BECKHOFF AX5000 S-IDN User Manual

AX5000 ­ IDN­Descriptions

(S­IDN's)

Version 3.1

Date 2015­04­14

			Table of Contents
Table of Contents
1	Preface........................................................................................................................................................		7
	1.1 Notes on the documentation.............................................................................................................		7
	1.2 Safety instructions ............................................................................................................................		8
2	S­IDNs.........................................................................................................................................................		9
	S­0­0001 Control unit cycle time (TNcyc) .........................................................................................		9
	S­0­0002 Communication cycle time (tScyc)..................................................................................		10
	S­0­0007 Feedback acquisition capture point (t4) ..........................................................................		11
	S­0­0011 Class 1 diagnostic (C1D) ................................................................................................		12
	S­0­0012 Class 2 diagnostic (C2D) ................................................................................................		14
	S­0­0013 Class 3 diagnostic (C3D) ................................................................................................		16
	S­0­0015 Telegram type .................................................................................................................		17
	S­0­0016 Configuration list of AT....................................................................................................		18
	S­0­0017 IDN­list of all operation data............................................................................................		19
	S­0­0018 IDN­list of operation data for CP2 (PreOp) ....................................................................		20
	S­0­0019 IDN­list of operation data for CP3 (SafeOp) ...................................................................		21
	S­0­0020 IDN­list of operation data for CP4 (Op) ..........................................................................		22
	S­0­0021 IDN­list of invalid operation data for CP2 (PreOp) ..........................................................		23
	S­0­0022 IDN­list of invalid operation data for CP3 (SafeOp) ........................................................		25
	S­0­0024 Configuration list of MDT ................................................................................................		27
	S­0­0025 IDN­list of all procedure commands................................................................................		29
	S­0­0029 MDT error counter...........................................................................................................		30
	S­0­0030 Manufacturer version ......................................................................................................		31
	S­0­0031 Hardware version............................................................................................................		33
	S­0­0032 Primary operation mode..................................................................................................		35
	S­0­0033 Secondary operation mode 1..........................................................................................		37
	S­0­0034 Secondary operation mode 2..........................................................................................		39
	S­0­0035 Secondary operation mode 3..........................................................................................		41
	S­0­0036 Velocity command value .................................................................................................		43
	S­0­0037 Additive velocity command value....................................................................................		44
	S­0­0040 Velocity feedback value 1 ...............................................................................................		45
	S­0­0043 Velocity polarity parameter .............................................................................................		46
	S­0­0044 Velocity data scaling type ...............................................................................................		47
	S­0­0045 Velocity data scaling factor .............................................................................................		48
	S­0­0046 Velocity data scaling exponent .......................................................................................		49
	S­0­0047 Position command value.................................................................................................		50
	S­0­0048 Additive position command value ...................................................................................		51
	S­0­0051 Position feedback value 1 (motor feedback)...................................................................		52
	S­0­0053 Position feedback value 2 (external feedback) ...............................................................		53
	S­0­0055 Position polarity parameters ...........................................................................................		54
	S­0­0076 Position data scaling type ...............................................................................................		55
	S­0­0079 Position resolution...........................................................................................................		57
	S­0­0080 Torque command value ..................................................................................................		58
	S­0­0081 Additive torque command value......................................................................................		59
	S­x­0082 Positive torque limit value ...............................................................................................		60
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Table of Contents
	S­x­0083 Negative torque limit value..............................................................................................	62
	S­0­0084 Torque feedback value ...................................................................................................	64
	S­0­0085 Torque polarity parameter...............................................................................................	65
	S­0­0086 Torque/force data scaling type........................................................................................	66
	S­x­0091 Bipolar velocity limit value ...............................................................................................	67
	S­x­0092 Bipolar torque limit value.................................................................................................	69
	S­0­0095 Diagnostic message........................................................................................................	71
	S­0­0099 Reset class 1 diagnostic (pc) ..........................................................................................	73
	S­0­0100 Velocity loop proportional gain........................................................................................	74
	S­0­0101 Velocity loop integral action time ....................................................................................	75
	S­0­0103 Modulo Value ..................................................................................................................	76
	S­0­0104 Position loop Kv­factor ....................................................................................................	77
	S­0­0106 Current loop proportional gain 1 .....................................................................................	78
	S­0­0107 Current control loop integral action time 1 ......................................................................	79
	S­x­0109 Motor peak current ..........................................................................................................	80
	S­0­0110 Amplifier peak current .....................................................................................................	82
	S­x­0111 Motor continuous stall current .........................................................................................	89
	S­0­0112 Amplifier rated current.....................................................................................................	91
	S­x­0113 Maximum motor speed....................................................................................................	98
	S­0­0119 Current loop proportional gain 2 ...................................................................................	100
	S­0­0120 Current control loop integral action time 2 ....................................................................	101
	S­0­0124 Standstill window ..........................................................................................................	102
	S­0­0126 Torque threshold Tx......................................................................................................	103
	S­0­0130 Probe value 1 positive edge..........................................................................................	104
