antiglitch Fault
The anti-glitch filter is active for more than 4 cycles.
Group Alarm Code
Alarm Type
0080 0000h
Brake Fault
SubCode Alarm
Description
0000 0001h
Brake Drive Always On
The braking circuit is always active.
0000 0002h
Brake Resistor Overpower
The power dissipated in the braking resistor is higher than the
maximum allowed.
Connect an external resistor of higher power rating.
0000 0004h
Brake IGBT desaturation
Brake circuit failure.
Braking resistor too low value or shorted or braking
IGBT failure.
Group Alarm Code
Alarm Type
0100 0000h
CANOpen Fieldbus Fault
4
Description
The power module has reached an excessive temperature.
The estimate junction temperature reached an excessive
temperature.
3
2
1
0
S
C
E
Suggested Action
Too heavy work cycle.
Too heavy work cycle. This fault is could be affected
by parThermalModel.Flags.DisFltReactOnLimit.
Verify possible obstructions of the cooling air flux or
fan hindrance.
Too heavy work cycle. This fault is could be affected
by parThermalModel.Flags.DisFltReactOnLimit.
Leds Panel
4
3
2
1
0
S
C
E
Suggested Action
Check parameters configuration, motor phases
connections and drive AC line input.
Check parameters configuration, motor phases
connections and drive AC line input.
Check parameters configuration and the working
cycle.
Check parameters configuration and the working
cycle.
Leds Panel
4
3
2
1
0
S
C
E
Suggested Action
The supply voltage is too high or the clamp activation
voltage is too low. Verify the parameters
parPStage.VBrakeLow and parPStage.VBrakeHigh.
Leds Panel
4 3 2
1
0
S
C
E
119
SubCode Alarm
Description
N/A
N/A
CAN fieldbus physical layer error.
0000 0001h
CAN Module HW Overrun
CAN module hardware overrun.
0000 0002h
CAN Module Passive Mode
CAN controller entered error in passive mode.
0000 0004h
CAN Module BusOff
0000 0008h
CANOpen Error Control Protocol
Parameters Error
Recover from CAN controller bus-off.
There are two types of errors control protocol: Node Guarding
Protocol and Heartbeat protocol. Either systems control has
generated a fault.
0000 0010h
CANOpen Error Control Protocol
Timeout
SYNC PDO processing overtime.
0000 0020h
CANOpen RX PDO Length Error
RxPDO length error.
0000 0080h
CAN Module SW Overrun
CAN Module SW Overrun.
0000 0100h
CANOpen EMCY Wrong COB-ID
The COB-ID for the EMCY message is wrong.
0000 0800h
CAN Module TX Overrun
CAN Transmission Overrun.
0001 0000h
CANOpen PDO Invalid COB-ID
CANOpen PDO Invalid COB-ID. The COB-ID is not in the range
value defined by the CiA301 specification.
0002 0000h
CANOpen PDO RTR Not Valid
CANOpen PDO RTR Not Valid. RTR not allowed on this PDO.
0004 0000h
CANOpen PDO Invalid TX Type
CANOpen PDO Invalid TX Type.
0008 0000h
CANOpen PDO Invalid Map
Count
0010 0000h
CANOpen PDO Out Of Memory
PDO out of memory.
0020 0000h
CANOpen PDO Invalid Sync
Start Value
Invalid data for Sync start value.
0040 0000h
CANOpen PDO Internal Error
0080 0000h
CANOpen PDO Length Exceed
0100 0000h
0200 0000h
CANOpen PDO Hook Internal
Error
CANOpen PDO Duplicated COBID
TxPDO or RxPDO should be configured without any objects or the
firmware is not able to compose the configured TxPDO or RxPDO.
CANOpen PDO Internal Error. The TxPDO or RxPDO configuration
is wrong.
TxPDO length error. The length of TxPDO does not match with the
internally calculated length.
CANOpen internal software error.
CANOpen PDO duplicated COB-ID identification. The COB-ID
identification is already exists.
Group Alarm Code
Alarm Type
0200 0000h
EtherCAT Failure
SubCode Alarm
Subcode Alarm
Description
N/A
N/A
EtherCAT fieldbus physical layer error.
Group Alarm Code
Alarm Type
0400 0000h
Hiperface Encoder Fault
SubCode Alarm
Subcode Alarm
Description
XXXX 0001h
Hiperface Init Fail
Generic initialization error.
XXXX 0002h
Hiperface Alarm
Generic runtime alarm.
Group Alarm Code
Alarm Type
0800 0000h
Motor Overtemperature
SubCode Alarm
Description
0000 0001h
Motor Overtemperature (sensor)
The PTC sensor has detected a too high motor temperature.
0000 0002h
Motor Overtemperature (thermal
model)
The thermal model monitoring has detected a too high motor
temperature.
Doc. 10460-1-C-M
ENG
Suggested Action
Check parameters configuration, hardware
connections, CANOpen master configuration and
messages overrun.
Reduce network load for the slave.
Noisy network environment or incorrect bus
termination, refer to (§4).
Extremely noisy network environment.
Check parameters configuration and CANOpen master
configuration.
The time slot assigned to the synchronous PDOs is
not enough to process all user defined PDOs, reduce
the number of PDO or the number of objects inside
them.
The length of RPDO does not match with the
internally calculated length, refer to (§1).
The node has received a new instance of one RPDO
before processing the old one.
Check parameters configuration of the EMGY
message. The COB-ID has to be composed by
080h+node-ID.
Baud rate mismatch, CAN network without proper
terminating resistor, improper CAN network cabling
can cause this error.
The COB-ID value is not valid. Check parameters
configuration and CANOpen master configuration,
Request for RTR command not valid. Check
configuration,
Verify configured index value, index value should be
within supported range and with read access. Also
corrupt TPDO configuration can cause this error, in
such case reload the CANOpen master configuration.
Due to internal handling of PDOs, reduce the number
of PDO or the number of objects inside them or the
order of these objects; all PDOs are not created, thus
unavailable.
Check the COB-ID value for Sync object type. The
COB-ID has to set to the value 80h.
configuration,
configuration.
configuration.
configuration,
Leds Panel
4
3
2
1
0
S
C
E
Suggested Action
Check Ethernet cables connections, check EtherCAT
master running status.
Leds Panel
4
3
2
1
0
S
C
E
Suggested Action
Verify cable connections, verify that is a supported
type, verify voltage supply.
Verify cable connections and shields.
Leds Panel
4
3
2
1
0
S
C
E
Suggested Action
Check the connection of the motor PTC to the correct
drive terminals and the real motor temperature.
Check the working load of the motor and the real
temperature.
120
Doc. 10460-1-C-M
Group Alarm Code
Alarm Type
1000 0000h
User Defined Alarm
SubCode Alarm
Description
N/A
N/A
Error generated from the customer PLC application.
Leds Panel
4
Leds table:
Fault: the numbers specify the weight of the bit error, e.g. 4 3 2 1 0 S
No fault: the last two are C for communication active and E for drive enable
1 Hz blinking led means that the drive is in alarm or in error condition
D.
ENG
3
2
1
0
S
C
E
Suggested Action
Depend on PLC application. Set at True the
parameters parPlcExeDisable value and Reset the
drive. If the error disappears the user will be sure that
the problem is own Plc program application.
C
E
is 0x1B error code.
DEFAULT PDO PARAMETERS
Those are the default PDO communication and mapping parameters for the drive.
