Infranor XtrapulsPac User Manual

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Digital drive

for sinusoidal

synchronous

AC motors

XtrapulsPac

User Guide

trapulsPac – User Guide

WARNING

This is a general manual describing a series of servo drives having output capability suitable for driving AC brushless sinusoidal servo motors.

Please see also:

o XtrapulsPac Installation Guide for the hardware installation of the drive (mounting, wiring, …). o XtrapulsPac STO for the Safe Torque Off function o XtrapulsPac Templates for the templates of target applications. o Gem Drive Studio software Quick Start manual for the drive parameterization. o EtherCAT® fieldbus interface manual for the XtrapulsPac-et version. o GDPS manual, for the use of the GDPS power supply unit.

Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the drives operational.

Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable speed (EN 60204-1 standard) and using proper test equipment.

The conformity with the standards and the "CE" approval is only valid if the items are installed according to the recommendations of the drive manuals. Connections are the user's responsibility if recommendations and drawings requirements are not met.

INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or wrong descriptions of the ordered items. Any intervention on the items, which is not specified in the manual, will immediately cancel the warranty.

INFRANOR reserves the right to change any information contained in this manual without notice.

Issue: 1.2.1.202

CAUTION

Any contact with electrical parts, even after power down, may involve physical damage. Wait for at least 10 minutes after power down before handling the drives (a residual voltage of several hundreds of volts ma

remain during a few minutes).

ESD INFORMATION (ElectroStatic Discharge)

INFRANOR drives are conceived to be best protected against electrostatic discharges. However, some components are particularly sensitive and may be damaged if the drives are not properly stored and handled.

STORAGE

- The drives must be stored in their original packing.

- When taken out of their packing, they must be stored positioned on one of their flat metal surfaces and on a dissipating or electrostatically neutral support.

- Avoid any contact between the drive connectors and material with electrostatic potential (plastic film, polyester, carpet …).

HANDLING

- If no protection equipment is available (dissipating shoes or bracelets), the drives must be handled via their metal housing.

- Never get in contact with the connectors.

ELIMINATION

In order to comply with the 2002/96/EC directive of the European Parliament and of the Council of 27 January 2003 on waste electrical and electronic equipment (WEEE), all INFRANOR devices have got a sticker symbolizing a crossed-out wheeled dustbin as shown in Appendix IV of the 2002/96/EC Directive. This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not with standard waste.

trapulsPac – User Guide

Content

CONTENT ............................................................................................................................................... 3

CHAPTER 1 - GENERAL DESCRIPTION .............................................................................................. 5

1.1 - INTRODUCTION ............................................................................................................................... 5

1.2 - ARCHITECTURE ............................................................................................................................... 6

1.3 - OTHER DOCUMENTS ........................................................................................................................ 7

CHAPTER 2 - COMMISSIONING ........................................................................................................... 8

2.1 - PC SOFTWARE INSTALLATION ......................................................................................................... 8

2.2 - STARTING THE SOFTWARE ............................................................................................................. 10

2.3 - DRIVE COMMUNICATION ................................................................................................................ 10

2.4 - PARAMETER SETTING ................................................................................................................... 11

2.4.1 - Configuration of the drive ..................................................................................................... 11

2.4.2 - Configuration of the motor ................................................................................................... 11

2.4.2.1 - Selection in the motor list .............................................................................................................. 11

2.4.2.2 - Manual motor configuration .......................................................................................................... 12

2.4.2.3 - Linear motor configuration ............................................................................................................ 14

2.4.3 - Position sensors .................................................................................................................. 15

2.4.4 - Servo loops adjustment ....................................................................................................... 17

2.4.5 - Configuration of the drive Enable ........................................................................................ 20

2.4.6 - Quick test of the servo drive ................................................................................................ 20

2.4.7 - Logic Inputs ......................................................................................................................... 22

2.4.8 - Logic Outputs ....................................................................................................................... 23

2.4.9 - Logic I/Os extension ............................................................................................................ 24

2.4.10 - Braking Resistor ................................................................................................................ 24

2.5 - DRIVE PARAMETER SAVING ........................................................................................................... 24

2.6 - OSCILLOSCOPE ............................................................................................................................ 25

2.7 - DIALOG TERMINAL ......................................................................................................................... 25

CHAPTER 3 - REFERENCE ................................................................................................................. 26

3.1 - CANOPEN COMMUNICATION .......................................................................................................... 27

3.1.1 - Communication objects ....................................................................................................... 27

3.1.1.1 - CAN Telegram .............................................................................................................................. 27

3.1.1.2 - Default COB-ID ............................................................................................................................. 28

3.1.1.3 - Network Management Objects ...................................................................................................... 28

3.1.1.4 - Synchronisation Object ................................................................................................................. 29

3.1.1.5 - Process Data Objects (PDO) ........................................................................................................ 31

3.1.1.6 - Service Data Objects (SDO) ......................................................................................................... 43

3.1.1.7 - Emergency Objects ...................................................................................................................... 44

3.1.1.8 - Node Guarding ............................................................................................................................. 45

3.1.2 - Network Initialisation ............................................................................................................ 45

3.1.2.1 - NMT State Machine ...................................................................................................................... 45

3.1.2.2 - Bootup Protocol ............................................................................................................................ 47

3.1.2.3 - Initialisation procedure .................................................................................................................. 47

3.2 - DEVICE PROFILE ........................................................................................................................... 48

3.2.1 - Device Control ..................................................................................................................... 48

3.2.1.1 - Drive State Machine ..................................................................................................................... 48

3.2.1.2 - Error & Warning ............................................................................................................................ 57

3.2.1.2.1 - Error ....................................................................................................................................... 57

3.2.1.2.2 - Warning .................................................................................................................................. 66

3.2.1.2.3 - I²t Protection ........................................................................................................................... 67

3.2.1.2.4 - Braking resistor Protection ..................................................................................................... 68

3.2.1.3 - Stop Operation .............................................................................................................................. 69

Content

3.2.2 - Drive Parameters ................................................................................................................. 75

3.2.2.1 - Motor parameters ......................................................................................................................... 75

3.2.2.2 - Motor Brake .................................................................................................................................. 81

3.2.2.3 - Motor current limits & Current Loop .............................................................................................. 82

3.2.2.4 - Dynamic current limits .................................................................................................................. 87

3.2.2.5 - Motor temperature probe .............................................................................................................. 88

3.2.2.6 - IGBT temperature ......................................................................................................................... 89

3.2.2.7 - Sensors ........................................................................................................................................ 90

3.2.2.7.1 - Resolver ................................................................................................................................. 91

3.2.2.7.2 - Encoder .................................................................................................................................. 94

3.2.2.7.3 - TTL Encoder .......................................................................................................................... 97

3.2.2.7.4 - Sin-Cos Encoder .................................................................................................................... 97

3.2.2.7.5 - Hall Effect Sensor .................................................................................................................. 97

3.2.2.7.6 - Hiperface® ............................................................................................................................. 98

3.2.2.7.7 - Absolute Multi-turn Position .................................................................................................... 99

3.2.2.8 - Factor and units .......................................................................................................................... 102

3.2.2.9 - Servo Loops ................................................................................................................................ 104

3.2.2.10 - Auto-tuning ............................................................................................................................... 113

3.2.2.11 - Save / Load parameters ........................................................................................................... 115

3.2.3 - Operation Modes ............................................................................................................... 117

3.2.3.1 - Supported Drive Modes .............................................................................................................. 117

3.2.3.2 - Mode selection ............................................................................................................................ 118

3.2.3.3 - Profile Position Mode .................................................................................................................. 119

3.2.3.4 - Homing Mode ............................................................................................................................. 125

3.2.3.5 - Interpolated Position Mode ......................................................................................................... 132

3.2.3.6 - Profile Velocity Mode .................................................................................................................. 134

3.2.3.7 - Profile Torque Mode ................................................................................................................... 137

3.2.3.8 - Sequence Mode .......................................................................................................................... 138

3.2.3.8.1 - Positioning Sequence .......................................................................................................... 140

3.2.3.8.2 - Homing Sequence ................................................................................................................ 142

3.2.3.8.3 - Speed Sequence .................................................................................................................. 142

3.2.3.8.4 - Torque Sequence ................................................................................................................. 144

3.2.3.8.5 - Gearing Sequence ............................................................................................................... 145

3.2.3.8.6 - Sequence Chaining .............................................................................................................. 147

3.2.3.8.7 - Sequence Parameters.......................................................................................................... 149

3.2.3.8.8 - Sequence File Format .......................................................................................................... 161

3.2.3.9 - Stepper Emulation Mode ............................................................................................................ 163

3.2.3.10 - Analog Speed Mode ................................................................................................................. 167

3.2.3.11 - Analog Torque Mode ................................................................................................................ 168

3.2.3.12 - Gearing Mode ........................................................................................................................... 169

3.2.4 - Master-Slave Functions ..................................................................................................... 170

3.2.4.1 - Master-Slave ............................................................................................................................... 170

3.2.4.2 - Virtual Master .............................................................................................................................. 178

3.2.4.3 - Gearbox Function ....................................................................................................................... 180

3.2.5 - Application Feature ............................................................................................................ 187

3.2.5.1 - Digital Input/Output configuration ................................................................................................ 187

3.2.5.2 - Analog Inputs/Output .................................................................................................................. 194

3.2.5.3 - Encoder Emulation Output .......................................................................................................... 197

3.2.5.4 - Digital Cam ................................................................................................................................. 200

3.2.5.5 - Capture ....................................................................................................................................... 203

3.2.5.6 - Modulo function .......................................................................................................................... 211

3.2.5.7 - Digital Input/Output extension ..................................................................................................... 213

3.2.6 - Maintenance ...................................................................................................................... 224

3.2.6.1 - Files ............................................................................................................................................ 224

3.2.6.2 - Firmware update ......................................................................................................................... 225

3.3 - OBJECT LIST .............................................................................................................................. 228

trapulsPac - User Guide

Chapter 1 – General description

Chapter 1 - General Description

1.1 - INTRODUCTION

XtrapulsPac all-digital drives with sinusoidal PWM control are servo drives that provide the control of brushless

AC motors with position sensor.

The standard control inferface can be:

- CANopen,

- EtherCAT®

- analog,

- stepper motor emulation,

- logic I/Os.

But the XtrapulsPac range also offers more sophisticated functions such as:

- DS402 including position capture,

- Master/slave and electronic gearing,

- Positioner with motion sequencing.

All versions are delivered as standard with the integrated protection function Safe Torque Off: STO SIL 2. With its very small dimensions, the XtrapulsPac drive is available in various designs:

- stand-alone or multi-axis,

- wall mounting (standard), push-through or cold plate cooling. Series XtrapulsPac drives are fully configurable in order to fit various applications. Both drive versions of the

XtrapulsPac range are described below. The XtrapulsPac version with CANopen interface can be used in the following application types:

 Axes controlled by CANopen fieldbus according to the DS402 protocol,  Stand-alone operation as a motion sequencer with control by means of logic I/Os,  Traditional analog speed amplifier with +/- 10 V command and position output by A, B, Z encoder signal

emulation,  Stepper motor emulation with PULSE and DIR command signals.

The XtrapulsPac version with EtherCAT® interface can be used in the following application types:

 Axes controlled by EtherCAT® fieldbus according to the DS402 protocol,  Stand-alone operation as a motion sequencer with control by means of logic I/Os.

The configuration and parameterization software tool Gem Drive Studio allows a quick configuration of the XtrapulsPac drives according to the application requirements.

In this manual, we will use the generic and standard vocabulary to describe these variables. The variables are specified as “parameters” from the communication side. Each parameter is identified by:

- an Index number and a Sub-index number,

- a Name.

EtherCAT



is a registered trade mark and a patented technology of Company Beckhoff Automation GmbH,

Germany.

trapulsPac – User Guide

Chapter 1 – General description

Each parameter has the following properties:

- Access type: it is possible to read it, to write it….; "ro" ” means "read only" , “rw“ means "read & write".

- Length: byte, word (16 bit), long (32 bit).

- Possibility or not to access the parameter by using fast communication CANopen services (Process Data Object service PDO). If yes, the field “PDO mapping” of the object dictionary will be “yes”.

Convention: A numerical field can be filled-in with numerical values described as “hexadecimal” or “decimal”. An hexadecimal value will be written “0xvalue”.

1.2 - ARCHITECTURE

XtrapulsPac is a freely configurable drive.

The drive configuration includes servo-loop parameters, motor and sensor parameters, communication parameters and I/O configuration parameters. The configuration parameters can be stored into the drive nonvolatile memory.

The XtrapulsPac drive can be controlled via the fieldbus (CANopen or EtherCAT), via the analog input (analog speed drive), via the PULSE and DIR inputs (stepper emulation) or via the digital I/Os (stand-alone positioner) according to the selected operation mode.

The following diagram describes the functional architecture of the XtrapulsPac drive:

* Note

: Analog Speed Mode, Stepper Emulation Mode and Gearing Mode are not available in the EtherCAT®

version.