	S­0­0131 Probe value 1 negative edge ........................................................................................	105
	S­0­0134 Master control word ......................................................................................................	106
	S­0­0135 Drive status word ..........................................................................................................	108
	S­x­0136 Positive acceleration limit value ....................................................................................	110
	S­x­0137 Negative acceleration limit value...................................................................................	112
	S­0­0143 Sercos interface version ...............................................................................................	114
	S­0­0149 Positive drive stop procedure command (pc)................................................................	115
	S­0­0156 Velocity feedback value 2 (external feedback) .............................................................	116
	S­0­0159 Monitoring window .......................................................................................................	117
	S­0­0160 Acceleration data scaling type ......................................................................................	118
	S­0­0161 Acceleration data scaling factor ....................................................................................	119
	S­0­0162 Acceleration data scaling exponent ..............................................................................	120
	S­0­0163 Weight counterbalance .................................................................................................	121
	S­0­0169 Probe control parameter ...............................................................................................	122
	S­0­0170 Probing cycle procedure command (pc) .......................................................................	124
	S­0­0179 Probe status..................................................................................................................	125
	S­0­0185 Length of the configurable data record in the AT..........................................................	126
	S­0­0186 Length of the configurable data record in the MDT.......................................................	127
	S­0­0187 IDN­list of configurable data in the AT ..........................................................................	128
	S­0­0188 IDN­list of configurable data in the MDT .......................................................................	130
	S­0­0189 Following distance ........................................................................................................	131
	S­x­0196 Motor rated current........................................................................................................	132
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		Table of Contents
S­0­0200 Amplifier warning temperature ......................................................................................		134
S­0­0201 Motor warning temperature...........................................................................................		135
S­0­0203 Amplifier shut down temperature ..................................................................................		136
S­0­0204 Motor shut down temperature .......................................................................................		137
S­0­0206 Drive on delay time .......................................................................................................		138
S­0­0207 Drive off delay time .......................................................................................................		139
S­0­0216 Switch parameter set (pc) .............................................................................................		140
S­0­0217 Parameter set preselection ...........................................................................................		141
S­0­0219 IDN­list of parameter set ...............................................................................................		142
S­0­0254 Actual parameter set.....................................................................................................		143
S­0­0256 Multiplication factor 1 (motor feedback) .......................................................................		144
S­0­0257 Multiplication factor 2 (external feedback) ....................................................................		145
S­0­0267 Password ......................................................................................................................		146
S­0­0273 Maximum drive off delay time .......................................................................................		148
S­0­0274 Received drive addresses.............................................................................................		149
S­0­0292 List of supported operation modes................................................................................		150
S­0­0295 Drive enable delay time ................................................................................................		152
S­0­0296 Velocity feed forward gain.............................................................................................		153
S­0­0301 Allocation of real­time control bit 1................................................................................		154
S­0­0303 Allocation of real­time control bit 2................................................................................		155
S­0­0305 Allocation of real­time status bit 1 .................................................................................		156
S­0­0307 Allocation of real­time status bit 2 .................................................................................		157
S­0­0347 Velocity error.................................................................................................................		158
S­0­0348 Acceleration feed forward gain .....................................................................................		159
S­x­0372 Drive Halt acceleration bipolar ......................................................................................		161
S­0­0374 Procedure command error list.......................................................................................		163
S­0­0375 Diagnostic numbers list.................................................................................................		165
S­0­0380 DC bus voltage .............................................................................................................		167
S­0­0381 DC bus current..............................................................................................................		168
S­0­0383 Motor temperature ........................................................................................................		169
S­0­0384 Amplifier temperature....................................................................................................		170
S­0­0390 Diagnostic number ........................................................................................................		171
S­0­0403 Position feedback value status .....................................................................................		172
S­0­0405 Probe 1 enable..............................................................................................................		173
S­0­0409 Probe 1 positive latched (Counter) ...............................................................................		174
S­0­0410 Probe 1 negative latched (Counter) ..............................................................................		176
S­x­0429 Emergency stop deceleration........................................................................................		178
S­0­0432 Serial number drive control ...........................................................................................		180
S­0­0435 Operating time drive control..........................................................................................		181
S­0­0436 Operating time power stage..........................................................................................		182
S­0­0903 Configuration list of dynamic AT ...................................................................................		183
S­0­0904 Configuration list of dynamic MDT ................................................................................		184
S­0­0905 IDN­list of configurable data in the dynamic AT............................................................		185
S­0­0906 IDN­list of configurable data in the dynamic MDT.........................................................		186
S­0­0907 Control word dynamic MDT ..........................................................................................		187
S­0­0908 Status word dynamic AT ...............................................................................................		188
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Table of Contents
S­0­0909 Dynamic MDT error counter..........................................................................................	189
3 Support and Service..............................................................................................................................	190