PDO
COB-ID
Type
COB-ID
200h+node-ID
PDO
COB-ID
Type
COB-ID
300h+node-ID
PDO
COB-ID
Type
COB-ID
400h+node-ID
PDO
COB-ID
Type
COB-ID
500h+node-ID
RPDO #1
4000 0200h+node-ID (enabled)
255 (asynchronous)
B0
B1
Controlword
6040h.0h
RPDO #2
255 (asynchronous)
B0
B1
B2
Mode of
Controlword
operation
6040h.0h
6060h.0h
RPDO #3
255 (asynchronous)
B0
B1
B2
Controlword
6040h.0h
B3
B4
Target position
607Ah.0h
B5
RPDO #4
255 (asynchronous)
B0
B1
B2
Controlword
6040h.0h
B3
B4
Target velocity
60FFh.0h
B5
PDO
COB-ID
Type
RPDO #5
C000 0000h (disabled)
255 (asynchronous)
PDO
COB-ID
Type
RPDO #6
255 (asynchronous)
PDO
COB-ID
Type
RPDO #7
255 (asynchronous)
PDO
COB-ID
Type
RPDO #8
255 (asynchronous)
RPDO from #5 to #8 have no default mapping parameters.
121
PDO
COB-ID
Type
Inhibit Time
COB-ID
180h+node-ID
PDO
COB-ID
Type
Inhibit Time
COB-ID
280h+node-ID
PDO
COB-ID
Type
Inhibit Time
COB-ID
380h+node-ID
PDO
COB-ID
Type
Inhibit Time
COB-ID
480h+node-ID
Doc. 10460-1-C-M
ENG
TPDO #1
255 (asynchronous)
0
B0
B1
Statusword
6041h.0h
TPDO #2
0 (synchronous acyclic)
0
B0
B1
B2
Mode of
Statusword
op.display
6041h.0h
6061h.0h
TPDO #3
0
B0
B1
B2
Statusword
6041h.0h
B3
B4
Position actual value
6064h.0h
B5
TPDO #4
0
B0
B1
B2
Statusword
6041h.0h
B3
B4
Velocity actual value
606Ch.0h
B5
PDO
COB-ID
Type
Inhibit Time
TPDO #5
255 (asynchronous)
0
PDO
COB-ID
Type
Inhibit Time
TPDO #6
255 (asynchronous)
0
PDO
COB-ID
Type
Inhibit Time
TPDO #7
255 (asynchronous)
0
PDO
COB-ID
Type
Inhibit Time
TPDO #8
255 (asynchronous)
0
TPDO from #5 to #8 have no default mapping parameters.
122
E.
Doc. 10460-1-C-M
ENG
SPACE SPEED CONTROL LOOP SCHEMA
Kp
position
parSSCntrlLp.fPosKp
pos fb
+
pos ref
Following error 60F4h.0h
vel ref
vel fb
Diff. Kp flag
parSSCntrlLp.Flags.UseDifferentKp
Kp Speed fbk
parSSCntrlLp.fSpdKPFbk
+
Kp Speed Ref
parSSCntrlLp.fSpdKpRef
+
parSSCntrlLp.IlimitMax
+
+
+
vel loop out
parSSCntrlLp.IlimitMin
+
acc ref
Ki
parSSCntrlLp.fKi
-
acc fb
Kp Accel Ref
parSSCntrlLp.fAccKpRef
Kp Accel fbk
parSSCntrlLp.fAccKpFbk
Figure 17 - Speed loop main schema
varILoopIqLimMax
Iq reference
vel loop out
out
varILoopIqLimMin
Figure 18 - Speed loop output schema
123
F.
Doc. 10460-1-C-M
ENG
FIRMWARE DIAGRAM
Ax Drives Series firmware diagram and interaction with Plc program application (§7).
Application
Parameters
Real-Time
Oscilloscope
PLC Application
Input/Output
Digital/Analog
Motor
Input from PLC.
System
Variables
Default Configuration
Drive Firmware
Board Control
Sensor
Position
Diagnostic System
EtherCAT
Fieldbus
CANOpen
Fieldbus
System Parameters
ModBus
Fieldbus
RS 232
Figure 19 - Drive firmware diagram.
124
G.
Doc. 10460-1-C-M
ENG
IPA PARAMETERS SORTED INDEX
13800 ............................................................ 6
18016 ............................................................ 6
18020 .......................................................... 77
18021 .......................................................... 77
18029 .......................................................... 78
18031 .......................................................... 78
18032 .......................................................... 78
18033 .......................................................... 78
18034 .......................................................... 78
18035 .......................................................... 78
18036 .......................................................... 79
18037 .......................................................... 79
18070 .......................................................... 79
18088 ............................................................ 8
18089 ............................................................ 7
18098 ............................................................ 6
19000 ............................................................ 7
19004 ............................................................ 7
19005 ............................................................ 7
19006 ............................................................ 7
22000 ............................................................ 6
26000 .......................................................... 12
26001 .......................................................... 12
26002 .......................................................... 35
26003 .......................................................... 11
26004 .......................................................... 11
26005 .......................................................... 11
26006 .......................................................... 11
26007 .......................................................... 13
26008 .......................................................... 13
26009 .......................................................... 13
26010 .......................................................... 29
26011 .......................................................... 29
26012 .......................................................... 29
26013 .......................................................... 30
26014 .......................................................... 30
26015 .......................................................... 30
26016 .......................................................... 30
26020 .......................................................... 15
26021 .......................................................... 15
26022 .......................................................... 15
26023 .......................................................... 15
26030 .......................................................... 19
26033 .......................................................... 19
26034 .......................................................... 19
26035 .......................................................... 19
26036 .......................................................... 20
26037 .......................................................... 20
26038 .......................................................... 20
26039 .......................................................... 23
26040 .......................................................... 23
26041 .......................................................... 23
26042 .......................................................... 18
26043 .......................................................... 18
26044 .......................................................... 18
26045 .......................................................... 18
26049 .......................................................... 21
26050 .......................................................... 20
26051 .......................................................... 21
26052 .......................................................... 16
26053 .......................................................... 16
26054 .......................................................... 16
26055 .......................................................... 17
26056 .......................................................... 17
26057 .......................................................... 16
26058 .......................................................... 18
26059 .......................................................... 17
26060 .......................................................... 17
26062 .......................................................... 17
26063 .......................................................... 17
26064 .......................................................... 16
26066 .......................................................... 23
26067 .......................................................... 24
26068 .......................................................... 24
26069 .......................................................... 24
26070 .......................................................... 24
26071 .......................................................... 24
26072 .......................................................... 25
26073 .......................................................... 25
26074 .......................................................... 25
26075 .......................................................... 25
26076 .......................................................... 25
26077 .......................................................... 25
26078 .......................................................... 26
26079 .......................................................... 26
26083 .......................................................... 26
26084 .......................................................... 26
26085 .......................................................... 26
26086 .......................................................... 27
26087 .......................................................... 27
26100 .......................................................... 13
26101 .......................................................... 13
26102 .......................................................... 14
26103 .......................................................... 14
26104.......................................................... 11
26105.......................................................... 14
26110.......................................................... 40
26111.......................................................... 40
26112.......................................................... 40
26113.......................................................... 40
26114.......................................................... 41
26115.......................................................... 41
26116.......................................................... 41
26120.......................................................... 36
26121.......................................................... 36
26122.......................................................... 36
26123.......................................................... 36
26130.......................................................... 36
26134.......................................................... 37
26135.......................................................... 37
26136.......................................................... 37
26137.......................................................... 37
26138.......................................................... 37
26139.......................................................... 37
26146.......................................................... 39
26147.......................................................... 39
26148.......................................................... 40
26160.......................................................... 27
26302.......................................................... 28
26303.......................................................... 28
26304.......................................................... 28
26305.......................................................... 28
26306.......................................................... 28
26307.......................................................... 31
26308.......................................................... 29
26309.......................................................... 29
26400.......................................................... 31
26401.......................................................... 32
26402.......................................................... 32
26403.......................................................... 32
26404.......................................................... 32
26405.......................................................... 32
26406.......................................................... 33
26410.......................................................... 33
26411.......................................................... 34
26412.......................................................... 34
26413.......................................................... 34
26414.......................................................... 34
26415.......................................................... 34
26416.......................................................... 34
27000.......................................................... 56
27012.......................................................... 57
27013.......................................................... 57
27014.......................................................... 56
27015.......................................................... 56
27016.......................................................... 56
27017.......................................................... 56
27018.......................................................... 57
27019.......................................................... 57
27020.......................................................... 41
27021.......................................................... 42
27022.......................................................... 42
27023.......................................................... 42
27024.......................................................... 42
27025.......................................................... 42
27026.......................................................... 43
27028.......................................................... 43
27029.......................................................... 59
27030.......................................................... 59
27031.......................................................... 59
27040.......................................................... 43
27100.......................................................... 57
27101.......................................................... 57
27102.......................................................... 58
27103.......................................................... 58
27104.......................................................... 58
27105.......................................................... 58
27106.......................................................... 58
27107.......................................................... 59
27118.......................................................... 66
27122.......................................................... 59
27123.......................................................... 59
27124.......................................................... 60