Communication bus (CANopen, RS-232…)

Communication

Standard Modes

Profile Torque Profile Velocity Profile Position Homing Interpolated Position

Manufacturer Modes

Sequence Mode Analog Speed Mode * Analog Torque Mode Stepper Emulation Mode * Gearing Mode *

Position Loop

Speed Loop

Current Loop

trapulsPac - User Guide

Chapter 1 – General description

1.3 - OTHER DOCUMENTS

 XtrapulsPac Installation guide.  XtrapulsPac "Safe Torque Off" specification.  XtrapulsPac Templates.  Gem Drive Studio Quick Start guide  EtherCAT® fieldbus interface.  GDPS manual, for the use of the GDPS power supply unit

trapulsPac – User Guide

Chapter 2 - Commissionin

Chapter 2 - Commissioning

This chapter describes the commissioning procedure of the drive by means of the "Gem Drive Studio" software.

2.1 - PC SOFTWARE INSTALLATION

The Gem Drive Studio software is PC compliant under Windows® and allows an easy parameterization of the Xtrapuls drive.

Please see our website www.infranor.com for downloading the "Gem Drive Studio" software.

Minimum Configuration

The use of the Gem Drive Studio software requires the minimum PC configuration described below:

 Pentium III processor,  512 MB RAM,  15" screen, 256 colour screen, 1024x768 resolution  Keyboard + mouse  Windows XP Service pack2 operating system  Microsoft .NET Framework V3.5 installed  55 MB available on hard disk  RS232 cable or USB/RS232 adapter cable.

Important note

: If using a USB/RS232 adapter, it is highly recommended to choose an industrial product rather than a consumer product, because of reliability and performances. It is in particular mandatory to have shielded cables (see application note regarding the use of USB/RS232 adapters).

Restrictions

Under Windows 7 Professional 64 bit, the Service Pac 1 must be installed.

Installation

During the installation, one or several messages indicating that a currently copied file is older than a file already existing on the PC, may be displayed. In this case, keep the PC file.

When installing the software, 3 icons are created on the desktop:

o "GemDriveStudio", for launching the main interface.

o "GemDriveOscillo", for launching the digital oscilloscope.

o "GemDriveTerminal", for opening a dialog terminal.

CAUTION !

Do not perform the drive parameterization by means of both "Gem Drive Studio" software tool and CANopen bus at the same time.

trapulsPac - User Guide

Chapter 2 – Commissioning

Architecture of the software

The software is made of several independent software modules. Each of them can communicate with the drive(s) via a communication server.

o The server is automatically started when a client module is trying to establish a communication with a

drive.

o The server is commissioning the drivers of the hardware peripherals.

o The server stops when the last connected client is stopped.

o The format of the exchanged data is the same whichever the communication type (RS232, CAN, ...).

Serial port

or CAN

port

Drive 1 rive 2 Drive N

Communication server

(m/s)Client

module

Gem Drive

1Client module

Terminal

Client module

Oscilloscope

CAN bus between the N drives

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Chapter 2 - Commissionin

2.2 - STARTING THE SOFTWARE

User levels

When starting the software, various user levels can be selected. The drive parameter modification levels are protected by passwords. Administrator is the highest level with full access.

Passwords

The Administrator can change all passwords by using the Tools/User identification menu. The default password for the administrator level is "admin".

Project management

The Gem Drive Studio software allows the parameterization of all Xtrapuls drives for a given application. All Xtrapuls drives of a given application, connected together via CANopen, are included in the same project. Each Xtrapuls drive of the project is identified by a node ID which is coded on the drive front panel by means of micro-

switches. The Xtrapuls drive node ID code values must all be different from each other in the same project.

The different software commands allow:

- Creating a project,

- Opening an existing project,

- Adding and/or removing axes in the project,

- Archiving/Unarchiving a project,

Axis directory

For each new axis of the project, the software creates, in the project file directory, a new directory with the axis name. There will then be one directory per axis and each of these directories will contain the parameter files and the sequence files.

Object dictionary

Each parameter (object) of the drive can be defined by an Index, a Sub-index and several properties (Save type, Data type, Unit, Min value, Max value, Default value). The drive supported object list with the corresponding properties is the object dictionary file in XML format. This file, named EEDS (for Extended Electronic Data Sheet), is used by Gem Drive Studio to read and write parameters on the drive. A Gem Drive Studio software command allows the import of an EEDS file to the EEDS library.

Starting Gem Drive Studio

- Start the software with the Administrator level.

- Create the project:

- Define a project name

- Select an output directory

- Define all the axes of the application.

- Define the different project axes:

- Select the device type

- Define the axis name

- Identify the Node ID for this axis

Once a project created, each axis can be independently selected by using the tree structure.

2.3 - DRIVE COMMUNICATION

Powering the drives

Please see manual "Installation Guide" before switching on the drives for the first time. For switching on the drives, proceed as follows:

- Switch on the +24 V auxiliary supply: The red front panel LED "ERR" must be blinking ("Undervolt" error displayed). The AOK relay contact is closed. It is then possible to control the Power ON relay.

- Switch on the power supply: The red ERR LED must be unlit. The drive is ready to be enabled.

trapulsPac - User Guide

Chapter 2 – Commissioning

Starting the communication

The Gem Drive Studio software can communicate with the drives by using either the RS232 serial link or the CANopen fieldbus. All drives of the application are connected together via CANopen:

- Set the node ID code value by using the micro-switches on the front panel for all drives of the application (code values must be different from each other),

- Connect the serial link RS232 or the CANopen fieldbus between the PC and one drive of the application,

- Start the Gem Drive Studio software on the PC,

- Open the Project,

- Select the communication interface between the drives and the PC (Serial link or CANopen bus),

- Start the communication,

- If the Project is not defined, use the Scan function for starting the communication.

2.4 - PARAMETER SETTING

This chapter describes the parameterization procedure of the drive by means of the "Gem Drive Studio" software.

2.4.1 - CONFIGURATION OF THE DRIVE

For a standard drive application (analog speed drive, stand-alone positioner or stepper emulation), select the required target application in the Device Config window. In this case, the drive input and output functionalities as well as the drive operation mode are automatically set according to the selected application template. The GemDriveStudio parameterization windows are also adapted to the target application in order to display only the required parameters and functions.

In order to access the full parameter set and operation modes, select Expert mode in the Device Config window.

2.4.2 - CONFIGURATION OF THE MOTOR

If the motor is referenced in the Gem Drive Studio motor catalog, it can be simply selected in the proposed motor list.

If the motor is not referenced in the Gem Drive Studio motor catalog, the motor parameters can be manually adjusted or calculated by using the drive's built-in procedures: current loop calculation, auto-phasing. The motor can then be referenced in the Gem Drive Studio motor catalog by using the Add new motor command (see Gem Drive Studio quick start manual). The motor and the position sensor parameter values are manually entered and then saved in the Gem Drive Studio motor catalog with a new motor reference.

2.4.2.1 - Selection in the motor list

In the motor list, select the motor used in the application. The motor selection will automatically set the following drive parameters: position sensor (resolver or encoder), thermal sensor, current limits, speed limit, current loop gains and motor control parameters.

Check that the thermal sensor calibration is complying with the motor application and modify the threshold values if necessary.

Check that the current limit and the I²t protection adjustment are complying with the motor application, and modify them if necessary.

Check that the motor speed limit is complying with the application and reduce its value if necessary.

If external inductances are serially connected with the motor winding for filtering, renew the current loop gain calculation by using the total value of the phase-to-phase inductance.

If the position sensor adjustment (resolver or absolute encoder) has been modified, the auto-phasing procedure can be used to find the new adjustment (position offset).

trapulsPac – User Guide

Chapter 2 - Commissionin

2.4.2.2 - Manual motor configuration

If the motor configuration must be manually made (motor is not referenced in the Gem Drive Studio catalog), adjust first the motor position sensor parameters (resolver or encoder) before the motor parameters.

Configuration of the motor thermal sensor

Selection of the sensor type

The motor can be equipped either with a CTN sensor (ohmic resistance = decreasing temperature function) or with a CTP sensor (ohmic resistance = increasing temperature function). Check that the selected thermal sensor type actually corresponds to the sensor type mounted on the application motor.

Triggering threshold adjustment

Enter the sensor ohmic value (kOhm) corresponding to the required temperature value for the release of the motor over-temperature protection, according to the manufacturer's specifications.

Warning threshold adjustment

Enter the sensor ohmic value (kOhm) corresponding to a warning temperature value. When the warning temperature is reached, the warning bit in status word is set.

Note When using a CTN sensor, the warning ohmic value will be higher than or equal to the triggering ohmic value. When using a CTP sensor, the warning ohmic value will be lower than or equal to the triggering ohmic value.

Current limit adjustment

The Maximum current parameter defines the maximum output current value of the drive. It may vary between 20 % and 100 % of the drive current rating.

The Rated current parameter defines the limitation threshold of the drive output RMS current (I

t). It can vary

between 20 % and 50 % of the drive current rating.

I²t protection adjustment

2 selection modes are available: Fusing or Limiting. It is advisable to use the Fusing mode during the commissioning phases. In Fusing mode, the drive is disabled when the current limitation threshold is reached. In Limiting mode, the motor current is only limited at the value defined by the Rated current parameter when the limitation threshold is reached.

Operation of the Current Limitation in "Fusing" Mode

When the drive output RMS current (I

t) reaches 85 % of the rated current, the I²t warning is displayed. If the RMS

current (I

t) has not dropped below 85 % of the rated current within 1 second, the I2t error is released and the drive disabled (otherwise, the I²t warning is removed). When the drive output RMS current (I

t) reaches the rated current value, the I2t limits the drive output current at

this value.

Diagram of the drive output current limitation in an extreme case (motor overloaded or shaft locked):

Max. current

Rated current

Drive output current

1 second

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Chapter 2 – Commissioning

The maximum current duration before release of the warning is depending on the value of the parameters Rated current and Max. current. This value is calculated as follows:

dyn

(second) = t1-t0 = 3,3 x [rated current (A) / max. current (A)]2 (shaft locked conditions)

dyn

(second) = t1-t0 = 10 x [rated current (A) / max. current (A)]2 (motor running with current frequency value

higher than 2 Hz) The maximum current duration before limitation at the rated current is also depending on the value of the Rated

current and Max. current parameters. This value is calculated as follows:

max

(second) = t2-t0 = 4 x [rated current (A) / max. current (A)]2 (shaft locked conditions)

max

(second) = t2-t0 = 12 x [rated current (A) / max. current (A)]2 (motor running with current frequency value

higher than 2 Hz)

NOTE When the "Max. current / Rated current" ratio is close to 1, the Tdyn and Tmax values given by the formula above are quite below the real values. But this formula remains very precise as long as the "Max. current / Rated current" ratio is higher than 3/2.

Operation of the Current Limitation in "Limiting" Mode

When the drive output RMS current (I2t) reaches 85 % of the rated current, the I²t warning is displayed. When the RMS current (I

t) drops below 85 % of the rated current, the I²t warning is removed.

When the drive output RMS current (I

t) reaches the rated current value, the I2t protection limits the drive output current at this value. Diagram of the drive output current limitation in an extreme case (motor overloaded or shaft locked):

The maximum current duration before warning (t1 - t0) and before limitation at the rated current (t2 - t0) is calculated the same way as in the "Fusing" mode.

Speed limit adjustment

The Maximum speed parameter defines the speed limit of the motor. This value is given in the motor catalog according to the rated supply voltage and the rated load conditions. If the drive output voltage is lower than the motor rated voltage value, the Maximum speed must be reduced accordingly.

The maximum value for the speed set point in the application must be adjusted in order to get a motor speed value lower than the Maximum speed parameter. A margin of 10 % to 20 % is recommended.

Current loop adjustment

Enter the value of the total phase-to-phase inductance connected to the drive (motor internal winding inductance + external filtering inductance if used).

Select the current loop Bandwidth:

- The High bandwidth selection will give a high current loop gain values suitable for running high speed multi-

pole motors (up to 900 Hz motor current frequency). Furthermore, the speed loop bandwidth can also be set high because the internal current loop delay is minimized. This is the default current loop bandwidth value.

- The Low bandwidth selection will introduce a low pass filter in the drive current measurement in order to

significantly reduce the audible whistling noise with some motor technologies. In this case, the max. motor current frequency is limited at 400 Hz. The “Low bandwidth” choice for the current loop will also introduce a

Drive output current

Max. current

Rated current

time

t1 = Warning

t2 = Current limitation

trapulsPac – User Guide

Chapter 2 - Commissionin

higher internal delay inside the speed loop. This reduces the speed loop stability margin and consequently the speed loop bandwidth.

The current loop gains are automatically calculated when the Calculate current loop gains command is selected.

NOTE If the drive supply voltage value is changed, the current loop gains are automatically adjusted accordingly, inside the drive. A new calculation is not required.

Auto-phasing of the motor

The Auto-phasing procedure identifies the motor parameters Pole pairs, Phase order and Position sensor offset.

- The Pole pairs parameter defines the number of motor pole pairs.