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Preface

1 Preface

1.1Notes on the documentation

This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards.

It is essential that the following notes and explanations are followed when installing and commissioning these components.

The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly under development.

For that reason the documentation is not in every case checked for consistency with performance data, standards or other characteristics.

In the event that it contains technical or editorial errors, we retain the right to make alterations at any time and without warning.

No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation.

Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC®and XTS® are registered trademarks of and licensed by Beckhoff Automation GmbH.

Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and patents:

EP1590927, EP1789857, DE102004044764, DE102007017835

with corresponding applications or registrations in various other countries.

The TwinCAT Technology is covered, including but not limited to the following patent applications and patents:

EP0851348, US6167425 with corresponding applications or registrations in various other countries.

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany

Copyright

© Beckhoff Automation GmbH & Co. KG, Germany.

The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited.

Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.

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Preface

1.2Safety instructions

Safety regulations

Please note the following safety instructions and explanations!

Product­specific safety instructions can be found on following pages or in the areas mounting, wiring, commissioning etc.

Exclusion of liability

All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.

Description of symbols

In this documentation the following symbols are used with an accompanying safety instruction or note. The safety instructions must be read carefully and followed without fail!

Serious risk of injury!

Failure to follow the safety instructions associated with this symbol directly endangers the life and health of persons.

DANGER

Risk of injury!

Failure to follow the safety instructions associated with this symbol endangers the life and health of persons.

WARNING

Personal injuries!

Failure to follow the safety instructions associated with this symbol can lead to injuries to persons.

CAUTION

Damage to the environment or devices

Failure to follow the instructions associated with this symbol can lead to damage to the en­ vironment or equipment.

Attention

Tip or pointer

This symbol indicates information that contributes to better understanding.

Note

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S­IDNs

2 S­IDNs

S­0­0001 Control unit cycle time (TNcyc)

The parameter contains information regarding the time intervals at which the numeric control makes new set values available.

Attributes

Name	Value
Format	UDEC
Data length	16
Decimal point	0
Min value	125
Max value	20 000
Default value	500
Unit	µs
Changeable in EtherCAT state	PreOp
Cyclic transfer	No
Device parameter	Yes
Related to interface revision	from 200: Interpolation P­0­0556

This parameter must be transferred in PreOp from the master to the slave and is taken into account in the slave from SafeOp. S­0­0001 must be equal to S­0­0002.

When using a control mode which contains position control, S­0­0001 must be equal or greater than P­0­0004. If S­0­0001 is longer than P­0­0004, AX5000 interpolates the missing set values. Interpolation can be configured in P­0­0556.

IDNs involved

S 0 0001 [} 9], S 0 0002 [} 10], P­0­0004, P­0­0556

Note

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S­IDNs

S­0­0002 Communication cycle time (tScyc)

The parameter contains information regarding the time intervals at which the fieldbus (EtherCAT) transfers the cyclic data of the master data telegram (MDT) and the drive telegram (AT).