27125.......................................................... 60
27126.......................................................... 60
27300.......................................................... 21
27301.......................................................... 21
27302.......................................................... 21
27303.......................................................... 22
27304.......................................................... 22
27305.......................................................... 22
27306.......................................................... 22
27320.......................................................... 38
27321.......................................................... 38
27322.......................................................... 38
27323.......................................................... 38
27324.......................................................... 39
27325.......................................................... 39
27326 ......................................................... 39
27400 ......................................................... 85
27401 ......................................................... 86
27402 ......................................................... 86
27403 ......................................................... 86
27404 ......................................................... 53
27407 ......................................................... 44
27408 ......................................................... 44
27409 ......................................................... 44
27410 ......................................................... 44
27411 ......................................................... 44
27412 ......................................................... 45
27416 ......................................................... 54
27432 ......................................................... 51
27433 ......................................................... 51
27434 ......................................................... 51
27435 ......................................................... 51
27438 ......................................................... 51
27439 ......................................................... 52
27440 ......................................................... 88
27443 ......................................................... 52
27444 ......................................................... 52
27445 ......................................................... 51
27446 ......................................................... 52
27449 ......................................................... 90
27450 ......................................................... 89
27451 ......................................................... 89
27452 ......................................................... 89
27464 ......................................................... 45
27465 ......................................................... 45
27480 ......................................................... 52
27481 ......................................................... 52
27482 ......................................................... 53
27483 ......................................................... 53
27484 ......................................................... 53
27485 ......................................................... 53
27490 ......................................................... 54
27496 ......................................................... 45
27497 ......................................................... 45
27498 ......................................................... 46
27499 ......................................................... 46
27500 ......................................................... 55
27501 ......................................................... 88
27502 ......................................................... 88
27503 ......................................................... 88
27504 ......................................................... 55
27505 ......................................................... 54
27506 ......................................................... 55
27507 ......................................................... 55
27508 ......................................................... 87
27509 ......................................................... 49
27510 ......................................................... 87
27600 ......................................................... 46
27601 ......................................................... 46
27602 ......................................................... 47
27603 ......................................................... 47
27604 ......................................................... 47
27610 ......................................................... 46
27611 ......................................................... 46
27612 ......................................................... 47
27613 ......................................................... 47
27614 ......................................................... 47
27620 ......................................................... 46
27621 ......................................................... 46
27622 ......................................................... 47
27623 ......................................................... 47
27624 ......................................................... 47
27630 ......................................................... 46
27631 ......................................................... 46
27632 ......................................................... 47
27633 ......................................................... 47
27634 ......................................................... 47
27660 ......................................................... 49
27661 ......................................................... 50
27662 ......................................................... 49
27670 ......................................................... 50
27671 ......................................................... 50
27672 ......................................................... 50
27673 ......................................................... 50
27803 ........................................................... 9
27804 ........................................................... 9
27805 ........................................................... 9
27806 ........................................................... 9
27807 ........................................................... 9
27808 ........................................................... 9
27809 ......................................................... 10
27810 ......................................................... 10
27811 ......................................................... 10
27812 ......................................................... 14
27814 ......................................................... 10
27817 ......................................................... 10
27818 ......................................................... 10
28100 ......................................................... 86
28101 ......................................................... 86
125
28104 .......................................................... 90
28105 .......................................................... 90
28106 .......................................................... 90
28107 .......................................................... 87
28108 .......................................................... 90
28109 .......................................................... 87
28110 .......................................................... 87
28151 .......................................................... 92
28152 .......................................................... 92
28153 .......................................................... 92
28154 .......................................................... 91
28166 .......................................................... 91
28167 .......................................................... 88
28168 .......................................................... 91
28169 .......................................................... 91
28170 .......................................................... 91
28171 .......................................................... 91
28172 .......................................................... 92
28174 .......................................................... 92
28176 .......................................................... 89
28177 .......................................................... 89
28178 .......................................................... 89
28179 .......................................................... 88
29000 .......................................................... 63
29001 .......................................................... 62
29002 .......................................................... 65
29003 .......................................................... 65
29010 .......................................................... 67
29016 .......................................................... 60
29017 .......................................................... 63
29020 .......................................................... 61
29021 .......................................................... 61
29022 .......................................................... 61
29023 .......................................................... 61
29024 .......................................................... 62
29025.......................................................... 64
29026.......................................................... 64
29027.......................................................... 64
29028.......................................................... 65
29029.......................................................... 65
29030.......................................................... 65
29031.......................................................... 66
29032.......................................................... 66
29033.......................................................... 67
29034.......................................................... 67
29035.......................................................... 69
29036.......................................................... 70
29037.......................................................... 70
29038.......................................................... 71
29039.......................................................... 69
29040.......................................................... 69
29041.......................................................... 70
29042.......................................................... 68
29043.......................................................... 68
29044.......................................................... 62
30000.......................................................... 72
30001.......................................................... 72
30002.......................................................... 72
30003.......................................................... 72
30004.......................................................... 73
30005.......................................................... 73
30006.......................................................... 73
30007.......................................................... 73
30008.......................................................... 74
30009.......................................................... 74
30010.......................................................... 74
30011.......................................................... 74
30012.......................................................... 74
30013.......................................................... 74
30101.......................................................... 75
Doc. 10460-1-C-M
ENG
30102 ......................................................... 75
30200 ......................................................... 75
30201 - 30208 ............................................ 75
30301 ......................................................... 76
30302 ......................................................... 76
30303 ......................................................... 76
30306 ......................................................... 76
30400 ......................................................... 77
30401 - 30408 ............................................ 77
30800 ......................................................... 79
30801 ......................................................... 80
30802 ......................................................... 80
30810 ......................................................... 80
30811 ......................................................... 80
30812 ......................................................... 81
30813 ......................................................... 81
30814 ......................................................... 81
30815 ......................................................... 82
30816 ......................................................... 82
30817 ......................................................... 82
30820 ......................................................... 81
30821 ......................................................... 82
30822 ......................................................... 81
30823 ......................................................... 82
30824 ......................................................... 83
30825 ......................................................... 83
31000 ......................................................... 84
31001 ......................................................... 84
31004 ......................................................... 84
31005 ......................................................... 84
31010 ......................................................... 84
31011 ......................................................... 85
31012 ......................................................... 85
31013 ......................................................... 85
31014 ......................................................... 85
126
H.