- The Phase order parameter defines the sequence of the motor phases.

- The Position sensor offset parameter defines the mechanical shift between the motor and the position sensor (resolver or absolute encoder) reference.

Before executing the Auto-phasing procedure, proceed as follows:

- Check that the values of the Maximum current and Rated current parameters are compatible with the motor. Otherwise, modify them according to the motor specifications.

- Select the I²t protection in fusing mode. The Fusing mode should be used for the commissioning phases.

- Uncouple the motor from the mechanical load and check that the motor shaft is free and for free rotation (1 revolution) that is not dangerous for the operator.

2.4.2.3 - Linear motor configuration

The Encoder resolution parameter is calculated as described below:

The motor Maximum speed parameter value in rpm is calculated according to following formula:

The linear speed value in m/s is calculated according to following formula:

The User position scaling is adjusted as described below:

User position scaling = motor displacement for 1 pole pitch = Motor pole pitch (mm)

N S N S N S

Motor magnets

Pole pitch

Motor pole pitch (mm)

Encoder signal pitch (μm)

Encoder resolution (inc) = 4000 x

1 encoder signal pitch = 4 counting increments

Motor pole pitch (mm)

1000

Motor pole pitch (mm)

Maximum speed (rpm) = 60 x

x Maximum motor speed

1000

trapulsPac - User Guide

Chapter 2 – Commissioning

2.4.3 - POSITION SENSORS

The XtrapulsPac drive has got 2 position sensor inputs: one for resolvers and a second for encoders.

Transmitter resolver type or SinCos tracks resolver type can both be connected to the drive resolver input. Many different encoder types can also be connected to the XtrapulsPac drive encoder input: TTL (square)

signals, SinCos signals, incremental + Hall effect sensor channels, absolute encoders with HIPERFACE communication protocol.

All internal position setpoints and displays are given by using the “user unit“ definition. All internal speed setpoints and displays are given by using the “user unit / second“ definition. So, it is necessary to define inside the drive the relationship between sensor data and “user unit” value.

Resolver input configuration

Select Enable resolver input if a resolver is connected to the drive. Otherwise, the Enable resolver input can be unselected.

Select the appropriate Resolver type:

- A Transmitter resolver is supplied by the drive modulation signal at 8 kHz. Transformation ratios from 0.3 to

0.5 are acceptable. The modulated Sine and Cosine signals of the resolver are connected to the drive resolver input.

- A SinCos tracks resolver is supplied by the drive +5 V sensor supply. The Sin and Cos output signals

generally have an amplitude of 1 Vpp (electrically compatible with SinCos encoders) and are connected to the drive resolver input.

For a Transmitter resolver type:

- Enter the Pole pairs for a rotating resolver: number of Sine or Cosine signal periods over one shaft

revolution (generally, the value is 1). This parameter affects only the motor RPM speed display.

For a SinCos tracks resolver type:

- Enter the Pole pairs for a rotating motor: number of Sine or Cosine signal periods over one shaft revolution

(generally equal to the motor pole pairs).

- If the Sin and Cos signals amplitude is higher than 1 Vpp, increase the Transformation ratio value

accordingly.

- Then move the motor manually and check that the “resolver cable interrupted” fault is not released. Adjust the resolver Zero mark shift and Zero mark width parameter values. The resolver provides one zero

mark per pole pair. Select Reverse position in order to reverse the resolver counting direction, if required.

Encoder input configuration

Select Enable encoder input if an encoder is connected to the drive. Otherwise, the Enable encoder input can be unselected.

Select the appropriate encoder type:

- TTL encoders refer to square quadrature signals electronically compatible with RS422 standard.

- SinCos encoders refer to analog Sine and Cosine signals with 90° phase shift and 1 Vpp amplitude.

- Hall effect sensors refer to extra commutation channels for the motor current commutation. Hall effect sensor signals are adapted to the motor pole pairs.

- HIPERFACE refers to standard communication protocols for absolute single-turn or absolute multi-turn encoders.

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Incremental encoder setting: Enter the Zero Mark pitch parameter value if the encoder has got a Zero mark channel. Zero Mark pitch is the

number of encoder increments between 2 successive zero mark signals. If the encoder is not equipped with a Zero mark channel, set Zero Mark pitch value at 0.

Enter the Resolution parameter value according to the encoder mounting and the mechanical ratio for a given application.

- If the encoder is directly mounted on the motor: Resolution = 4 x number of encoder signal periods per shaft revolution for a rotating motor or number of encoder signal periods per pole pitch for a linear motor.

- If the encoder is coupled to the motor according to a mechanical ratio, the value of the mechanical ratio must be considered for the Resolution parameter calculation.

Select Reverse direction in order to reverse the counting direction of the encoder, if required. Adjust the encoder Zero mark shift and Zero mark width parameter values if the encoder has got a zero mark

channel. Incremental encoder + HES setting: Enter the Zero Mark pitch parameter value if the encoder has got a Zero mark channel. Zero Mark pitch is the

number of encoder increments between 2 successive zero mark signals. If the encoder is not equipped with a Zero mark channel, set Zero Mark pitch value at 0.

Enter the Resolution parameter = 4 x number of encoder signal periods per shaft revolution for a rotating motor or number of encoder signal periods per pole pitch for a linear motor.

The parameters HES type and Reverse HES tracks are automatically calculated when the Auto-phasing procedure is performed.

channel. Hiperface® encoder setting: The command Read encoder configuration allows reading the encoder parameter values stored in the encoder

memory via the Hiperface® serial bus. The parameter Reverse incremental track is manually identified according to the following procedure: move at

first the motor by hand. If the error “Encoder commutation channel / incremental channel” is released when moving the motor, then toggle the parameter Reverse incremental track.

Select Reverse direction to reverse the counting direction of the encoder, if required. SinCos encoder with CD tracks setting:

Enter the

Zero Mark pitch parameter value if the encoder has got a Zero mark channel. Zero Mark pitch is the

number of encoder periods between 2 successive zero mark signals x 4. If the encoder is not equipped with a Zero mark channel, set the Zero Mark pitch value at 0.

Enter the Resolution parameter = 4 x number of encoder signal periods per shaft revolution for a rotating motor or number of encoder signal periods per pole pitch for a linear motor.

The parameter Reverse CD track is manually identified according to the following procedure: move at first the motor manually. If the error “Encoder commutation channel / incremental channel” is released when moving the motor, then toggle the parameter Reverse CD track.

channel.

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Position Feedback Selection

Select the position sensor currently mounted on the motor (resolver or encoder). The position sensor mounted on the motor is used by the drive for the motor torque or force control and for the speed regulation loop.

Select the position sensor to be used for the position regulation loop in the drive, according to the application. Generally, the position regulation loop is using the motor position sensor (same sensor selection as in the previous case). However, for specific applications, the position regulation loop is using a second position sensor directly mounted on the mechanical load.

User Position Scaling

All internal position setpoints and displays are given by using the “user unit“ definition. All internal speed setpoints and displays are given by using the “user unit / s“ definition. So, it is necessary to define inside the drive the relationship between sensor data and “user unit” value.

Select the position unit according to the application.

Select the display factor according to the desired decimal number in the position set point and display.

Enter the load displacement value (in the previously defined position units) corresponding to one revolution for a rotating motor or one pole pitch for a linear motor. This parameter depends on the mechanical ratio between motor and load.

2.4.4 - SERVO LOOPS ADJUSTMENT

The Xtrapuls drive speed and position loop gain values can be automatically calculated by using the Auto-tuning procedure. This procedure identifies the motor and mechanical load specifications and calculates the appropriate gain values.

The Auto-tuning procedure can be executed with the drive disabled or enabled (for a vertical load). When the drive is enabled, the Auto-tuning can only be executed if the motor is at standstill.

Auto-tuning of the drive regulator

Select the Controller type according to the application:

- In Velocity mode, only the speed loop gains are calculated.

- In Position mode, all gains of both speed and position regulators are calculated. Select the Position loop requirements if the position mode was selected before:

- The choice Minimum following error allows getting an accurate following of the position reference value during the whole motor displacement. In this case, all feedforward gain values are calculated.

- The choice Minimum position overshoot allows getting a motor positioning without any overshoot of the target position. In this case, all feedforward gain values are set at 0, and the motor position is lagging with regard to the position reference value during the whole motor displacement.

Select the Speed measurement filter time constant according to the motor position sensor resolution and the acceptable noise level in the speed measurement. The higher the time constant value, the lower the speed measurement noise, but also the lower the speed loop gains because of the increased speed measurement delay. When Auto-select is selected, the most appropriate value is chosen during the Auto-tuning procedure execution.

Select the servo loop Filter type according to the application:

- The choice of the Anti-resonance filter is necessary in case of loud noise in the motor, due to motor/load coupling elasticity.

- The choice of the Maximum stiffness filter allows getting the maximum stiffness on the motor shaft with regard to the torque disturbances. However, this choice is only possible without any resonance due to the motor/load coupling elasticity.

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Select the desired closed loop Bandwidth (cut-off frequency value of the closed loop frequency response) according to the dynamic performances requirements of the application (Low = 50 Hz, Medium = 75 Hz, High = 100 Hz).

- High bandwidth means short response time of the servo loop and high gain values.

- Low bandwidth means larger response time of the servo loop and lower gain values.

Before executing the Auto-tuning procedure, check that the motor shaft is free and that its rotation over one revolution is not dangerous for operator and machine. Check also that the brake is released (the Autotuning command does not control the brake).

After the Auto-tuning, in case of loud noise in the motor at standstill or when running, check the rigidity of the mechanical transmission between motor and load (backlashes and elasticity in motor and couplings). If required, start a new Auto-tuning procedure by selecting a lower Bandwidth. If the instability remains, start a new Autotuning procedure by activating the Anti-resonance filter. If necessary, adjust more accurately the loop response stability by adjusting the Gain scaling factor.

In case of loud noise in the motor, only when running, during the acceleration and deceleration phases, set Feedforward acceleration gain value at 0.

In the case of an axis with vertical load, proceed as follows:

- Select the Limiting current limitation mode (in order to avoid the drive being disabled in case of an I²t protection release).

- Initialize the speed loop gains corresponding to the unloaded motor (execute therefore the Autotuning procedure with the motor uncoupled from its mechanical load).

- Couple the motor to its load. If possible, make a control in speed mode; otherwise, close the position loop with a stable gain.

- Move the axis until a stall position where one motor revolution is not dangerous for operator and machine (far enough from the mechanical stops).

- Then execute the Auto-tuning procedure with the motor at standstill. If the axis is moving, the Auto-tuning procedure has not been accepted by the drive.

Regulator gains

Speed loop gains are the most critical to adjust because they greatly depend on the mechanical load

characteristics (inertias, frictions, coupling stiffness, resonances,..).

- Proportional speed gain (KPv): defines the proportional gain of the controller which acts on the speed error. The higher this parameter value, the faster the speed loop response.

- Integral speed gain (KIv): defines the integral gain of the controller which acts on the speed error. The higher this parameter value, the better the axis stiffness.

- Integrator low frequency limit (KIvf in Hz): defines the low frequency value from where the controller integrator term is saturated. This parameter is used for reducing the motor heating in applications with large dry frictions due to the mechanical load.

- Damping gain (KCv): defines the proportional gain of the controller which acts only on the speed feedback. This parameter allows reducing the speed loop overshoot in response to a step-like set point change.

- Derivative speed gain (KDv): defines the derivative gain of the controller which acts on the speed error.

- Derivator high frequency limit (KDvf in Hz): defines the high frequency value from which the controller derivative term is saturated.

- Gain scaling factor (KJv): defines a multiplying factor for all speed regulator gains. This parameter scales the speed regulator gains in order to avoid any saturation when high values are required. This parameter also allows adjusting the servo loop stability in case of load inertia changes.

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The Current command filter is a 3rd order, low-pass type filter, with 3 adjustable cut-off frequencies. Each cutoff frequency value can be freely adjusted according to the application for the filtering of high frequency noise or the filtering of mechanical resonances.

The Speed measurement filter is a 1st order, low-pass type filter, with 3 selectable time constant values. The higher the time constant value, the lower the speed measurement noise, but also the lower the speed loop gains because of the increased speed measurement delay. The Speed measurement filter time constant is selected according to the motor position sensor resolution and the acceptable noise level in the speed measurement.

Position loop gains mainly influence the servo motor behaviour during the displacements (following error, position overshoot, audible noise, ...).

- Proportional position gain (KPp): defines the proportional gain of the controller which acts on the position error. The higher this parameter value, the better the axis stiffness and the lower the following error.

- Feedforward speed 1 gain (KFp): defines the feedforward speed amplitude corresponding to the speed input command. This term allows reducing the following error during the motor displacement. Its value is set at maximum (65536) after the autotuning procedure, if a following error as small as possible is required.

- Feedforward speed 2 gain (KBv): defines the feedforward speed amplitude corresponding to the viscous frictions. This term allows reducing the viscous friction effect during the motor displacement. The gain value is equal to the damping gain value + the viscous friction compensation term. After the auto-tuning procedure, the feedforward speed 2 gain is set equal to the damping gain value, if a following error as small as possible is required. The viscous friction compensation term can be calculated by measuring the current/speed ratio at various motor speed values.