Attributes

Name	Value
Format	UDEC
Data length	16
Decimal point	0
Min value	125
Max value	20 000
Default value	500
Unit	µs
Changeable in EtherCAT state	PreOp
Cyclic transfer	No
Device parameter	Yes
Related to interface revision	No

This parameter must be transferred in PreOp from the master to the slave and is active in the slave from SafeOp. This parameter is defined as 125 μs, 250 μs etc. up to 20000 μs, in increments of 250 μs. Values permitted in S­0­0002 depend on the position controller cycle.

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S­IDNs

S­0­0007 Feedback acquisition capture point (t4)

The time of measurement of the actual values is synchronised by the drive with the synchronisation signal Sync 1 of the EtherCAT distributed clock (DC).

Attributes

Name	Value
Format	UDEC
Data length	16
Decimal point	0
Min value	0
Max value	0
Default value	0
Unit	µs
Changeable in EtherCAT state	PreOp
Cyclic transfer	No
Device parameter	No
Related to interface revision	No

In this way the master can specify the same actual value measuring time for all drives that operate in a coordinated way. This ensures synchronisation of the actual value acquisition for the respective drives. From SafeOp, the drive activates the measuring time for the actual values.

IDNs involved

S 0 0002 [} 10]

Note

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S­IDNs

S­0­0011 Class 1 diagnostic (C1D)

The parameter contains error groups that trigger a "drive shut down" error.

Attributes

Name	Value
Format	Binary
Data length	16
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	No
Cyclic transfer	AT
Device parameter	No
Related to interface revision	No

If an error is diagnosed in the drive, this results in an error response and the error bit is set, as described below. In addition, error bit 13 is set by S­0­0135 to "1" and is only reset to "0" by the drive when the drive has executed the command S­0­0099 and any errors have been cleared.

To precisely identify the error, read the error memory.

Bit pattern:

Bit Meaning

0Overload shut down

Overload shut down

0= no error

1= error

1Amplifier overtemperature shut down

Amplifier overtemperature shut down

0= no error

1= error

2Motor overtemperature shut down

Motor overtemperature shut down

0= no error

1= error

3Cooling error shut down

Cooling error shut down

0= no error

1= error

4Control voltage error

Control voltage error

0= no error

1= error

5Feedback error

Feedback error

0= no error

1= error

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S­IDNs

Bit Meaning

6Commutation error

Commutation error

0= no error

1= error

7Overcurrent error

Overcurrent error

0= no error

1= error

8Overvoltage error

Overvoltage error

0= no error

1= error

9Undervoltage error

Undervoltage error

0= no error

1= error

10Power supply phase error

Power supply phase error

0= no error

1= error

11Excessive position deviation

Excessive position deviation

0= no error

1= error

12Communication error bit

Communication error bit

0= no error

1= error

13Overtravel limit exceeded

Overtravel limit exceeded (shut down)

0= no error

1= error

14Reserved

15Manufacturer specific error

Manufacturer specific error

0= no error

1= error

IDN P­0­0350 ­ Error reaction check word

With this IDN you can parameterise a general reaction to an error and/or influence the be­ haviour of the two axes in the case of a 2­channel AX5000.

Note

IDNs involved

S 0 0135 [} 108], S 0 0099 [} 73], P­0­0350

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S­IDNs

S­0­0012 Class 2 diagnostic (C2D)

The parameter contains warning groups that trigger a drive warning.

Attributes

Name	Value
Format	Binary
Data length	16
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	No
Cyclic transfer	AT
Device parameter	No
Related to interface revision	No

If S­0­0012 changes, the C2D bit in S­0­0135 (bit 12) is set to "1". Once the changed status of S­0­0012 has been read via mailbox, the change bit is reset to "0". In this parameter the bit is automatically reset, once the cause has been rectified.

To precisely identify the warning, read the error memory.