Doc. 10460-1-C-M
ENG
NAME OBJECTS SORTED INDEX
cstCanBaudRate1000Kbps ............................ 72
cstCanBaudRate100Kbps .............................. 72
cstCanBaudRate10Kbps................................. 72
cstCanDrvBusOff ......................................... 112
cstCanDrvErrPasv......................................... 112
cstCanDrvHwOverrun.................................... 112
cstCanDrvRun.............................................. 112
cstCanNode0......................................... 72; 112
cstCanNode1......................................... 72; 112
cstCanOpenNMTCEnterPreoperational ........... 111
cstCanOpenNMTCResetCommunication ......... 111
cstCanOpenNMTCResetNode ........................ 111
cstCanOpenNMTCStart................................. 111
cstCanOpenNMTCStop ................................. 111
cstCanOpenNMTSBootup ............................. 111
cstCanOpenNMTSOperational ....................... 111
cstCanOpenNMTSPreoperational ................... 111
cstCanOpenNMTSStopped............................ 111
cstDevCtrlModeOfOpProfilePosition ................. 60
cstDevCtrlModeOfOpProfileVelocity ................. 60
cstDevCtrlModeOfOpTorqueMode .................... 60
cstDevCtrlOptCodePowerOff .................... 61; 110
cstDevCtrlOptCodeQuickStop .................. 61; 110
cstDevCtrlOptCodeQuickStopAndStay ...... 61; 110
cstDevCtrlOptCodeSlowDown .................. 61; 110
cstDevCtrlOptCodeSlowDownAndStay ...... 61; 110
cstEncEfsTypeDisabled ................................ 100
cstEncEfsTypeIdRamp ................................. 100
cstEncEfsTypeIdRampPosition...................... 100
cstEncStatusAbsoluteValid ............................. 31
cstEncStatusAbsoluteWaiting ......................... 31
cstEncStatusElecAngleValid ........................... 31
cstEncStatusFatalFaultValid ........................... 31
cstEncStatusNonFatalFaultValid ..................... 31
cstEncStatusRelativeValid .............................. 31
cstEncTypeAbsAnalog .................................... 12
cstEncTypeAbsEndat...................................... 12
cstEncTypeAbsHall ........................................ 12
cstEncTypeAbsHiperface ................................ 12
cstEncTypeB1AbsEndat ................................. 35
cstEncTypeNull ............................................. 13
cstEncTypeRelBackEMF ................................. 13
cstEncTypeRelIncremental ....................... 13; 35
cstEncTypeRelIncrSimulation ......................... 35
cstEndatErrMaskCRCError ............................ 100
cstEndatErrMaskNoModule........................... 100
cstEndatErrMaskTimeout.............................. 100
cstEndatSelAux ........................................... 100
cstEndatSelMain ......................................... 100
cstILoopFiltTypeBiQuad ................................. 46
cstILoopFiltTypeLowPass................................ 46
cstILoopFiltTypeNone .................................... 46
cstILoopFiltTypeNotch ................................... 46
cstPlcTaskCfgAuto ......................................... 99
cstPlcTaskCfgOff ........................................... 99
cstPlcTaskCfgPlc ........................................... 99
cstPStageBridgeLayoutUVW............................ 54
cstPStageBridgeLayoutUWV............................ 54
cstPStageBridgeLayoutVUW............................ 54
cstPStageBridgeLayoutVWU............................ 54
cstPStageBridgeLayoutWUV............................ 54
cstPStageBridgeLayoutWVU............................ 54
cstPStageOptBackEMFATanEnable ............... 105
cstPStageOptBackEMFDataEnable ................ 105
cstPStageOptDisableBrakeDrive .................... 105
cstPStageVacFailPhaseR ................................ 90
cstPStageVacFailPhaseS ................................ 90
cstPStageVacFailPhaseT................................. 90
cstPStageVacNoError ..................................... 90
parCAN ....................................................... 112
parCAN.Controller .......................................... 72
parCAN.DisableAlarmMask ............................. 74
parCAN.Flags.DelayedTxPDO .......................... 74
parCAN.Flags.ReSyncEnable .......................... 74
parCAN.Flags.SyncEvOnPeriodicCob ............... 74
parCANOpen ............................................... 112
parCANOpen.CommCyclePeriod ...................... 74
parCANOpen.EmcyInhibitTime........................ 72
parCANOpen.EmgyCOB .................................. 73
parCANOpen.GuardTime ................................ 73
parCANOpen.HeartbeatTime ........................... 73
parCANOpen.LifeTimeFactor .......................... 74
parCANOpen.LssNodeId ................................. 72
parCANOpen.LssTimingIndex.......................... 72
parCANOpen.SyncCOB ................................... 73
parDevCtrl ................................................... 110
parDevCtrl.DisableOptCode ............................. 61
parDevCtrl.FaultReactionOptCode ................... 62
parDevCtrl.FollowingErrTimeout ...................... 64
parDevCtrl.FollowingErrWindow ...................... 64
parDevCtrl.HaltOptCode ................................. 61
parDevCtrl.HMHomeSwitchSrc ....................... 71
parDevCtrl.HMMethod ................................... 69
parDevCtrl.HMNegativeSwitchSrc ................... 70
parDevCtrl.HMPositiveSwitchSrc .................... 70
parDevCtrl.HMSpeedAcc ................................ 70
parDevCtrl.HMSpeedSwitch............................ 69
parDevCtrl.HMSpeedZero ............................... 69
parDevCtrl.HomeOffsetHi ............................... 68
parDevCtrl.HomeOffsetLo ............................... 68
parDevCtrl.IPTimeIndex ................................. 67
parDevCtrl.IPTimeUnits ................................. 67
parDevCtrl.ModeOfOperation .......................... 60
parDevCtrl.QuickStopOptCode ........................ 61
parDevCtrl.RatedTorque ................................. 62
parDevCtrl.ShutdownOptCode ......................... 61
parDevCtrl.TargetPosTimeout ......................... 65
parDevCtrl.TargetPosWindow .......................... 64
parDevCtrl.VelocityThresholdTimeout .............. 66
parDevCtrl.VelocityThresholdWindow ............... 66
parDevCtrl.VelocityTimeout ............................ 65
parDevCtrl.VelocityWindow ............................. 65
parECAT ..................................................... 113
parECAT.Flags.DelayedTxPDO ........................ 80
parECAT.Flags.EnableModule ......................... 79
parECAT.Flags.ReSyncEnable ......................... 80
parEncAEndat ............................................. 101
parEncAEndat.ClockFreq................................ 36
parEncAEndat.MTurnStartPos ........................ 36
parEncAInc ................................................. 101
parEncAInc.Flags.CaptureAllIndexes ............... 39
parEncAInc.Flags.DisableDigitalInterp ............ 39
parEncAInc.Flags.DisableFilterWDTError ......... 39
parEncAInc.Flags.DisableIndexError................ 37
parEncAInc.Flags.DisableIndexForElecAngle.... 38
parEncAInc.Flags.DisableIndexForMechPos ..... 38
parEncAInc.Flags.DisableIndexTrackSync........ 38
parEncAInc.Flags.EnableStepDir .................... 37
parEncAInc.Flags.EnableUpDown ................... 37
parEncAInc.Flags.Swaptracks ......................... 37
parEncAInc.FlagsEnableIndexTrack ................ 37
parEncAInc.IndexErrorTolerance ..................... 37
parEncAInc.LineCounts .................................. 36
parEncAInc.MaxFrequency ............................. 38
parEncAn .................................................... 101
parEncAn. GainCos ........................................ 17
parEncAn. GainSin ........................................ 17
parEncAn.AnalogAlarmThreshold .................... 16
parEncAn.Flags.AnalogGain............................ 16
parEncAn.Flags.ReverseSignal ........................ 16
parEncAn.FrequencyOffset ............................. 16
parEncAn.OffsetCos ....................................... 17
parEncAn.OffsetSin ....................................... 17
parEncAn.PoleCounts .................................... 16
parEncBEmf.AGlitchFaultLimit ....................... 25
parEncBEmf.AGlitchSpd ................................ 25
parEncBEmf.BackOnTheFlySpd ...................... 24
parEncBEmf.DisableAlarmMask...................... 25
parEncBEmf.Flags.DynamicIdLimit ................. 24
parEncBEmf.Flags.DynamicIqLimit ................. 24
parEncBEmf.Flags.EnabledAGlitchFilt ............ 25
parEncBEmf.Flags.EnabledDeltaAngle ............ 25
parEncBEmf.Flags.OpenLoopOnly ................... 23
parEncBEmf.IdOpenLoop ............................... 26
parEncBEmf.KtRefreshPeriod ......................... 26
parEncBEmf.SensorlessSpd ........................... 24
parEncBEmf.Threshold0Spd .......................... 25
parEncBEmf.Threshold1Spd .......................... 24
parEncEFS.ElecAngleFeed ............................. 29
parEncEFS.Flags.Force .................................. 28
parEncEFS.IdRampCurrent ............................ 28