- Feedforward acceleration gain (KAv): defines the feedforward acceleration amplitude corresponding to the acceleration input command. This term allows reducing the following error during the motor acceleration and deceleration phases. Its value is calculated by the amplifier during the auto-tuning procedure if a following error as small as possible is required.

When the auto-tuning procedure is executed, the motor + mechanical load specifications are identified and the appropriate gain values are calculated according to the requirements selected by the user (controller type, filter type, bandwidth value, ...). All gain values can then be manually modified by the user, if required.

Following error

Speed error threshold defines the speed following error triggering threshold. It is important to correctly adjust

this value in order to get a good protection of the drive and the application. The Speed error threshold parameter can be adjusted like follows:

- Get the motor running with the required operation cycles and measure the maximum value of the speed error in the digital oscilloscope (Max. speed error value);

- Then set the Speed error threshold parameter = 1.3 to 1.5 x Max. speed error value. Position error threshold defines the triggering threshold of the position following error. It is important to correctly

adjust this value in order to get a good protection of the drive and the application. The Position error threshold parameter can be adjusted like follows:

- Make the motor running with the required operation cycles and measure the maximum value of the following

error in the digital oscilloscope (max. following error value);

- Then set the Position error threshold parameter = 1.3 to 1.5 x Max. following error value.

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The Position error detection mode defines the operation mode of the axis following error protection.

- When Absolute is selected, the following error protection is operating as described below:

The measured position error value is continuously compared with the Position error threshold parameter value. When the measured position error is exceeding the Position error threshold, the position following error is released. This configuration is used for applications requiring the smallest possible following error.

- When Relative to dynamic model is selected, the following error protection is operating as described below:

The measured position error value is continuously compared with the theoretical position error given by the position loop model. When the difference is exceeding the Position error threshold, the position following error is released. In this configuration, when the position servo loop is adjusted to get the motor position continuously lagging the reference position (applications for positioning without overshoot and with a high following error value), any small anomaly in the actuator behaviour can be detected.

2.4.5 - CONFIGURATION OF THE DRIVE ENABLE

When "Enable control by SOFTWARE" is selected, the drive is enabled and disabled by using the control word (On/Off command in GemDriveStudio or fieldbus control).

When "Enable control by HARDWARE" is selected, the drive is enabled and disabled by using the ENABLE logic input.

2.4.6 - QUICK TEST OF THE SERVO DRIVE

The servo loop stability can be tested on-line by moving the motor in speed profile mode or in position profile mode. The regulator gains can be manually optimized or by using the auto-tuning procedure.

Profile Velocity parameters

Enter the Maximum velocity parameter value according to the motor Maximum speed and the limitation due to the mechanical load in the application. For the first tests, a reduced velocity range is preferred in order to prevent hazardous movements with wide amplitude. This parameter is active in both velocity profile mode and position profile mode.

Enter the Acceleration and Deceleration parameter values. Small values can be used as a starting point in order to prevent sharp movements on the mechanical load. This parameter is active in both velocity profile mode and position profile mode.

Position loop

model

Position

error

threshold

Position

reference

Measured

position error

Theoretical

position error

Comparator

Position following

error

Absolute

value

Position

error

threshold

Measured

position error

Comparator

Position following

error

Absolute

value

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Profile Position parameters

Enter the Maximum velocity parameter value according to the motor Maximum speed and the limitation due to the mechanical load in the application. For the first tests, a reduced velocity range is preferred in order to prevent hazardous movements with a large amplitude. This parameter is active in both velocity profile mode and position profile mode.

Enter Acceleration and Deceleration parameter values. Small values can be used as a starting point in order to prevent sharp movements on the mechanical load. This parameter is active in both velocity profile mode and position profile mode.

Enter the Profile velocity parameter value according to the desired motor displacement speed. The Profile

velocity parameter value must be lower than or equal to the Maximum velocity parameter value.

Checking the servo loop stability

In velocity mode

Move the axis in both directions (low velocity set point value), and check the servo loop stability in movement: in case of loud noise in the motor during the displacement, the Speed measurement filter time constant can be increased. For high frequency noise or mechanical resonances, use the 3rd order low-pass Current command filter and adjust the 3 cut-off frequencies with the most appropriate values.

Move the axis in both directions (higher velocity set point value), and check the servo loop time response. In case of undesired overshoot for a step-like velocity set point change, increase the Damping speed gain value and reduce the Proportional speed gain value accordingly.

In position mode

Disable the motor brake, enable the drive, and check the servo loop stability at standstill: in case of loud noise in the motor, check the rigidity of the mechanical transmission between motor and load (backlashes and elasticity in motor and couplings). If required, start a new Auto-tuning procedure by selecting a lower Bandwidth. If the instability remains, start a new Auto-tuning procedure by activating the Anti-resonance filter. If necessary, adjust more accurately the servo loop stability by adjusting the Gain scaling factor. Move the axis in both directions with a low Profile velocity value, and check the servo loop stability in movement. In case of loud noise in the motor during the displacement, the Speed measurement filter time constant can be increased. For high frequency noise or mechanical resonances, use the 3rd order low pass Current command filter and adjust the 3 cut-off frequencies with the most appropriate values.

Move the axis in both directions with a higher Profile velocity value and check the motor positioning behaviour. In case of loud noise in the motor during the acceleration and deceleration phases, set Feedforward acceleration gain value at 0. In case of undesired position overshoot at the end of the deceleration phase, reduce the Feedforward speed 1 value.

NOTE

In Profile velocity mode, only the speed regulator gains are active. In Profile position mode, all gains of both speed and position regulators are active. However, if the Auto-tuning was executed in Velocity mode, all position loop gains are equal to 0 and the motor cannot move. In Interpolated Position Mode, Feedforward Acceleration Gain must be manually cleared after Auto-tuning procedure.

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2.4.7 - LOGIC INPUTS

Xtrapuls drives offer the use of built-in functions for the drive operation. These functions can be controlled by

using “logical signal” or digital input. The default configuration is “logical signal”. If required, any digital input can be connected to a given function for the hardware control.

"ENABLE" INPUT

This function allows enabling and disabling the drive when the "Enable control by HARDWARE" is selected.

Note

: when a digital input is connected to this function for the hardware control, it is recommended to use a 24

Vdc signal on the input to enable the drive by choosing the appropriate value for the polarity parameter. "INHIBIT" INPUT

The INHIBIT input must be deactivated in order to enable the drive by using the control word, when the "Enable control by SOFTWARE" is selected. Activating the INHIBIT input during the operation will disable the drive.

Note

: when a digital input is connected to this function for the hardware control, it is recommended to use a 0 Vdc

signal on the input to inhibit the drive by choosing the appropriate value for the polarity parameter.

"LIMIT SWITCH" INPUT

The "Limit switch" inputs are inputs for a detection sensor that allows stopping the motor with maximum deceleration. The purpose of both limit switches, when they are mounted at the right place on the axis stroke, is to protect the mechanics in case of uncontrolled movements.

The limit switches are only defined according to the motor hardware rotation. They are independent from the "rotation/counting direction" selection.

For checking the wiring of the limit switch inputs:

- move the motor in one direction,

- activate the limit switch placed in the rotation direction (artificially, if necessary),

- then check the motor stopping; if the motor goes on moving, reverse the wiring of the limit switch inputs.

Notes

- When activating a limit switch input, the motor is stopped with maximum deceleration.

- The limit switch inputs must be setup to be activated if disconnected from the +24 V potential.

"HOME SWITCH" INPUT

In Homing mode, according to the machine structure, it may be necessary to connect a digital sensor to identify the real position of an axis. In this case, a digital I/O has to be connected to this function. Home switch input is also a possible input for the capture function.

“CAPTURE" INPUT

The Capture function allows recording motor position and/or second sensor measurement when an external signal is changing.

“QUICK STOP” INPUT

Activating the QUICK STOP input during the operation makes the axis decelerate. At the end of the deceleration, the motor is maintained enabled at standstill.

“START PHASING” INPUT

The START PHASING input allows starting the motor phasing procedure at the drive power up when the motor is equipped with an incremental encoder without HES.

“ERROR RESET” INPUT

The ERROR RESET input allows erasing a released drive fault when the cause of the fault release is eliminated.

“SEQ START” INPUT

The SEQ START input allows starting the selected sequence when the drive Sequence mode is selected.

“SEQ STOP” INPUT

The SEQ STOP input allows stopping any sequence execution when the drive Sequence mode is selected.

“SEQ SEL 1” INPUT

The SEQ SEL 1 input is connected to bit 0 of the sequence number selection when the drive Sequence mode is selected.

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“SEQ SEL 2” INPUT

The SEQ SEL 2 input is connected to bit 1 of the sequence number selection when the drive Sequence mode is selected.

“SEQ SEL 3” INPUT

The SEQ SEL 3 input is connected to bit 2 of the sequence number selection when the drive Sequence mode is selected.

“SEQ SEL 4” INPUT

The SEQ SEL 4 input is connected to bit 3 of the sequence number selection when the drive Sequence mode is selected.

“SEQ COND 1” INPUT

The SEQ COND 1 input can be used as a start condition or an end condition for a sequence when the drive Sequence mode is selected.

“SEQ COND 2” INPUT

The SEQ COND 2 input can be used as a start condition or an end condition for a sequence when the drive Sequence mode is selected.

“SEQ COND 3” INPUT

The SEQ COND 3 input can be used as a start condition or an end condition for a sequence when the drive Sequence mode is selected.

“SEQ COND 4” INPUT

The SEQ COND 4 input can be used as a start condition or an end condition for a sequence when the drive Sequence mode is selected.

2.4.8 - LOGIC OUTPUTS

Any drive state signal can be connected to a digital output.

"BRAKE" OUTPUT

This signal is useful for the motor brake control when the drive is enabled or disabled.

"FAULT" OUTPUT

This signal indicates that a fault is released inside the drive.

"WARNING" OUTPUT

This signal indicates that a warning is released inside the drive.

"UNDERVOLTAGE WARNING" OUTPUT

This signal indicates that the DC bus voltage value is dropping below the “Undervoltage Warning Threshold” parameter value.

"VOLTAGE ENABLED" OUTPUT

This signal indicates that the drive is powered (Undervolt. is over).

"PHASING NOT OK" OUTPUT

This signal indicates that the motor is not ready to be enabled because a phasing or auto-phasing procedure is required.

"DRIVE ON" OUTPUT

This signal indicates that the motor is enabled and under servo control.

"IN POS" OUTPUT

This signal indicates that the motor has reached the target position when the drive Profile position or Sequence mode is selected.

"SEQ", "POS", “SPEED”, “OUT1”, “OUT2”, “OUT3”, “OUT4” OUTPUTS

These signals concern the sequence execution when the drive Sequence mode is selected.

"PULSE RX" OUTPUT

This signal indicates that a pulse train is received on the PULSE input when the drive Stepper emulation mode is selected.

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2.4.9 - LOGIC I/OS EXTENSION

The external CANopen I/Os module extension is supported by the XtrapulsPac-ak version of the servo drive. The external I/Os module is connected to the CAN bus on the same network as the servo drive. When many servo drives are connected on the CAN bus, a given I/Os module can only be assigned to one servo drive.

The basic setup of an external I/Os module is the following:

- adjust first the I/Os module baudrate equal to the servo drive baudrate,

- adjust also the address of the I/Os module on the CAN bus network,

- then select the address of the I/Os module in the servo drive configuration window,

- connect the servo drive to the I/Os module.

The default setting is the following:

- SDO communication between the servo drive and I/Os module,

- module inputs 1 to 5 are assigned to the virtual drive inputs IN6 to IN10,

- module outputs 1 to 3 are assigned to the virtual drive outputs OUT4 to OUT6.

2.4.10 - BRAKING RESISTOR

When the drive is operating in standalone mode (AC main connection without GDPS), select the correct braking resistor operation according to the drive configuration on the X9 connector. If the drive is operating with a GDPS power supply (DC bus connection), the drive braking resistor parameters are not valid.

- When the Internal braking resistor operation is selected the Duty cycle limit parameter value is limited

at 25 per thousand. This means a maximum braking transistor conduction of 25 ms over a period of 1 second. This selection allows protecting the drive internal 35W braking resistor against overheating and failure.

- When the External braking resistor operation is selected the Duty cycle limit parameter value is

limited at 70 per thousand. This means a maximum braking transistor conduction of 70 ms over a period of 1 second.

The parameter Braking resistor duty cycle limit allows limiting the external braking resistor average power in order to protect it against overheating and failure. The Duty cycle limit parameter value is calculated according to the external braking resistor specifications as described below:

Duty cycle limit = Braking resistor rated power (W) x Braking resistor ohmic value (Ohms) / Braking on threshold (V) / Braking on threshold (V).