Bit pattern:

Bit Meaning

0Overload warning

Overload warning

0= no warning

1= warning

1Amplifier overtemperature warning

Amplifier overtemperature warning

0= no warning

1= warning

2Motor overtemperature warning

Motor overtemperature warning

0= no warning

1= warning

3Cooling error warning

Cooling error warning

0= no warning

1= warning

4Reserved

5Reserved

6Reserved

7Reserved

8Reserved

9Undervoltage warning (bus voltage)

Undervoltage warning (bus voltage)

0= no warning

1= warning

10 Reserved

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S­IDNs

Bit Meaning

11Reserved

12Reserved

13Reserved

14Reserved

15Manufacturer­specific warning

Manufacturer­specific warning

0 = no warning

1 = warning

IDNs involved

S 0 0135 [} 108]

Note

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S­IDNs

S­0­0013 Class 3 diagnostic (C3D)

The parameter contains information groups that trigger a drive information.

Attributes

Name	Value
Format	Binary
Data length	16
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	No
Cyclic transfer	AT
Device parameter	No
Related to interface revision	No

If an information is diagnosed in the drive, the change bit is set, as described below. In addition, change bit 11 is set by S­0­0135 to "1" and is only reset again when the cause has been rectified and the parameter S­0­0013 is read again.

In this parameter the bit is automatically reset, once the cause has been rectified.

Bit pattern:

Bit Meaning

0Reserved

1| n Feedback |< standstill window

This bit can be used to read the axis movement status.

0= no information

1= information

2Reserved

3|T| ≥ Tx

This bit can be used to read whether the currently applied force or torque is larger or smaller than the TX S­0­0126 "Torque threshold".

0= no information

1= information

4 ­ Reserved

15

IDNs involved

S 0 0135 [} 108]

Note

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S­IDNs

S­0­0015 Telegram type

The parameter contains the information to indicate that the AX5000 supports the application telegram.

Attributes

Name	Value
Format	Binary
Data length	16
Decimal point	0
Min value	­
Max value	­
Default value	7
Unit	­
Changeable in EtherCAT state	PreOp
Cyclic transfer	No
Device parameter	No
Related to interface revision	No

If application telegram is selected, S­0­0016 and S­0­0024 can be configured freely.

Bit pattern:

Bits 0­2	MDT	AT
7	Application telegram	Application telegram

IDNs involved

S 0 0016 [} 18], S 0 0024 [} 27], S 0 0080 [} 58], S 0 0036 [} 43], S 0 0047 [} 50],

S 0 0040 [} 45], S 0 0051 [} 52], S 0 0053 [} 53]

Note

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S­IDNs

S­0­0016 Configuration list of AT

The parameter contains the information to indicate which data are contained in the drive telegram (AT). Only data listed in S­0­0187 are permitted as cyclic data in the drive telegram (AT).

Attributes

Name	Value
Format	idn
Data length	416
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	PreOp
Cyclic transfer	No
Device parameter	No
Related to interface revision	No

Nested structure

Note the nesting depth and the structure information at the start of the descriptions.

Note

IDNs involved

S 0 0015 [} 17], S 0 0187 [} 128]

Note

Actual length

S­0­0016­Configuration list of AT / Actual length

Format	Size in bit	Offset	Properties
UINT	16	0	­­­

Max length

S­0­0016­Configuration list of AT / Max length

Format	Size in bit	Offset	Properties
UINT	16	16	­­­

Configured AT IDNs

S­0­0016­Configuration list of AT / Configured AT IDNs

Format	Size in bit	Offset	Properties
	384	32	­­­

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S­IDNs

S­0­0017 IDN­list of all operation data

The parameter contains a list of parameters for all operating data, commands and parameters present in the drive.

Attributes

Name	Value
Format	idn
Data length	till 203: 11136, from 204: 12064
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	No
Cyclic transfer	No
Device parameter	No
Related to interface revision	changed from 204

Nested structure

Note the nesting depth and the structure information at the start of the descriptions.

Note

Actual length

S­0­0017­IDN­list of all operation data / Actual length

Format	Size in bit	Offset	Properties
UINT	16	0	­­­

Max length

S­0­0016­IDN­list of all operation data / Max length

Format	Size in bit	Offset	Properties
UINT	16	16	­­­

Configured AT IDNs

S­0­0017­IDN­list of all operation data / Configured AT IDNs

Format	Size in bit	Offset	Properties
	11104	32	­­­

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S­IDNs

S­0­0018 IDN­list of operation data for CP2 (PreOp)

The parameter contains a list of parameters for all data required in PreOp. The data must be correct in order to enable switching to SafeOp.