parEncEFS.IdRampTime ................................ 28
parEncEFS.IdSteadyTime ............................... 29
parEncEFS.ProcedureType ............................. 28
parEncEFS.SpeedThreshold ........................... 28
parEncHall.................................................. 102
parEncHall.Flags.Enable4Wire........................ 18
parEncHall.PoleCounts .................................. 18
parEncHiperface.MTurnStartPos ..................... 27
parEncMEndat ............................................ 101
parEncMEndat.ClockFreq ............................... 15
parEncMEndat.MTurnStartPos ........................ 15
parEncMgr.AuxSelection ................................ 35
parEncMgr.Flags.CntrlLoopAccelMain ............. 11
parEncMgr.Flags.CntrlLoopElecAngleMain ....... 11
parEncMgr.Flags.CntrlLoopPosMain ................ 11
parEncMgr.Flags.CntrlLoopSpeedMain ............ 11
parEncMgr.Flags.DisableAbsAfterValid ............ 14
parEncMgr.Flags.DisableEPlate ...................... 13
parEncMgr.Flags.DisableIfRelFail ................... 13
parEncMgr.Flags.RestoreEPlate ...................... 14
parEncMgr.MainAbselection ........................... 12
parEncMgr.MainRelSelection ......................... 13
parEncMgr.MaxAbsRelDiff ............................. 13
parEncMgr.MaxSpeed .................................... 11
parEncMgr.PowerStartUpDelay ....................... 13
parEncMgr.PowerVoltage................................ 12
parEncMInc ................................................ 101
parEncMInc.AnalogAlarmThreshold ................ 20
parEncMInc.Flags.CaptureAllIndexes .............. 22
parEncMInc.Flags.DisableAnalogError ............. 19
parEncMInc.Flags.DisableDigitalInterp ........... 22
parEncMInc.Flags.DisableFilterWDTError ........ 22
parEncMInc.Flags.DisableIndexError............... 19
parEncMInc.Flags.DisableIndexForElecAngle... 21
parEncMInc.Flags.DisableIndexForMechPos .... 21
parEncMInc.Flags.DisableIndexTrackSync....... 22
parEncMInc.Flags.EnableAnalogInterp ............ 19
parEncMInc.Flags.EnableStepDir ................... 20
parEncMInc.Flags.EnableUpDown .................. 21
parEncMInc.Flags.SwapTracks ....................... 21
parEncMInc.FlagsEnableIndexTrack ............... 20
parEncMInc.IndexErrorTolerance .................... 20
parEncMInc.LineCounts................................. 19
parEncMInc.MaxFrequency ............................ 21
parEncSimInc ............................................. 102
parEncSimInc.IndexLineCounts ...................... 39
parEncSimInc.IndexOffset ............................. 39
parEncSimInc.MaxPosErrTolerance................. 40
parILFWeak.FixVdcBus .................................. 49
parILFWeak.MaxSpeed .................................. 49
parILFWeak.VoltageMargin ............................. 50
parILoop ..................................................... 104
parILoop.IdLimitMax ..................................... 44
parILoop.IdLimitMin...................................... 44
parILoop.ILoopKi .......................................... 44
parILoop.ILoopKp.......................................... 44
parILoop.IqFiltPars[].MainDampFactor............ 47
parILoop.IqFiltPars[].MainFrequency .............. 46
parILoop.IqFiltPars[].SecDampFactor ............. 47
parILoop.IqFiltPars[].SecFrequency ................ 47
parILoop.IqFiltPars[].Type.............................. 46
parILoop.IqLimitMax ..................................... 45
parILoop.IqLimitMin...................................... 44
parMotorData ................................................ 99
parMotorData.CurrentNominal .......................... 9
parMotorData.CurrentNominalZeroSpeed........... 9
parMotorData.CurrentPeak ............................... 9
parMotorData.DirectInductance ...................... 10
parMotorData.ElecAngleFeedForwardTime ....... 14
parMotorData.Inductance................................. 9
parMotorData.KT ............................................. 9
parMotorData.MaximumTemp ........................ 10
parMotorData.PhaseOffset ............................. 14
parMotorData.PoleNumbers ........................... 10
parMotorData.Resistance ................................. 9
parMotorData.SpeedNominal.......................... 10
parMotorData.StatorInertia ............................. 10
parPlcExeDisable ............................................ 6
parPositioner .............................................. 108
parPositioner.EndVelocity .............................. 58
parPositioner.MotorBlockedTimeout................ 59
parPositioner.PositionErrorMax ....................... 58
parPositioner.ProfileAcc................................. 57
parPositioner.ProfileDec ................................ 58
parPositioner.ProfileVel.................................. 57
parPositioner.QuickStopDec ........................... 58
parPositioner.ZeroSpeedThreshold .................. 58
parPStage ................................................... 105
parPStage.BridgeLayout................................. 54
parPStage.OverCurrentThreshold .................... 53
parPStage.OvervoltageThreshold ..................... 86
parPStage.UndervoltageThreshold .................. 86
parPStage.VacMinStrainAllowed ..................... 87
parPStage.VBrakeHigh ................................... 86
parPStage.VBrakeLow .................................... 85
parPStage_DisableACMgm ............................. 87
parPStage_DisableMotorPhasesCheck ............. 54
parPStage_DisablePOST ................................ 55
parPStage_EnableFieldWeakening .................. 49
parPStage_ForcePOST ................................... 55
parPStageEx.SoftStart ................................... 54
parSerialAnswerToBCast ................................ 78
parSerialBaudrate ......................................... 78
parSerialDataBits .......................................... 78
parSerialDisModbusOverCAN ......................... 77
parSerialDuplex............................................. 78
parSerialEndDelay ......................................... 79
parSerialParity .............................................. 78
parSerialRxToTxDelay .................................... 79
parSerialSlaveAddress ................................... 79
parSerialStopBits .......................................... 78
parSerialZeroBaseAddress .............................. 77
parSSCntrlLp.AccKpRef................................. 57
parSSCntrlLp.fAccKpFbk ............................... 57
parSSCntrlLp.fKi ........................................... 56
127
parSSCntrlLp.Flags.UseDifferentKp................. 56
parSSCntrlLp.fPosKp ..................................... 56
parSSCntrlLp.fSpdKPFbk ............................... 56
parSSCntrlLp.fSpdKpRef ................................ 56
parSSCntrlLp.IlimitMax .................................. 57
parSSCntrlLp.IlimitMin .................................. 57
parSSCntrLp................................................ 106
parSyncMgr ................................................. 113
parSyncMgr.PeakNDiscard ............................. 84
parSyncMgr.PeakThreshold............................. 84
parSyncMgr.ReSyncDelta ............................... 84
parSyncMgr.TSFIlter ...................................... 84
parSysDriveMode ............................................. 6
parThermalModel......................................... 111
parThermalModel.BrakeResistorEnergy ............ 87
parThermalModel.BrakeResistorPower ............. 86
parThermalModel.BrakeResistorValue .............. 86
parThermalModel.CoolingTempOff .................. 90
parThermalModel.CoolingTempOn ................... 90
parThermalModel.Flags.DisFltReactOnLimit..... 90
parThermalModel.Flags.NoBrakeDisableOnFlt .. 87
parThermalModel.Flags.NoFatalOnBrakeFlt ..... 87
parThermalModel.MotorOverTemp ................... 90
plcDevCtrlControlWord ................................. 110
plcDevCtrlTargetPosHi ................................. 111
plcDevCtrlTargetPosLo ................................. 110
plcEncFbSet................................................ 102
plcEncSimSetElecAngle ............................... 103
plcEncSimSetMechAbsPosOffsetHi ............... 103
plcEncSimSetMechAbsPosOffsetLo ............... 103
plcEncSimSetMechAccel.............................. 103
plcEncSimSetMechHi .................................. 102
plcEncSimSetMechLo .................................. 102
plcEncSimSetMechSpeed ............................ 102
plcEncSimSetStatus .................................... 103
plcILoopElecAngle ....................................... 104
plcILoopIdLimMax ....................................... 105
plcILoopIdLimMin ....................................... 105
plcILoopIdRef.............................................. 104
plcILoopIqLimMax ....................................... 104
plcILoopIqLimMin ....................................... 105
plcILoopIqRef.............................................. 104
plcPosRGEnableInterpolation ....................... 109
plcPosRGEnablePositioner............................ 109
plcPosRGNewTarget ..................................... 108
plcPosRGPosition ........................................ 108