2.5 - DRIVE PARAMETER SAVING

When all adjustments and settings have been tested, they can be stored in the non-volatile drive memory by selecting the command Drive parameter file >Store parameters to flash memory. In this case, all drive standard parameters are saved in the drive file DRIVEPAR.TXT.

The drive file DRIVEPAR.TXT can then be transferred to the project directory in the PC by selecting the command Drive parameter file > Backup parameters to PC file.

The command Drive parameter file > Restore parameters allows transferring a file DRIVEPAR.TXT saved in the PC directory to the drive.

A user parameter list can also be edited and saved in the file USER_PAR.TXT by using the command User parameter file > Edit Parameters. The USER_PAR.TXT file can then be transferred to the drive by selecting the command User parameter file > Restore parameters. A drive file USER_PAR.TXT can be transferred from the drive to the PC directory by selecting the command User parameter file > Backup parameters to PC file. The user parameter file USER_PAR.TXT can be used for saving drive parameters that are not saved in the file DRIVEPAR.TXT (standard drive parameter list).

Note

: The commands Tools > Drive file backup and Tools > Drive file restoring concern all project drive files:

DRIVEPAR.TXT, USER_PAR.TXT, SEQUENCE.TXT, and so on.

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2.6 - OSCILLOSCOPE

The oscilloscope can be launched in the Gem Drive Studio software or in stand-alone mode.

This oscilloscope allows displaying any drive signal by using the Index / Sub-index identification.

Four different channels are available to display signals. Multi-axis channel operation can be selected. See Gem Drive Studio Quick Start manual for more details.

2.7 - DIALOG TERMINAL

The dialog terminal can be launched in the Gem Drive Studio software or in stand-alone mode.

This terminal allows:

- Reading a parameter value on a selected axis (continuous value monitoring can also be performed).

- Writing a parameter value on a selected axis.

It is possible to read and/or write parameters on 4 different axes at the same time. See GemDriveStudio Quick Start manual for more details.

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Chapter 3 - Referenc

Chapter 3 - Reference

REFERENCE

CiA DS-201..207 CAN Application Layer for Industrial Applications Version 1.1

CiA DS-301 Application Layer and Communication Profile Version 4.01

CiA DSP-402 Device Profile: Drive and Motion Control Version 1.1

DEFINITIONS & CONVENTIONS

CAN Controller Area Network

CiA CAN in Automation e.V. CAN-Bus international manufacturer and user organisation.

CAL CAN Application Layer. The Application layer for CAN as specified by CiA.

COB Communication Object is a CAN message. Data must be sent through a CAN network

inside a COB.

COB-ID COB-Identifier. Each CAN message has a single identifier. There are 2032 different

identifiers in a CAN network.

NMT Network Management. One of the services of the application layer. It performs

initialisation, configuration and error handling in a CAN network.

PDO Process Data Object.

A CANopen message used to exchange process data.

SDO Service Data Object.

A CANopen message for parameterization.

pp Profile Position Mode.

pv Profile Velocity Mode.

hm Homing Mode.

ip Interpolated Position Mode.

tq Profile Torque Mode.

pc Position Control Function.

Xtrapuls Generic name of the Infranor servo drive family with resolver and encoder feedback input.

Numerical value Hexa is preceded by 0x, decimal otherwise

Dynamic Variable Element of an object indicated by index and sub-index which can be mapped in a PDO.

An element of an object is addressed by its index and its sub-index.

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Dataflow An element of an object is qualified as dataflow (signal) if it is a variable (i.e. mappable).

These variables can be of 8 bit, 16 bit or 32 bit. Depending on the using context, a dataflow must be of 16 bit or 32 bit or any size.

The dataflow can be issued from:

- An external source: Examples

: Encoder position 0x3129-0 Analog Input 0x31F1-1 (16 bit) Analog Input 0x31F1-2 (32 bit)

- The CAN bus: Example

: Interpolated data 0x30C1-0 (32 bit)

- An internal signal: Examples

: Profile Speed Function Block output 0x3526-0 (32-bit) User variable : 0x3710-3 (32-bit)

3.1 - CANOPEN COMMUNICATION

3.1.1 - COMMUNICATION OBJECTS

3.1.1.1 - CAN Telegram

CAN TELEGRAM

SOM COB-ID RTR CTRL Data segment CRC ACK EOM

SOM Start Of Message

COB-ID COB-Identifier of 11 bits

RTR Remote Transmission Request

CTRL Control field

Data up to 8 bytes

CRC Cyclic Redundancy Check

ACK Acknowledge

EOM End Of Message

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3.1.1.2 - Default COB-ID

The COB-ID is of 11 bits. Node-ID (bits 0 - 6) is the drive address from 1 to 127.

10 9 8 7 6 5 4 3 2 1 0

Function Code NODE-ID

Default COB-ID:

Broadcast objects of the pre-defined connection set:

Object Function Code Resulting COB-ID Communication Parameter at Index

NMT 0000 0 SYNC 0001 128 (80h) 1005h, 1006h, 1007h

Peer-to-peer objects of the pre-defined connection set:

Object Function Code Resulting COB-ID Communication Parameter at Index

EMERGENCY 0001 129 (81h) - 255 (FFh) 1014h PDO1 (TX) 0011 385 (181h) - 511 (1FFh) 1800h PDO1 (RX) 0100 513 (201h) - 639 (27Fh) 1400h PDO2 (TX) 0101 641 (281h) - 767 (2FFh) 1801h PDO2 (RX) 0110 769 (301h) - 895 (37Fh) 1401h PDO3 (TX) 0111 897 (381h) - 1023 (3FFh) 1802h PDO3 (RX) 1000 1025 (401h) - 1151 (47Fh) 1402h PDO4 (TX) 1001 1153 (481h) - 1279 (4FFh) 1803h PDO4 (RX) 1010 1281 (501h) - 1407 (57Fh) 1403h SDO (TX) 1011 1409 (581h) - 1535 (5FFh) 1200h

SDO (RX) 1100 1537 (601h) - 1663 (67Fh) 1200h TX = Transmit from drive to master RX = Receive by drive from master

3.1.1.3 - Network Management Objects

NMT Protocols

NMT Protocol Command Specifier CS Remarks

Start Remote Node 1 Change to NMT Operational state Stop Remote Node 2 Change to NMT Stop state Enter Pre-Operational 128 Reset Node 129 Reset Communication 130

Node-ID: The Node-ID indicates the address of the drive. If Node_ID = 0, the protocol addresses all NMT slaves.

CS Node-ID

0 1 2

NMT Master NMT Slave(s)

Indication

Request

COB-ID = 0

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3.1.1.4 - Synchronisation Object

The SYNC object is a broadcast message sent by the master. This message provides a network clock. The period is specified by the communication cycle period (object 0x1006). The Xtrapuls servo-drives use this SYNC message to synchronize their local clock. At least 180 ms are necessary for the servo-drive to start the synchronisation.



COB-ID Sync Message

Index 0x1005

Name COB-ID Sync Message Object Code VAR Data Type Unsigned32 Object Class all Access rw PDO Mapping No Default Value 0x00000080

This object defines the COB-ID of the synchronisation object (SYNC). The Xtrapuls drive does not support 29-bit ID.

Bit numbe

Value Meaning

31 (MSB) No Bootup message 30 0

Device does not generate SYNC message

Device generates SYNC message 29 0 11-bit ID (CAN 2.0 A) 28-11 0 10-0 (LSB) x bits 10-0 of SYNC COB-ID

Execution of RPDO3

Communication cycle

SYNC message

TPDO3 actual feedback

RPDO3 demand value

Asynchronous PDO

SYNC message

Synchronous Window Length

Actuate on object mapped in TPDO3

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Communication Cycle Period

Index 0x1006

Name Communication Cycle Period Object Code VAR Data Type Unsigned32 Access rw PDO Mapping No Unit μs Value Range 0..20000 (only the values multiples of 500 are supported) Default Value 10000

This object defines the communication cycle. This period is also used for the synchronisation in interpolated position mode. When the value of this object is reset at 0, the synchronisation is no more operative.

Sync Control

A PLL allows the internal cycle to be synchronized on SYNC message.

This object allows adjusting the PLL parameters.

Index 0x2006

Name Sync control Object Code ARRAY Number of Elements 4

Value Description

Sub Index 1 Description Sync Phase

defines the phase shift between local clock and SYNC Data Type Integer16 Object Class all Access rw PDO Mapping No Unit µs Default value 0

Sub Index 2 Description Adjustment threshold.

defines the limit to be applied to the adjustment. Data Type Unsigned16 Object Class all Access rw PDO Mapping No Unit µs Default value 20

Sub Index 3 Description Adjustment value Data Type Unsigned16 Object Class all Access rw PDO Mapping No Unit µs Default value 2

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Sub Index 4 Description Sync Error Limit

defines the limit at which the Sync error is triggered:

| SyncPeriod - [0x1006-0] | < SyncErrorLimit Data Type Unsigned16 Object Class all Access rw PDO Mapping No Unit µs Default value 500

Sub Index 5 Description Sync Filter

applies a filter on Sync period measurement Data Type Unsigned16 Object Class all Access rw PDO Mapping No Value 0 disabled

1..4

Default value 0

3.1.1.5 - Process Data Objects (PDO)

PDOs are unconfirmed messages used for real-time data exchange. PDOs sent by the master are RPDOs and PDOs sent by the drive are TPDOs.

Data in each PDO are defined by a list of objects (PDO mapping).

There are 4 PDOs: TPDO1, RPDO1, TPDO2, RPDO2, TPDO3, RPDO3, TPDO4 and RPDO4.

Each PDO is defined by:

PDO communication parameters with:

- object 0x1400, 0x1401, 0x1402, 0x1403 for RPDOs

- object 0x1800, 0x1801, 0x1802, 0x1803 for TPDOs

PDO mapping with:

- object 0x1600, 0x1601, 0x1602, 0x1603 for RPDOs

- object 0x1A00, 0x1A01, 0x1A02, 0x1A03 for TPDOs

Communication parameters

Communication parameters are:

- PDO COB-ID,

- Transmission type

The distribution of COB-ID is defined by default. The modification of COB-ID of PDO can be made in NMT Pre- Operational State; the new COB-ID will take effect when the NMT state machine switches to Operation State. The modification must not be taken in NMT Operational State, otherwise a Reset_Communication will be necessary

before the new COB-ID takes effect.

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Transmission type supported by the Xtrapuls servo drive:

Transmission type PDO transmission

cyclic acyclic synchronous asynchronous RTR only

1 TPDO1

TPDO2 TPDO3 TPDO4

TPDO1

TPDO2 TPDO3 TPDO4

2-240

253 TPDO1

TPDO2 TPDO3

TPDO4 254 255 TPDO1

TPDO2 TPDO3 TPDO4

- Transmission types 1 - 240 are synchronous transmissions with regard to the SYNC messages. A value between 1 and 240 means that the PDO is synchronously and cyclically transferred. The transmission type indicates the numbers of SYNC which are necessary to trigger PDO transmissions.

- Transmission type 253 means that the PDO is only transmitted on remote transmission request.

- Transmission type 255 is event trigger: The PDO will be transmitted when the first object (must be 16-bit) mapped in PDO has changed.

PDO transmission modes:

- Synchronous: the message is transmitted in synchronisation with the SYNC message. A synchronous

message must be transmitted within a pre-defined time-window immediately after the SYNC message.

- Asynchronous: the message is sent independently of the SYNC message.

Triggering modes:

- Event _Driven:

Message transmission by reception of SYNC. Message transmission by specific event.

- Remotely requested: the transmission of an asynchronous PDO is initiated at reception of a remote request

by any other device.

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PDO Mapping

The sub-index 0 of mapping parameter contains the number of valid entries within the mapping record. This number of entries is also the number of application variables which shall be transmitted/received with the corresponding PDO. The sub-index 1 to number of entries contains the information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length (in bits).

Structure of PDO Mapping Entry:

Byte : MSB LSB index (16 bit) sub-index (8 bit) object length (8 bit)

Principle of PDO mapping:

Multiplexed data

The multiplexed data is used to multiplex more than one axis demand value into one message RPDOn. It is possible to send 4 axis demand values (16 bit absolute) with one RPDOn. Therefore, the controller must modify the COB-ID of RPDOn of each axis to the same cob-ID. For example (see also the following diagram), for axis 1, object 60C1-1 is mapped into the first mapped object (object 1602-1), for axis 2, object 60C1-1 is mapped into the 2nd mapped object (object 1602-2) and so on... For each axis, the balance of the mapped objects must be mapped with a dummy object.