Attributes

Name	Value
Format	idn
Data length	till 203: 11136, from 204: 12064
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	No
Cyclic transfer	No
Device parameter	No
Related to interface revision	changed from 204

Nested structure

Note the nesting depth and the structure information at the start of the descriptions.

Note

Actual length

S­0­0018­IDN­list of operation data for CP2 / Actual length

Format	Size in bit	Offset	Properties
UINT	16	0	­­­

Max length

S­0­0018­IDN­list of operation data for CP2 / Max length

Format	Size in bit	Offset	Properties
UINT	16	16	­­­

All operation data

S­0­0018­IDN­list of operation data for CP2 / All operation data

Format	Size in bit	Offset	Properties
	11104	32	­­­

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S­IDNs

S­0­0019 IDN­list of operation data for CP3 (SafeOp)

The parameter contains a list of parameters for all data required in SafeOp. The data must be correct in order to enable switching to Op.

Attributes

Name	Value
Format	idn
Data length	till 203: 11136, from 204: 12064
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	No
Cyclic transfer	No
Device parameter	No
Related to interface revision	changed from 204

Nested structure

Note the nesting depth and the structure information at the start of the descriptions.

Note

Actual length

S­0­0019­IDN­list of operation data for CP3 / Actual length

Format	Size in bit	Offset	Properties
UINT	16	0	­­­

Max length

S­0­0019­IDN­list of operation data for CP3 / Max length

Format	Size in bit	Offset	Properties
UINT	16	16	­­­

All operation data

S­0­0019­IDN­list of operation data for CP3 / All operation data

Format	Size in bit	Offset	Properties
	11104	32	­­­

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S­IDNs

S­0­0020 IDN­list of operation data for CP4 (Op)

The parameter contains a list of parameters that can be changed in EtherCAT State OP.

Attributes

Name	Value
Format	idn
Data length	till 203: 11136, from 204: 12064
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	No
Cyclic transfer	No
Device parameter	No
Related to interface revision	changed from 204

Nested structure

Note the nesting depth and the structure information at the start of the descriptions.

Note

Actual length

S­0­0020­IDN­list of operation data for CP4 / Actual length

Format	Size in bit	Offset	Properties
UINT	16	0	­­­

Max length

S­0­0020­IDN­list of operation data for CP4 / Max length

Format	Size in bit	Offset	Properties
UINT	16	16	­­­

All operation data

S­0­0020­IDN­list of operation data for CP4 / All operation data

Format	Size in bit	Offset	Properties
	11104	32	­­­

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AX5000 ­ IDN­Descriptions

S­IDNs

S­0­0021 IDN­list of invalid operation data for CP2 (PreOp)

The parameter contains a list of parameters that are contained in S­0­0018, and which the drive has detected as invalid before switching from PreOp to SafeOp.

Attributes

Name	Value
Format	idn
Data length	432
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	No
Cyclic transfer	No
Device parameter	No
Related to interface revision	No

If switching in CP2 is error­free, the list S­0­0021 is empty. If invalid parameters or invalid parameter combinations are detected during switching, S­0­0021 contains the numbers of the invalid parameters, and the switching is acknowledged with an error. Switching takes place via the AL Control and AL Status Register of the EtherCAT SlaveController.

Nested structure

Note the nesting depth and the structure information at the start of the descriptions.

Note

IDNs involved

S 0 0018 [} 20]

Note

Actual length

S­0­0021­IDN­list of invalid operation data for CP2 / Actual length

Format	Size in bit	Offset	Properties
UINT	16	0	­­­

Max length

S­0­0021­IDN­list of invalid operation data for CP2 / Max length

Format	Size in bit	Offset	Properties
UINT	16	16	­­­

AX5000 ­ IDN­Descriptions

Version 3.1

23

S­IDNs

Invalid operation data for CP2

S­0­0021­IDN­list of invalid operation data for CP2 / Invalid operation data for CP2

Format	Size in bit	Offset	Properties
	400	32	­­­

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Version 3.1

AX5000 ­ IDN­Descriptions

S­IDNs

S­0­0022 IDN­list of invalid operation data for CP3 (SafeOp)

The parameter contains a list of parameters that are contained in S­0­0019, and which the drive has detected as invalid before switching from SafeOp to Op.