plcPosRGQuickStop ..................................... 108
plcPosRGQuickStopDec ............................... 109
plcPosRGTargetPosHi .................................. 109
plcPosRGTargetPosLo .................................. 109
plcPosRGTargetSpeed .................................. 109
plcPosRGVelocity ......................................... 108
plcPStageDisableBrakeDrive ......................... 106
plcPStagePowerEnable ................................. 106
plcPStageReferenceEnable ........................... 106
plcSSCntrlEnableIntegralGain ....................... 107
plcSSCntrlRefMechAccel.............................. 107
plcSSCntrlRefMechHi .................................. 107
plcSSCntrlRefMechLo .................................. 107
plcSSCntrlRefMechSpeed ............................ 107
varCANOpenNMTStatus ............................... 112
varECATDgALStatus ....................................... 83
varECATDgALSyncType .................................. 83
varECATDgInCommEst ................................... 81
varECATDgInForwaredRxErrCnt ....................... 81
varECATDgInInvFrameCnt .............................. 80
varECATDgInLinkDetect ................................. 81
varECATDgInLostLinkCnt................................ 81
varECATDgInRxErrCnt .................................... 80
varECATDgOutCommEst ................................. 82
varECATDgOutForwaredRxErrCnt ..................... 82
varECATDgOutInvFrameCnt ............................ 81
varECATDgOutLinkDetect ............................... 82
varECATDgOutLostLinkCnt ............................. 82
varECATDgOutRxErrCnt .................................. 82
varEncAbsElecAngle ...................................... 33
varEncAbsMechAbsPosOffsetHi ...................... 32
varEncAbsMechAbsPosOffsetLo ...................... 32
varEncAbsMechAccel ..................................... 32
varEncAbsMechHi.......................................... 31
varEncAbsMechLo ......................................... 32
varEncAbsMechSpeed .................................... 32
varEncAEndat.CrcErrors ................................. 36
varEncAEndat.PropDelay ................................ 36
varEncAnChannelCos ..................................... 17
varEncAnChannelLevel ................................... 18
varEncAnChannelSin ..................................... 17
varEncAuxElecAngle ...................................... 41
varEncAuxMechAbsPosOffsetHi ...................... 40
varEncAuxMechAbsPosOffsetLo ...................... 40
varEncAuxMechAccel ..................................... 41
varEncAuxMechHi ......................................... 40
varEncAuxMechLo ......................................... 40
varEncAuxMechSpeed.................................... 41
varEncAuxStatus ........................................... 41
varEncBEmfAglitchCounter ............................ 26
varEncBEmfSpeedDelta ................................. 27
varEncBEmfSpeedKConversion ....................... 26
varEncBEmfState .......................................... 26
varEncBEmfValueKt....................................... 27
varEncFbElecAngle ........................................ 43
varEncFbMechAbsPosOffsetHi ........................ 42
varEncFbMechAbsPosOffsetLo........................ 42
varEncFbMechAccel ...................................... 42
varEncFbMechFilteredSpeed .......................... 43
varEncFbMechHi ........................................... 41
varEncFbMechLo ........................................... 42
varEncFbMechSpeed ..................................... 42
varEncFbStatus ............................................. 43
varEncHallChannelCos ................................... 18
varEncHallChannelSin ................................... 18
varEncIncChannelCos .................................... 23
varEncIncChannelLevels ................................ 23
varEncIncChannelSin ..................................... 23
varEncMainDeltaElecAngle ............................. 31
varEncMainElecAngle .................................... 30
varEncMainMechAbsPosOffsetHi .................... 29
varEncMainMechAbsPosOffsetLo .................... 30
varEncMainMechAccel ................................... 30
varEncMainMechHi ....................................... 29
varEncMainMechLo ....................................... 29
varEncMainMechSpeed .................................. 30
varEncMainStatus.......................................... 30
varEncMEndatCrcErrors ................................. 15
varEncMEndatPropDelay ................................ 15
varEncRelElecAngle ....................................... 34
varEncRelMechAbsPosOffsetHi....................... 34
varEncRelMechAbsPosOffsetLo ...................... 34
varEncRelMechAccel ..................................... 34
varEncRelMechHi .......................................... 33
varEncRelMechLo.......................................... 34
varEncRelMechSpeed .................................... 34
varEncRelStatus ............................................ 35
varILFWeakActive .......................................... 50
varILFWeakKneeSpeed .................................. 50
varILFWeakMaxSpeedReachable ..................... 50
varILFWeakShortCurrent ................................ 50
varILoopAutoILoopKi ..................................... 52
varILoopAutoILoopKp .................................... 52
varILoopIdFb ................................................. 51
varILoopIdMax............................................... 53
varILoopIdMin ............................................... 53
varILoopIdRef ............................................... 52
varILoopIqFb ................................................. 51
varILoopIqFiltRef........................................... 52
varILoopIqMax............................................... 53
varILoopIqMin ............................................... 53
varILoopIqRef ............................................... 52
varILoopIuFb ................................................. 51
varILoopIvFb ................................................. 51
varILoopIwFb ................................................ 51
varILoopVuOut .............................................. 51
varILoopVvOut ............................................... 52
varIOAnaInputs ............................................. 98
varIODigInputs .............................................. 98
varIPQuotaMonitor ......................................... 67
varModeOfOperationDisplay............................ 63
varPosRGDemandAccel .................................. 60
varPosRGDemandPosHi ................................. 59
varPosRGDemandPosLo ................................. 59
varPosRGDemandSpeed ................................. 60
varPosRGPosError .......................................... 60
varPStageOverCurrentThreshold ...................... 55
varPStageSwitchingFrequency ........................ 55
Doc. 10460-1-C-M
ENG
varPStageVacRS ............................................ 89
varPStageVacST ............................................ 89
varPStageVacStatus....................................... 90
varPStageVacTR ............................................ 89
varPStageVdcBus .......................................... 88
varSSCntrlLpAutoErrMax................................ 59
varSSCntrlLpAutoErrMin ................................ 59
varSSCntrlLpIqRef ........................................ 59
varStatusWord............................................... 62
varSyncMgr_Correction ................................ 113
varSyncMgr_InstSyncTime ............................. 85
varSyncMgr_LastSamplePoint ...................... 113
varSyncMgr_SyncMax .................................... 85
varSyncMgr_SyncMin .................................... 85
varSyncMgr_SyncTime ................................... 84
varSyncMgr_Valid .......................................... 85
varSysAlarms ................................................ 97
varSysAlarmSubCode ..................................... 97
varSysAvgRTExecTime ..................................... 7
varSysBootErrorCode ....................................... 6
varSysFirmwareInfo ....................................... 95
varSysLifeTime ............................................... 7
varSysMaxRTExecTime .................................... 7
varSysStat ...................................................... 7
varSysStatAlarmsReset .................................... 8
varSysStatBooting ........................................... 8
varSysStatFault ............................................... 8
varSysStatFaultReaction .................................. 8
varSysStatFieldbusSyncing .............................. 8
varSysStatLockedByBootError........................... 8
varSysStatParametersSaving ............................ 8
varSysStatPlcImgBackgroundIn ........................ 8
varSysStatPlcImgBackgroundOut ...................... 8
varSysStatPlcImgSlowIn .................................. 8
varSysStatPlcImgSlowOut ................................ 8
varSysStatPlcRunBackground........................... 8