A dummy object mapped is realized with objects: 0x0002 (integer8) 0x0003 (integer16) 0x0004 (integer32) 0x0005 (unsigned8) 0x0006 (unsigned16) 0x0007 (unsigned32) These objects can be used to map a PDO as a dummy object but cannot be accessed via SDO (see DS-301,

9.5.3 Data type entry specification).

PDO mapping 0 3 (nb of entries) 1 yyyyh (index) yyh (sub-index) 08h (size) 2 zzzzh zzh 10h 3 xxxxh xxh 08h

Object Dictionary

xxxxh xxh Application object 1

yyyyh yyh Application object 2

zzzzh zzh Application object 3

PDO Appl. Obj. 2 Appl. Obj. 3 Appl. Obj. 1

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Example of multiplexed data:

MSB LSB

TPDO Cob-ID 0x501

Data_Ax4 (16bit) Data_Ax3 (16bit) Data _Ax2 (16bit) Data _Ax1 (16bit)

This PDO is transmitted with COB-ID 0x501 and contains 16bits x 4 of data

Object

alue

RPDO1 COB-ID (object 1400-1) 0x501 Number of mapped objects (object 1600-0) 0x1 1

Mapped Object (object 1600-1) 0x60C10110

Object

alue

RPDO1 COB-ID (object 1400-1) 0x501 Number of mapped objects (object 1600-0) 0x2 1

Mapped Object (object 1600-1) 0x00060010 (dummy)

Mapped Object (object 1600-2) 0x60C10110

Object

alue

RPDO1 COB-ID (object 1400-1) 0x501 Number of mapped objects (object 1600-0) 0x3 1

Mapped Object (object 1600-1) 0x00060010 (dummy)

Mapped Object (object 1600-2) 0x00060010 (dummy)

Mapped Object (object 1600-3) 0x60C10110

Object

alue

RPDO1 COB-ID (object 1400-1) 0x501 Number of mapped objects (object 1600-0) 0x4 1

Mapped Object (object 1600-1) 0x00060010 (dummy)

Mapped Object (object 1600-2) 0x00060010 (dummy)

Mapped Object (object 1600-2) 0x37100110

4th Mapped Object (object 1600-4) 0x60C10110

Receive PDO Communication Parameter

Object 0x1400: 1st Receive PDO Communication Parameter

Index 0x1400

Name 1st Receive PDO Communication Parameter (RPDO1) Object Code RECORD Number of Elements 2

Value Description

Sub Index 1 Description COB-ID Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x200 + Node-ID

Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 253

In drive 2, “Data _Ax2” will

be written in object 60C1-

In drive 3, “Data _Ax3” will

be written in object 60C1-1

In drive 4, “Data _Ax4” will be

written in object 60C1-1 and

“Data _Ax3” in object 3710-1

In drive 1, “Data_Ax1” will

be written in object 60C1-1

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Object 0x1401: 2nd Receive PDO Communication Parameter

Index 0x1401

Name 2nd Receive PDO Communication Parameter (RPDO2) Object Code RECORD Number of Elements 2

Value Description

Sub Index 1 Description COB-ID Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x300 + Node-ID

Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 253

Object 0x1402: 3rd Receive PDO Communication Parameter

Index 0x1402

Name 3rd Receive PDO Communication Parameter (RPDO3) Object Code RECORD Number of Elements 2

Value Description

Sub Index 1 Description COB-ID Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x400 + Node-ID

Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 1

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Object 0x1403: 4th Receive PDO Communication Parameter

Index 0x1403

Name 4th Receive PDO Communication Parameter (RPDO4) Object Code RECORD Number of Elements 2

Value Description

Sub Index 1 Description COB-ID Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x500 + Node-ID

Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 0

Receive PDO Mapping

Object 0x1600: 1st Receive PDO Mapping

Index 0x1600

Name 1st Receive PDO Mapping Object Code RECORD Number of Elements 0..4

Value Description

Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1

Sub Index 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x60400010 (control word)

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Object 0x1601: 2nd Receive PDO Mapping

Index 0x1601

Name 2nd Receive PDO Mapping Object Code RECORD Number of Elements 0..4

Value Description

Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1

Sub Index 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x60FF0020 (target velocity)

Object 0x1602: 3rd Receive PDO Mapping

Index 0x1602

Name 3rd Receive PDO Mapping Object Code RECORD Number of Elements 0..4

Value Description

Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1

Sub Index 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x60C10120 (Interpolated data record)

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Object 0x1603: 4th Receive PDO Mapping

Index 0x1602

Name 4th Receive PDO Mapping Object Code RECORD Number of Elements 0..4

Value Description

Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1

Sub Index 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value

Transmit PDO Parameter

Object 0x1800: 1st Transmit PDO Parameter

Index 0x1800

Name 1st Transmit PDO Communication Parameter (TPDO1) Object Code RECORD Number of Elements 2

Value Description

Sub Index 1 Description COB-ID Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x180 + Node-ID

Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 253

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Object 0x1801: 2nd Transmit PDO Parameter

Index 0x1801

Name 2nd Transmit PDO Communication Parameter (TPDO2) Object Code RECORD Number of Elements 2

Value Description

Sub Index 1 Description COB-ID Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x280 + Node-ID

Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 253

Object 0x1802: 3rd Transmit PDO Parameter

Index 0x1802

Name 3rd Transmit PDO Communication Parameter (TPDO3) Object Code RECORD Number of Elements 2

Value Description

Sub Index 1 Description COB-ID Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x380 + Node-ID

Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 1

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Object 0x1803: 4th Transmit PDO Parameter

Index 0x1803

Name 4th Transmit PDO Communication Parameter (TPDO4) Object Code RECORD Number of Elements 2

Value Description

Sub Index 1 Description COB-ID Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x480 + Node-ID

Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 1

Transmit PDO Mapping

Object 0x1A00: 1st Transmit PDO Mapping

Index 0x1A00

Name 1st Transmit PDO Mapping Object Code RECORD Number of Elements 0..4

Value Description

Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1

Sub Index 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x60410010 (status word)

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Object 0x1A01: 2nd Transmit PDO Mapping

Index 0x1A01

Name 2nd Transmit PDO Mapping Object Code RECORD Number of Elements 0..4

Value Description

Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1

Sub Index 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x606C0020 (velocity value)

Object 0x1A02: 3rd Transmit PDO Mapping

Index 0x1A02

Name 3rd Transmit PDO Mapping Object Code RECORD Number of Elements 0..4

Value Description

Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1

Sub Index 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value 0x60640020 (Actual position value)

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Object 0x1A03: 4th Transmit PDO Mapping

Index 0x1A03

Name 4th Transmit PDO Mapping Object Code RECORD Number of Elements 0..4

Value Description

Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 0

Sub Index 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value 0

Manufacturer PDO Transmission Mode

The Xtrapuls drive has a special transmission mode for the TPDOn defined by a TPDOn_Control (object 0x23A1n) and a TPDO_Count (object 0x23A0). The purpose of this mode is to control the number of cyclic TPDOn for each axis.

TPDOn_Control is preset for each axis. TPDO_Count is counter value of the host. For each axis, when TPDO_Count is equal to TPDOn_Control, it will transmit the TPDOn in synchronisation with the SYNC message. The transmission type for the TPDOn must be 254.

Example

: RPDO1 is used to transmit TPDO_Count value. To be sure that all axes have got the same value of TPDO_Count at the same synchronisation, the RPDO1 COBID must be re-defined to be the same for all axes and mapped with TPDO_Count object.



Index 0x23A0

Name TPDO_Count Object Code VAR Data Type Unsigned8 Object Class all Access rw PDO Mapping No Value Range 0..255 Default Value 0

SYNC.

Axis Axis 2 SYNC Axis 3 SYNC Axis 4 Axis 1 Axis 2

RPDO1 RPDO1

RPDO1

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Index 0x23A1

Name TPDO Control Object Code ARRAY Number of Elements 4

Value Description

Sub Index 1-4 Description TPDO control for TPDO n. Data Type Unsigned8 Access rw PDO Mapping No Value Range 0..255 Default Value 0

3.1.1.6 - Service Data Objects (SDO)

The SDO is a communication channel with 2 basic characteristics:

- Client/Server relationship,

- Object Dictionary.

Client/Server

: This is a relationship between a single client and a single server (Servo Drive). A client issues a request (upload/download) thus triggering the server to perform a certain task. After finishing the task, the server answers the request.

Object Dictionary

All objects (variables, constants, records...) of the server are defined as a list of objects where each element is appointed by an index and a sub-index. This object list is called object dictionary. This object dictionary allows the client accessing all objects of the server. The Servo Drive object dictionary consists of 2 parts: the communication profile (DS-301) for the objects related to the CAN communication and the device profile (DSP-402) for objects related to the drive functionality.

For more information about the SDO protocol, please report to the CiA DS-301 version 4.01 specification.

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SDO Communication between drives

The Xtrapuls drive supports Node ID setting by switches from 1 to 63.

SDO message for node ID from 64 to 127 are used for communication between drives. The Xtrapuls drive re-directs the SDO message from RS-232 to CANbus via the PC.

Example

: 3 drives with Node ID 1, 2 and 3. direct SDO messages: cobID = 0x601/0x581, 0x602/0x582 and 0x603/0x583 re-direct SDO messages: cobID = 0x641/0x5C1, 0x642/0x5C2 and 0x643/0x5C3

This allows the PC communicating with any drive only via one RS-232 connection (example of the red line in the above diagram).

With an Xtrapuls drive with node ID = n, there must not be another device in the CANopen network with node ID = n+64, to avoid conflict with the re-direction SDO message of the Xtrapuls drive.

3.1.1.7 - Emergency Objects

Byte 0 1 23456 7

Content Emergency Error

Code

Error register (object 1001h)

Manufacturer Specific Error Field Error Code

See object 0x3022 for the Error Code.

EMCY message behaviour

Index 0x205F

Name EMCY message Behaviour Object Code VAR Data Type Unsigned16 Object Class All Access rw PDO Mapping No Default Value 1

This object defines the behaviour of the EMCY message.

alue Description

0 EMCY message will not be sent 1 EMCY message will be sent when an error occurs 2 EMCY message will be sent when an error occurs or an error reset (error code = 0)

The last case is not applicable for EtherCAT® (EMCY with error code = 0).

Xtrapuls

drive 1

Xtrapuls

drive 2

Xtrapuls

drive 3

CAN

RS-232

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3.1.1.8 - Node Guarding

Network error behaviour

Index 0x205E

Name Network Error Behaviour Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

This object defines the drive behaviour when a Node guarding error occurs.

alue Description

0 No Operation 1 Drive Error 2 Goes into Bus Stop state

3.1.2 - NETWORK INITIALISATION

3.1.2.1 - NMT State Machine

The NMT state machine defines the communication status.

(1) At Power on, the initialisation state is automatically entered (2) Once the Initialisation over, Pre-Operational is automatically entered (3), (6) Start_Remote_Node indication (4), (7) Enter_Pre-Operational_State indication (5), (8) Stop_Remote_Node indication (9), (10), (11) Reset_Node indication (12), (13), (14) Reset_Communication indication

Minimum Boot-Up consists of one CAN telegram: a broadcast Start_Remote_Note message.

Initialisation

Pre-operational

NMT, SDO, Sync, Emcy

Operational

NMT, SDO, Sync, Emcy, PDO

Stop

NMT

(1)

(2)

(3)

(4)

(5)

(7)

(11)

(10)

(9)

(6)

(8)

(14)

(13)

(12)

Power On

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NMT reset

NMT_Reset_Comm: The NMT_Reset_Comm restores communication parameters (default CobIDs, PDO mapping...) to the power-on values.

The NMT_Reset_Node: Depending on object 0x205D, the NMT_Reset_Node can re-load the drive parameters file. An NMT_Reset_Comm is then executed.

NMT reset configuration

Index 0x205D

Name NMT Reset configuration Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

This object defines the reset behaviour of the drive.

alue Description

0 Communication Reset only 1 Communication Reset and re-load drive parameters file

This operation can take some more time (several seconds)

2 Full drive reset (like when applying 24V)

NMT Message: Start / Pre-Op Remote Nodes

Index 0x2000

Name Start/Pre-Op Remote Nodes Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

When writing to this object, an NMT message will be sent on the CAN bus. Depending on the written value, it allows starting or Pre-Op all nodes.

alue Function

0 Enter Pre-Op Remote Nodes n Send a Start Nodes after n ms. Enter Operational mode

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3.1.2.2 - Bootup Protocol

This protocol is used to signal that a NMT slave has entered the node state PRE-OPERATIONAL after the state INITIALISING. The protocol uses the same identifier as the error control protocols.

Bootup Event

One data byte is transmitted with value 0.

CANopen Bootup configuration

Index 0x2010

Name CANopen Bootup configuration Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

This object defines the bootup behaviour of the drive.

alue Description

0 No Bootup message 1 Bootup message is sent when the drive goes into Pre-Op state

3.1.2.3 - Initialisation procedure

0 1

NMT Master NMT Slave(s)

Request

Indication

COB-ID = 1792 + Node-ID

Configuration of all device parameters,

including communication parameters (via

default SDO)

Start transmission of SYNC, wait for

synchronisation of all devices

Setting of all nodes at the operational state

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3.2 - DEVICE PROFILE

3.2.1 - DEVICE CONTROL

3.2.1.1 - Drive State Machine

The state machine describes the status and the control sequence of the drive.

Drive State

The following states of the device are possible:

• NOT READY TO SWITCH ON

Low level power has been applied to the drive. The drive is being initialized or is running self test. A brake, if present, has to be applied in this state. The drive function is disabled.