Attributes

Name	Value
Format	idn
Data length	192
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	No
Cyclic transfer	No
Device parameter	No
Related to interface revision	No

If switching in CP3 is error­free, the list S­0­0022 is empty. If invalid parameters or invalid parameter combinations are detected during switching, S­0­0022 contains the numbers of the invalid parameters, and the switching is acknowledged with an error. Switching takes place via the AL Control and AL Status Register of the EtherCAT SlaveController.

Nested structure

Note the nesting depth and the structure information at the start of the descriptions.

Note

IDNs involved

S 0 0019 [} 21]

Note

Actual length

S­0­0022­IDN­list of invalid operation data for CP3 / Actual length

Format	Size in bit	Offset	Properties
UINT	16	0	­­­

Max length

S­0­0021­IDN­list of invalid operation data for CP3 / Max length

Format	Size in bit	Offset	Properties
UINT	16	16	­­­

AX5000 ­ IDN­Descriptions

Version 3.1

25

S­IDNs

Invalid operation data for CP3

S­0­0021­IDN­list of invalid operation data for CP3 / All operation data

Format	Size in bit	Offset	Properties
	160	32	­­­

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Version 3.1

AX5000 ­ IDN­Descriptions

S­IDNs

S­0­0024 Configuration list of MDT

The parameter contains the list of parameters for which data are transferred cyclically in the master data telegram (MDT) from the controller to the drive.

Attributes

Name	Value
Format	idn
Data length	224
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	PreOp
Cyclic transfer	No
Device parameter	No
Related to interface revision	No

The AX5000 allows the telegram type "application telegram" in S­0­0015 and therefore supports this list. Only data that are listed under S­0­0188 are permitted as cyclic data in the MDT.

Nested structure

Note the nesting depth and the structure information at the start of the descriptions.

Note

IDNs involved

S 0 0015 [} 17], S 0 0188 [} 130]

Note

Actual length

S­0­0024­Configuration list of MDT / Actual length

Format	Size in bit	Offset	Properties
UINT	16	0	­­­

Max length

S­0­0024­Configuration list of MDT / Max length

Format	Size in bit	Offset	Properties
UINT	16	16	­­­

Configured MDT IDNs

S­0­0024­Configuration list of MDT / Configured MDT IDNs

AX5000 ­ IDN­Descriptions

Version 3.1

27

S­IDNs

Format	Size in bit	Offset	Properties
	192	32	­­­

28

Version 3.1

AX5000 ­ IDN­Descriptions

S­IDNs

S­0­0025 IDN­list of all procedure commands

The parameter contains the list of all available commands.

Attributes

Name	Value
Format	idn
Data length	12064
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	No
Cyclic transfer	No
Device parameter	No
Related to interface revision	No

Nested structure

Note the nesting depth and the structure information at the start of the descriptions.

Note

Actual length

S­0­0025­IDN­list of all procedure commands / Actual length

Format	Size in bit	Offset	Properties
UINT	16	0	­­­

Max length

S­0­0025­IDN­list of all procedure commands / Max length

Format	Size in bit	Offset	Properties
UINT	16	16	­­­

All operation data

S­0­0025­IDN­list of all procedure commands / All operation data

Format	Size in bit	Offset	Properties
UINT	12032	32	­­­

AX5000 ­ IDN­Descriptions

Version 3.1

29

S­IDNs

S­0­0029 MDT error counter

At each Sync1 time the drive checks whether new valid MDT data are present. If not, this counter is incremented. Possible causes of error are late EtherCAT telegrams or incorrectly transferred EtherCAT telegrams with invalid checksums.

Attributes

Name	Value
Format	UDEC
Data length	16
Decimal point	0
Min value	­
Max value	­
Default value	­
Unit	­
Changeable in EtherCAT state	No
Cyclic transfer	AT
Device parameter	No
Related to interface revision	No

This counter should remain static at very low values (1 or 2). Otherwise, the cause should be analysed.

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AX5000 ­ IDN­Descriptions