varSysStatPlcRunning ..................................... 8
varSysStatPlcRunSlow ..................................... 8
varSysStatPowerEnabled .................................. 8
varSysStatPowerSoftStarting ............................ 8
varSysStatPowerZeroElFldSeek ......................... 8
varSysStatProgramFlashWriting ........................ 8
varSysStatResetting......................................... 8
varSysWarnings ............................................... 8
varSysWrongParCode ....................................... 7
varThModelIdLimMax .................................... 91
varThModelIdLimMin..................................... 92
varThModelIqLimMax .................................... 91
varThModelIqLimMin..................................... 91
varThModelIuAvgPeak ................................... 92
varThModelIvAvgPeak .................................... 92
varThModelIwAvgPeak ................................... 92
varThModelRBrakeEnergy .............................. 88
varThModelRBrakePower ............................... 88
varThModelRBrakeResistorEnergy................... 89
varThModelRBrakeResistorPower .................... 89
varThModelRBrakeResistorValue .................... 89
varThModelTHeatSink ................................... 91
varThModelTjMax .......................................... 91
varThModelTMotor ........................................ 92
varThModelTNtc............................................ 91
wksControlWord ............................................ 63
wksDynamicIdLimMax ................................... 45
wksDynamicIdLimMin ................................... 45
wksDynamicIqLimMax ................................... 46
wksDynamicIqLimMin ................................... 46
wksIdRef ...................................................... 45
wksIOAnaOutputs .......................................... 98
wksIODigOutputs........................................... 97
wksIPQuotaHi ............................................... 67
wksIPQuotaLo ............................................... 67
wksIqRef ...................................................... 45
wksPlcPwrDisOnOverTime .............................. 99
wksPlcSlowTaskCopyOutImmediate ................ 99
wksPlcSlowTaskPeriod ................................. 100
wksPlcTaskCfg ............................................ 100
wksSysReset ................................................. 97
wksSysRestoreParameters .............................. 95
wksSysSaveParameters .................................. 95
wksTargetPosHi............................................. 65
wksTargetPosLo ............................................ 65
wksTargetSpeed ............................................ 66
128
I.
Doc. 10460-1-C-M
ENG
CANOPEN/COE OBJECTS SORTED INDEX
1000h.0h ..............................93
1001h.0h ..............................93
1002.0h ................................94
1005.0h ................................94
1006h.0h ..............................74
1008.0h ................................94
100A.0h ................................95
100Ch.0h ..............................73
100Dh.0h ..............................74
1010.0h ................................95
1010.1h ................................95
1011.0h ......................... 95; 96
1011.1h ................................96
1014h.0h ..............................73
1015h.0h ..............................72
1017h.0h ..............................73
1018h.1h ..............................93
1018h.2h ..............................93
1018h.3h ..............................94
1018h.4h ..............................94
1400h.1h ..............................75
1400h.2h ..............................75
1600h.0h ..............................75
1600h.1h ..............................75
1600h.8h ..............................75
1800h.1h ..............................76
1800h.2h ..............................76
1800h.3h ..............................76
1800h.6h ..............................76
1A00h.0h ..............................77
1A00h.1h ..............................77
1A00h.8h ..............................77
1C33h.1h ..............................83
3000.0h ................................96
3001h.0h ..............................70
3002h.0h ..............................70
3003h.0h ..............................71
3100h.0h ..............................51
3101h.0h ..............................51
3102h.0h ..............................51
3103h.0h ..............................51
3104h.0h ..............................88
3105h.0h ..............................52
3106h.0h ..............................52
3107h.0h ..............................51
3108h.0h ..............................52
3109h.0h ..............................52
310Ah.0h ..............................52
310Bh.0h ..............................53
310Ch.0h ..............................53
310Dh.0h ..............................53
310Eh.0h ..............................53
310Fh.0h ..............................51
3110h.0h ..............................45
3111h.0h ..............................45
3112h.0h ..............................46
3113h.0h ..............................46
3114h.0h ..............................55
3115h.0h ..............................88
3118h.0h ..............................55
3119h.0h ..............................54
311Ah.0h ..............................55
311Bh.0h ..............................55
311Ch.0h ..............................87
311Dh.0h ..............................49
311Eh.0h ..............................87
3120h.0h ..............................44
3121h.0h ..............................44
3122h.0h ..............................44
3123h.0h ..............................44
3124h.0h ..............................44
3125h.0h ..............................45
3126h.0h ..............................45
3127h.0h ..............................45
3130h.0h ..............................52
3133h.0h ..............................90
3134h.0h ..............................89
3135h.0h ..............................89
3136h.0h ..............................89
3140h.0h ..............................85
3141h.0h ..............................86
3142h.0h ..............................86
3143h.0h ..............................86
3144h.0h ..............................53
3145h.0h ..............................54
3146h.0h ..............................54
3150h.0h ..............................46
3151h.0h ..............................46
3152h.0h ..............................47
3153h.0h ..............................47
3154h.0h ..............................47
3158h.0h ..............................46
3159h.0h ..............................46
315Ah.0h ..............................47
315Bh.0h ..............................47
315Ch.0h ..............................47
3160h.0h ..............................46
3161h.0h ..............................46
3162h.0h ..............................47
3163h.0h ..............................47
3164h.0h ..............................47
3168h.0h ..............................46
3169h.0h ..............................46
316Ah.0h ..............................47
316Bh.0h ..............................47
316Ch.0h ..............................47
31A0h.0h ..............................49
31A1h.0h ..............................50
31A2h.0h ..............................49
31A8h.0h ..............................50
31A9h.0h ..............................50
31AAh.0h ..............................50
31ABh.0h ..............................50
3200h.0h ..............................91
3201h.0h ..............................91
3203h.0h ..............................91
3204h.0h ..............................91
3205h.0h ..............................91
3206h.0h ..............................92
3207h.0h ..............................88
3208h.0h ..............................91
3209h.0h ..............................92
320Ah.0h ..............................88
3220h.0h ..............................86
3221h.0h ..............................86
3222h.0h ..............................90
3223h.0h ..............................90
3224h.0h ..............................90
3225h.0h ..............................87
3226h.0h ..............................90
3227h.0h ..............................87
3228h.0h ..............................87
3300h.0h ..............................56
330Ah.0h ..............................57
330Bh.0h ..............................57
330Ch.1h ..............................56
330Ch.2h ..............................56
330Ch.3h ..............................56
330ch.4h...............................56
330Ch.5h ..............................57
330Ch.6h ..............................57
3321h.0h ..............................59
3322h.0h ..............................59
3340h.0h ..............................58
3341h.0h ..............................58
3342h.0h ..............................59
3350h.1h ..............................59
3350h.2h ..............................59
3352h.0h ..............................60
3356.0h ................................97
3800h.0h ..............................12
3801h.0h ..............................12