• SWITCH ON DISABLED

Drive initialization is complete. The drive parameters have been set up. Drive parameters may be changed. High voltage may not be applied to the drive, (e.g. for safety reasons). The drive function is disabled.

Power Disabled

Fault

Power enabled

Not Ready to

Switch On

Disabled

Ready to Switch

2 7

Switch On

3 6

Operation

Enable

4 5

Fault Reaction

Active

Start

Fault

13t

Quick Stop

Active

10 12

8 9

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• READY TO SWITCH ON

High voltage may be applied to the drive. The drive parameters may be changed. The drive function is disabled.

• SWITCHED ON

High voltage has been applied to the drive. The power amplifier is ready. The drive parameters may be changed. The drive function is disabled.

• OPERATION ENABLE

No faults have been detected. The drive function is enabled and power is applied to the motor. The drive parameters may be changed. (This corresponds to normal operation of the drive.)

• QUICK STOP ACTIVE

The drive parameters may be changed. The quick stop function is being executed. The drive function is enabled and power is applied to the motor.

• FAULT REACTION ACTIVE

The drive parameters may be changed. A fault has occurred in the drive. The quick stop function is being executed. The drive function is enabled and power is applied to the motor.

• FAULT

The drive parameters may be changed. A fault has occurred in the drive. High voltage switch-on/-off depends on the application. The drive function is disabled.

State Transitions

State transitions are caused by internal events in the drive or by commands from the host via the control word.

• State Transition 0: START -> NOT READY TO SWITCH ON

Event: Reset. Action: The drive self-tests and/or self-initializes.

• State Transition 1: NOT READY TO SWITCH ON -> SWITCH ON DISABLED

Event: The drive has self-tested and/or initialized successfully. Action: Activate communication.

• State Transition 2: SWITCH ON DISABLED -> READY TO SWITCH ON

Event: 'Shutdown' command received from host. Action: None

• State Transition 3: READY TO SWITCH ON -> SWITCHED ON

Event: 'Switch On' command received from host. Action: The power section is switched on if not already on.

• State Transition 4: SWITCHED ON -> OPERATION ENABLE

Event: 'Enable Operation' command received from host. Action: The drive function is enabled.

• State Transition 5: OPERATION ENABLE -> SWITCHED ON

Event: 'Disable Operation' command received from host. Action: The drive operation will be disabled.

• State Transition 6: SWITCHED ON -> READY TO SWITCH ON

Event: 'Shutdown' command received from host. Action: The power section is switched off.

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• State Transition 7: READY TO SWITCH ON -> SWITCH ON DISABLED

Event: 'Quick Stop' and ‘Disable Voltage’ command received from host. Action: None

• State Transition 8: OPERATION ENABLE -> READY TO SWITCH ON

Event: 'Shutdown' command received from host. Action: The power section is switched off immediately, and the motor is free to rotate if unbraked.

• State Transition 9: OPERATION ENABLE -> SWITCH ON DISABLED

Event: 'Disable Voltage' command received from host. Action: The power section is switched off immediately, and the motor is free to rotate if unbraked.

• State Transition 10: SWITCHED ON -> SWITCH ON DISABLED

Event: 'Disable Voltage' or 'Quick Stop' command received from host. Action: The power section is switched off immediately, and the motor is free to rotate if unbraked.

• State Transition 11: OPERATION ENABLE -> QUICK STOP ACTIVE

Event: 'Quick Stop' command received from host. Action: The quick stop function is executed.

• State Transition 12: QUICK STOP ACTIVE -> SWITCH ON DISABLED

Event: 'Quick Stop' is completed or 'Disable Voltage' command received from host. This transition is possible, if the Quick-Stop-Option-Code is different from 5 (stay in the state ‘Quick Stop Active’). Action: The power section is switched off.

• State Transition 13: All states -> FAULT REACTION ACTIVE

A fault has occurred in the drive. Action: Execute appropriate fault reaction.

• State Transition 14: FAULT REACTION ACTIVE -> FAULT

Event: The fault reaction is completed. Action: The drive function is disabled. The power section may be switched off.

• State Transition 15: FAULT -> SWITCH ON DISABLED

Event: 'Fault Reset' command received from host. Action: A reset of the fault condition is carried out if no fault currently exists in the drive. After leaving the state Fault the Bit 'Fault Reset' of the control word has to be cleared by the host.

• State Transition 16: QUICK STOP ACTIVE -> OPERATION ENABLE

Event: 'Enable Operation' command received from host. This transition is possible if the Quick-Stop-Option-Code is 5, 6, 7 or 8. Action: The drive function is enabled.

Objects definition

Index Object Name Type Attr.

0x6040 VAR Control Word Unsigned16 rw 0x6041 VAR Status Word Unsigned16 ro

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Control Word

Inde

0x6040

Name Control Word Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping Possible Default Value 0000

Bit Numbe

Function

0 Switch On 1 Disable Voltage 2 Quick Stop 3 Enable Operation 4 Operation Mode Specific 5 Operation Mode Specific 6 Operation Mode Specific 7 Reset Fault (rising edge) 8 Halt (mode PV, PT, AS, AT)

Device control commands are triggered by the following bit patterns in the control word:

Command / Bit of the control_word

bit 7

Fault Reset

bit 3

Enable

Operation

bit 2

Quick Stop

bit 1

Disable

Voltage

bit 0

Switch On

Transition

Shutdown X X 1 1 0 2, 6, 8 Switch On X X 1 1 1 3 Disable Voltage X X X 0 X 7, 9, 10, 12 Quick Stop X X 0 1 X 7, 10, 11 Disable Operation X 0 1 1 1 5 Enable Operation X 1 1 1 1 4, 16 Fault Reset



X X X X 15

Bit 4, 5, 6 are operation mode specific:

Mode Bit 4 Bit 5 Bit6

Profile Position Mode new set point change_set_immediately 0: absolute

1: relative Homing Mode Homing Operation Start reserved reserved Interpolated Position Mode enable ip_mode reserved reserved Profile Velocity Mode reserved reserved reserved

Correct sequence to enable the drive:

Seq Control Word (0x6040) Corresponding

Status Word (0x6041)

Remarks

1 0x0000 0x0240 state "Switch On Disabled"

drive is disabled

2 0x0006 0x0221 state "Ready To Switch On"

drive is disabled

3 0x0007 0x0223 state "Switch On"

drive is enabled

4 0x000F 0x0227 state "Operation Enable"

drive is enabled

trapulsPac – User Guide

Chapter 3 - Referenc

Notes:

 Some independent status bits may be set and are not represented in the table above. The mask for testing

the status word is 0x026F.

 Seq 1 (control word = 0x0000) and seq 3 (control word = 0x0007) may be omitted.  In some operation modes (interpolated position mode, servo mode...), bit 4 of the control word must also be

set after seq 4 to be fully operational. When switching between the modes, it is necessary to reset bit 4 of control word before changing the mode and then set it afterwards.

Status Word

Inde

0x6041

Name Status Word Object Code VAR Data Type Unsigned16 Object Class all Access ro PDO Mapping Possible Default Value -

The status word indicates the current status of the drive. It is possible to define the TPDO to be transmitted at every change of the status word (Device Event transmission type).

Bit Numbe

Function

0 Ready to Switch On 1 Switch On 2 Operation Enabled 3 Fault 4 Voltage Enabled 5 Quick Stop 6 Switch On Disabled 7 Warning 8 Manufacturer Specific: user programmable (see object 0x3044) 9 Remote 10 Target Reached 11 12 Operation Mode Specific 13 Operation Mode Specific 14 Manufacturer Specific: user programmable (see object 0x3044) 15 Manufacturer Specific: Drive Busy

Device Status Bit Meaning:

State Bit 6

Switch On

Disable

Bit 5

Quick Stop

Bit 3

Fault

Bit 2

Operation

Enable

Bit 1

Switched

Bit 0

Ready to

Switch On

Not Ready to Switch On 0 X 0 0 0 0 Switch On Disabled 1 X 0 0 0 0 Ready to Switch On 0 1 0 0 0 1 Switched On 0 1 0 0 1 1 Operation Enable 0 1 0 1 1 1 Fault 0 X 1 0 0 0 Fault Reaction Active 0 X 1 1 1 1 Quick Stop Active 0 0 0 1 1 1

Bits 12, 13 are operation mode specific:

Mode Bit 12 Bit 13

Profile Position Mode setpoint acknowledge Following Error Homing Mode Homing attained Homing error Interpolated Position Mode Ip-Mode active reserved Profile Velocity Mode Speed = 0 reserved

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Chapter 3 – Reference

Status word manufacturer bits configuration

Index 0x3044

Name Status word manufacturer bits configuration

Bits 8 and 14 of status word (0x6041,0) can be used to give the state of any bit from

a source signal. Object Code ARRAY Number of Elements 2

Value Description

Sub Index 1 Description Source signal link for bit 8 in status word Data Type Unsigned32 Object Class All Access rw PDO Mapping No Default Value 0x00000000

The structure of the source signal entries is the following:

MSB LSB Index (16-bit) Sub-index (8-bit) Bit number n (0-31)

The state of bit n of the variable defined by its index and sub-index will be copied into bit 8 of the status. The index/sub-index must correspond to an object type = variable (can be mapped in a TPDO).

Sub Index 2 Description Source signal link for bit 14 in status word Data Type Unsigned32 Object Class All Access Rw PDO Mapping No Default Value 0x00000000

The structure of the source signal entries is the following:

MSB LSB Index (16-bit) Sub-index (8-bit) Bit number n (0-31)

The state of bit n of the variable defined by its index and sub-index will be copied into bit 14 of the status word. The index/sub-index must correspond to an object type = variable (can be mapped in a TPDO).

Example

: Copy logic input IN1 to bit 8 of the status word: 0x3044,1 = 0x60FD0010

Copy the home switch input to bit 14 of the status word 0x3044,2 = 0x60FD0002

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Chapter 3 - Referenc

Control word manufacturer bits configuration

Index 0x3045

Name Control word manufacturer bits configuration

Bits 11 and 12 of control word (0x6040,0) can be linked to any bit of a signal. Object Code ARRAY Number of Elements 2

Value Description

Sub Index 1 Description Target signal link for bit 11 of control word Data Type Unsigned32 Object Class All Access Rw PDO Mapping No Default Value 0x00000000

The structure of the target signal entries is the following:

MSB LSB Index (16-bit) Sub-index (8-bit) Bit number n (0-31)

The state of bit 11 of the control word will be copied the bit n of the variable defined by its index and sub-index. The index/sub-index must correspond to an object type = variable (can be mapped in a RPDO).

Sub Index 2 Description Target signal link for bit 12 of control word Data Type Unsigned32 Object Class All Access Rw PDO Mapping No Default Value 0x00000000

The structure of the target signal entries is the following:

MSB LSB Index (16-bit) Sub-index (8-bit) Bit number n (0-31)

The state of bit 12 of the control word will be copied into bit n of the variable defined by its index and sub-index. The index/sub-index must correspond to an object type = variable (can be mapped in a RPDO).

Example: Copy bit 11 of control word to logic output OUT2: 0x3045,1 = 0x60FE0111

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Chapter 3 – Reference

Device Control

Inde

0x3440

Name Device Control Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping Possible Default Value 0000

The device control allows activating drive specific functions.

Bit Number Function

0 Reserved 1 Soft-Start activation:

This bit activation manually enables the soft start system at the drive power supply

switch-on. It is used when the power supply switch-off duration is shorter than the DC

bus voltage decreasing time below the “Undervoltage threshold” value. In this case,

the manual soft start activation allows limiting the drive inrush current that can

damage the mains circuit breaker (external to the drive).

When the DC bus voltage decreases below the “Undervoltage threshold” value, the

soft start system is automatically activated. So, the manual activation is not required. Others Reserved

Device Status

Inde

0x3441

Name Device Status Object Code VAR Data Type Unsigned16 Object Class all Access ro PDO Mapping Possible Default Value -

The device status indicates the current status of drive specific functions.

Bit Numbe

Function

0 AOK relay state (see 0x3025,7 and 0x3025,8) 1 Soft-Start activated (see 0x3440,0)

2..5 Reserved 6 Motor speed = 0 (see 0x3442,0) 7 Reserved 8 In position signal: this bit is set when the position set point changing is lower than the

threshold value (0x306E), and the delay value (0x306B) is over.

9..15 Reserved

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Chapter 3 - Referenc

Device Config

Inde

0x3442

Name Device Config Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

Saved in DRIVEPAR.TXT

The device config allows activating drive specific functions.

Bit Numbe

Function

0..5 Reserved 6 Activate motor zero speed detection.

Parameters for motor zero speed detection are velocity threshold (0x606F,0) and

velocity threshold time (0x6070,0).

When zero speed is detected, bit 6 of Device status is set.