3802h.0h ..............................35
3803h.0h ..............................11
3804h.0h ..............................11
3805h.0h ..............................11
3806h.0h ..............................11
3807h.0h ..............................13
3808h.0h ..............................13
3809h.0h ..............................13
380Ah.0h ..............................13
380Bh.0h ..............................13
380Ch.0h ..............................14
380Dh.0h ..............................14
380Eh.0h ..............................11
380Fh.0h ..............................14
3810h.0h ..............................15
3811h.0h ..............................15
3818h.0h ..............................15
3819h.0h ..............................15
3820h.0h ..............................19
3821h.0h ..............................19
3822h.0h ..............................19
3823h.0h ..............................19
3824h.0h ..............................20
3825h.0h ..............................20
3826h.0h ..............................20
3827h.0h ..............................21
3828h.0h ..............................21
3829h.0h ..............................20
382Bh.0h ..............................21
382Ch.0h ..............................21
382Dh.0h ..............................21
382Eh.0h ..............................22
382Fh.0h ..............................22
3830h.0h ..............................23
3831h.0h ..............................23
3832h.0h ..............................23
3833h.0h ..............................22
3834h.0h ..............................22
3840h.0h ..............................16
3841h.0h ..............................16
3842h.0h ..............................16
3843h.0h ..............................16
3844h.0h ..............................17
3845h.0h ..............................17
3848h.0h ..............................17
3849h.0h ..............................17
384Ah.0h ..............................18
384Eh.0h ..............................17
384Fh.0h ..............................17
3850h.0h ..............................23
3851h.0h ..............................24
3852h.0h ..............................24
3853h.0h ..............................24
3854h.0h ..............................24
3855h.0h ..............................24
3856h.0h ..............................25
3857h.0h ..............................25
3858h.0h ..............................25
3859h.0h ..............................25
385Ah.0h ..............................25
385Bh.0h ..............................25
385Ch.0h ..............................26
385Dh.0h ..............................26
3861h.0h ..............................26
3862h.0h ..............................26
3863h.0h ..............................26
3864h.0h ..............................27
3865h.0h ..............................27
3870h.0h ..............................18
3871h.0h ..............................18
3872h.0h ..............................18
3873h.0h ..............................18
38E0h.0h ..............................16
38F0h.0h ..............................28
38F1h.0h ..............................28
38F2h.0h ..............................28
38F3h.0h ..............................28
38F4h.0h ..............................28
38F8h.0h ..............................31
38F9h.0h ..............................29
38FAh.0h ..............................29
3910h.0h ..............................36
3911h.0h ..............................36
3918h.0h ..............................36
3919h.0h ..............................36
3920h.0h ..............................36
3922h.0h ..............................37
3925h.0h ..............................37
3926h.0h ..............................37
3928h.0h ..............................39
3929h.0h ..............................39
392Ah.0h ..............................40
392Bh.0h ..............................37
392Ch.0h ..............................37
392Dh.0h ..............................37
392Eh.0h ..............................38
392Fh.0h ..............................38
3930h.0h ..............................38
3931h.0h ..............................38
3932h.0h ..............................39
3933h.0h ..............................39
3934h.0h ..............................39
3940h.0h ..............................27
3A00h.1h ..............................29
3A00h.2h ..............................29
3A01h.1h ..............................30
3A01h.2h ..............................29
3A02h.0h ..............................30
3A03h.0h ..............................30
3A04h.0h ..............................30
3A05.0h ................................30
3A06.0h ................................31
3A07.0h ................................31
3A10h.1h ..............................32
3A10h.2h ..............................31
3A11h.1h ..............................32
3A11h.2h ..............................32
3A12h.0h ..............................32
3A13h.0h ..............................32
3A14h.0h ..............................33
3A15.0h ................................33
3A16.0h ................................33
3A17.0h ................................33
3A20h.1h ..............................34
3A20h.2h ............................. 33
3A21h.1h ............................. 34
3A21h.2h ............................. 34
3A22h.0h ............................. 34
3A23h.0h ............................. 34
3A24h.0h ............................. 34
3A25.0h ............................... 35
3A26.0h ............................... 35
3A27.0h ............................... 35
3A30h.1h ............................. 40
3A30h.2h ............................. 40
3A31h.1h ............................. 40
3A31h.2h ............................. 40
3A32h.0h ............................. 41
3A33h.0h ............................. 41
3A34h.0h ............................. 41
3A35.0h ............................... 41
3A36.0h ............................... 41
3A40h.1h ............................. 42
3A40h.2h ............................. 41
3A41h.1h ............................. 42
3A43h.0h ............................. 42
3A44h.0h ............................. 43
3A45.0h ............................... 43
3A46.0h ............................... 43
3A47.0h ............................... 43
3F00h.0h ............................... 9
3F01h.0h ............................... 9
3F02h.0h ............................... 9
3F03h.0h ............................... 9
3F04h.0h ............................. 10
3F05h.0h ............................. 14
3F06h.0h ............................. 10
3F07h.0h ............................. 10
5209h.0h ............................... 7
5700.0h ................................. 7
5701h.0h ............................... 6
5702.0h ................................. 8
5703h.h ................................. 7
5709h.0h ............................... 7
570Ah.0h ............................... 7
5710h.0h ............................... 6
5711h.0h ............................... 6
5720h.0h ............................. 77
5721h.0h ............................. 78
5722h.0h ............................. 78
5723h.0h ............................. 78
5724h.0h ............................. 78
5725h.0h ............................. 78
5726h.0h ............................. 78
5727h.0h ............................. 79
5728h.0h ............................. 79
5729h.0h ............................. 79
572Ah.0h ....................... 77; 79
5730h.0h ............................. 74
6040h.0h ............................. 63
6041h.0h ............................. 62
605Ah.0h ............................. 61
605Bh.0h ............................. 61
605Ch.0h ............................. 61
605Dh.0h ............................. 61
605Eh.0h ............................. 62
6060h.0h ............................. 60
6061h.0h ............................. 63
6064.0h ............................... 96
6065h.0h ............................. 64
6066h.0h ............................. 64
6067h.0h ............................. 64
6068h.0h ............................. 65
6069h.0h ............................. 42
606Bh.0h ............................. 60
606Ch.0h ............................. 43
606Dh.0h ............................. 65
606Eh.0h ............................. 65
606Fh.0h ............................. 66
6070h.0h ............................. 66
6076h.0h ............................. 62
607A.0h ............................... 96
6081h.0h ............................. 57
6082h.0h ............................. 58
6083h.0h ............................. 57
6084h.0h ............................. 58
6085h.0h ............................. 58
6098h.0h ............................. 69
6099h.1h ............................. 69
6099h.2h ............................. 69
609Ah.0h ............................. 70
60C1h.1h ............................. 67
60C2h.1h ............................. 67
60C2h.2h ............................. 67
60F4h.0h ............................. 60
60FFh.0h .............................. 66
129

Parameters Reference Firmware release 1.9 Doc. 10460-1-C-M

Transcription

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