7..15 Reserved

In position signal configuration

Index

0x306B Description In position signal delay Object Code VAR Data Type Unsigned16 Object Class pp ip hm eg Access rw Unit ms PDO Mapping No Default Value 0

Index

0x306E Description In position signal threshold Object Code VAR Data Type Unsigned16 Object Class pp ip hm eg Access rw Unit User position unit /s PDO Mapping No Default Value 0

When the position set point changing is lower than the threshold value, and the delay value is over, bit 8 of the device status (0x3441,0) is set.

trapulsPac - User Guide

Chapter 3 – Reference

3.2.1.2 - Error & Warning

3.2.1.2.1 - Error

Error:

Errors are displayed in object 0x3022,1 (32-bit) and 0x3022,2 (32-bit), each bit in this object corresponds to one error. Error bit in status (bit 3) is set as well. An emergency message is sent with the last error code (error code is error bit number+1).

The same bit in objects 0x3025,1 and 0x3025,2 allows the inhibition of the corresponding error in 0x3022,1 and 0x3022,2.

The same bit in objects 0x3025,3 and 0x3025,4 allows triggering a stop 2 when the corresponding error in 0x3022,1 and 0x3022,2 occurs.

The same bit in objects 0x3025,5 and 0x3025,6 allows triggering a stop 3 when the corresponding error in 0x3022,1 and 0x3022,2 occurs.

An error can be cleared by "Reset Fault" bit in control word (0x6040).

Error control:

Object 0x3025 allows:

- the inhibition of some errors

- or triggering a stop 2 or stop 3 when the corresponding error occurs.

Index Object Name Type Attr.

0x3022 ARRAY Error ro 0x3025 ARRAY Error Control rw

Index 0x3022

Name Error word Object Code ARRAY Number of Elements 3

Value Description

This object contains two 32-bit words in which one bit is assigned to a different error. The Error code is the value which will be sent as an emergency message (EMCY).

Sub Index 1 Description Error monitoring Data Type Unsigned32 Object Class all Access ro PDO Mapping No Value See below Default value No

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Chapter 3 - Referenc

Bit Value Error

Code

Protection Troubleshooting

0 0x00000001 1 Hardware System 2

Error

- Check that the DNC/PLC-amplifier-motor ground connections and shield answer the Installation manual requirements.

- Check the application EMC disturbances level.

1 0x00000002 2 24 Volt Error - Check that the logic supply voltage value is within the

specified range.

- Check the logic supply voltage waveform (ripple value, overvoltage spikes, undervoltage spikes, …)

2 0x00000004 3 Undervolt

(temporized)

- Check that the power supply is actually on.

3 0x00000008 4 Braking system error - Check the presence of either the internal resistor jumper

(XtrapulsPac) or the external resistor (XtrapulsPac and XtrapulsGem)

- Check that the external resistor is not broken (open circuit) If the error cannot be reset, the braking system is out of order (transistor in short-circuit)

4 0x00000010 5 Safety channel 2

Error

- Check the correct STO2 input state with regard to the STO1 input state If the STO fault is released, the drive must be turned off in order to cancel the fault.

5 0x00000020 6 Overvoltage If the failure occurs when starting the amplifier:

- Check the AC supply voltage value. If the failure occurs during the operation:

- Check the DC bus voltage during the deceleration phases.

- Check the sizing of the braking resistor with regard to the motor deceleration phases.

6 0x00000040 7 Internal

Communication 2 Error

- Check that the DNC/PLC-amplifier-motor ground connections and shield answer the Installation manual requirements.

- Check the application EMC disturbances level.

7 0x00000080 8 IGBT module - Check for no short-circuit in the motor wiring and at the

motor terminals.

- Check for no short-circuit between one motor phase and the ground.

- Check the amplifier Rated current adjustment with regard to the allowed value in the amplifier specifications.

- Check that the amplifier max. temperature specifications are fulfilled.

- Check that the amplifier fan is operating correctly. 8 0x00000100 9 Main Phase Error 9 0x00000200 10 Mains phase loss 10 0x00000400 11 Power Module over-

temperature

- Check the amplifier Rated current adjustment with regard

to the allowed value in the amplifier specifications.

- Check that the amplifier max. temperature specifications

are fulfilled.

- Check that the amplifier fan is operating correctly. 11 12 0x00001000 13 Fan - Available only for some drive models

- Check that the fan blades are not blocked by a foreign body

- Check that the fan rotor is not locked 13 14 15 16 0x00010000 17 Current measurement

offset

- Check that the motor is not driven by the mechanical load

If the error cannot be reset, the amplifier current sensors are out of order (wrong current measurement)

17 0x00020000 18 Overcurrent - Check the current loop adjustment regarding the motor

inductance.

trapulsPac - User Guide

Chapter 3 – Reference

18 0x00040000 19 Encoder counting

error

- Check that the encoder max. pulse frequency at the max. motor speed fulfills the encoder specification.

- Check that the connections between the encoder and the amplifier are complying with the shield wiring recommendations. Remark

: In the incremental encoder configuration without HES, the

motor Phasing procedure must be executed again after a Counting fault release.

19 0x00080000 20 Resolver tracking

error

If the failure occurs when starting the amplifier:

- Check for the correct resolver type with regard to the amplifier specifications. If the failure occurs during the operation:

- Check that the connections between the resolver and the amplifier are complying with the shield wiring recommendations.

20 0x00100000 21 Resolver (cable

interrupted)

- Check the resolver connection on the amplifier X1 connector according to the connector descriptions.

- Check for the correct resolver type with regard to the amplifier specifications.

- Check the connections between resolver and amplifier (cable wiring).

21 0x00200000 22 Encoder (cable

interrupted)

- Check the encoder supply connection on the amplifier X3 connector.

- Check the encoder A channel and B channel connections on the amplifier X3 connector. Remark: In the Incremental encoder configuration without HES, the motor Phasing procedure must be executed again after an Encoder fault release.

22 0x00400000 23 Encoder (Z

marker)

- Check the marker pulse connection on the amplifier X3 connector. If the motor encoder is not providing a marker pulse channel, the amplifier counting protection must be disabled by setting at 0 the Zero mark pitch parameter.

- Check that the Motor encoder resolution and the Zero mark pitch parameter values are correct. Remark: In the incremental encoder configuration without HES, the motor Phasing procedure must be executed again after a Counting

fault release. 23 24 25 0x02000000 26 Ambient

Temperature

- Check that the amplifier operating temperature limit specification is

fulfilled.

- Check that the amplifier cooling system is operating correctly.

- Check the amplifier Rated current adjustment with regard to the

allowed value in the amplifier specifications. 26 0x04000000 27 Motor Brake 27 0x08000000 28 Power Stage

Controller Error

- Generic default for the amplifier power stage

28 0x10000000 29 Manufacturer

parameters error

- Switch off and on again the 24 V logic supply

If the error cannot be reset, the amplifier is out of order. 29 0x20000000 30 Internal

Communication 1 error

- Check that the DNC/PLC-amplifier-motor ground connections and

shield answer the Install manual requirements.

- Check the application EMC disturbances level. 30 0x40000000 31 Configuration error 31 0x80000000 32 System error - Switch off and on again the 24 V logic supply

If the error cannot be reset, the amplifier is out of order.

Sub Index 2 Description Error monitoring Data Type Unsigned32 Object Class all Access ro PDO Mapping No Value See below Default value No

trapulsPac – User Guide

Chapter 3 - Referenc

Bit Value Error

Code

Protection Troubleshooting

0 1 0x00000002 34 Speed following error 2 0x00000004 35 Position following error - Check that the mechanical load is adjusted to motor and

amplifier ratings.

- Reduce the accelerations/decelerations.

- Check that the axis is not on a mechanical limit.

- Check the position loop adjustment.

- Check that the value of the parameter Following error threshold is complying with the motion cycle. If necessary,

increase the value of this parameter. 3 4 0x00000010 37 Motor Temperature

error

If the failure occurs when starting the amplifier:

- Check the selected thermal sensor type (NTC or PTC).

- Check the connection between the thermal sensor and the

amplifier on the X1 or X3 connector.

If the failure occurs during the operation:

- Check the motor temperature and look for the reason of this

overheating (mechanical shaft overload, duty cycle too high,

motor type to small with regard to the machine cycle…). 5 0x00000020 38 I²t error

Check the amplifier current cycle with regard to the Rated

current parameter value. 6 0x00000040 39 System Parameters

Error

7 0x00000080 40 Busy/Operation

Timeout

8 0x00000100 41 Calibration parameters

file error

If the firmware has been downgraded, reload the correct

firmware version.

If the error cannot be reset after the amplifier off and on

sequence it is out of order. 9 0x00000200 42 Drive parameters file

error

If the firmware has been upgraded, execute the procedure

“save parameter to Flash memory”, the new parameters will

be saved with their default value in the new DRIVEPAR.TXT

file.

If the firmware has been downgraded, the execution of the

procedure “save parameter to Flash memory” will definitely

loose some parameters in the new DRIVEPAR.TXT file. In

this case, reload the correct firmware version. 10 0x00000400 43 User parameters or

template file error

Edit and check the “User parameter file”. Some objects are

not compatible with the amplifier firmware version. 11 0x00000800 44 Sequence file error Check the Sequence file. Some parameters are not

compatible with the amplifier firmware version. 12 0x00001000 45 Cam file error 13 0x00002000 46 Extension Error or

Fieldbus watchdog error

14 0x00004000 47 Extension Error or

Fieldbus hardware error

15 0x00008000 48 Extension Error or

Fieldbus hardware error

16 0x00010000 49 Fieldbus SYNC cycle

error

- Check fieldbus cycle period (object 0x1006)

- Check fieldbus SYNC signal timing: if great jitter (>=half-

period) or period accuracy is not within the tolerance

(>=0.4%). 17 0x00020000 50 Fieldbus IP reference

underflow/overflow

- Check if IP reference (0x60C1,1) is mapped in a RPDO

- If yes, check if this RPDO is sent every bus cycle

- To avoid a mix-up, this RPDO must precede the SYNC

signal at least of 100 µs 18 0x00040000 51 Fieldbus guarding

error

For CANopen:

Node guarding error or Heartbeat error. 19 20 0x00100000 53 SD card error See details in the SD card chapter. 21 0x00200000 54 File Erase/Write Error Renew the file transfer.

trapulsPac - User Guide

Chapter 3 – Reference

22 0x00400000 55 Watchdog Error 23 0x00800000 56 Safety channel 1 Error - Check the correct STO1 input state regarding STO2 input

state

If the STO fault is released, the drive must be turned off in

order to cancel the fault. 24 0x01000000 57 User Program Error 25 0x02000000 58 CAN Extension

Module communication

lost or not found 26 27 0x08000000 60 Stop Operation failed

or speed/position

monitoring failed.

- Check stop/monitoring parameters.

28 0x10000000 61 Encoder Commutation

channel / Incremental

channel Error

For the Incremental encoder & HES configuration:

- Check for the correct HES supply voltage value.

- Check that the HES are correctly wired on the amplifier X3 connector.

- Check the parameter Reverse HES track and toggle it if not correct.

- Check for the correct value of the parameter Motor encoder resolution.

- Check that the HES-amplifier-motor ground connections and shield answer requirements contained in the Installation manual. For the Absolute encoder (Hiperface®) configuration:

- Check the parameter Reverse incremental track and toggle it if not correct.

- Check that the SinCos channels are correctly wired on the amplifier X3 connector.

- Check that the Data communication channel is correctly wired on the amplifier X3 connector.

- Check that the encoder-amplifier-motor ground connections and shield answer the requirements contained in the Installation manual. For the SinCos encoder with CD tracks configuration:

- Check for the correct SinCos encoder supply voltage value.

- Check that the encoder CD channels are correctly wired on the amplifier X3 connector.

- Check the parameter Reverse CD track and toggle it if not correct.

- Check that the parameter Motor encoder resolution value is correct.

- Check for the correct encoder C and D channels signal waveforms.

- Check that the encoder-amplifier-motor ground connections and shield answer the requirements contained in the Installation manual.

29 0x20000000 62 Encoder Absolute

channel Error

- Check for the correct encoder supply voltage value.

- Check that the Data communication channel is correctly wired on the amplifier X3 connector.

- Check that the encoder-amplifier-motor ground connections and shield answer the requirements contained in the Installation manual.

30 0x40000000 63 User Program

execution error 31 0x80000000 64 Procedure error

(Autotuning,

autophasing...)

- If the Procedure fault is continuously displayed after the execution of the AUTO-PHASING function, the procedure has failed because of an external cause and the calculated parameters are wrong. Check that the limit switch inputs are not active. Then check that the motor is unloaded and the shaft movement free during the procedure.

- If the Procedure fault is continuously displayed after the execution of the AUTO-TUNING function, the procedure has failed because of an external cause and the calculated parameters are wrong. Check that the limit switch inputs are not active. Then check that the motor shaft is free during the procedure.

trapulsPac – User Guide

Chapter 3 - Referenc

Error Control

Index 0x3025

Name Error control Object Code ARRAY Number of Elements 6

Value Description

Sub Index 1 Description Error mask 1 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Value See 0x3022-1 Default value No

Sub Index 2 Description Error mask 2 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Value See 0x3022-2 Default value No

These 2 elements (0x3025,1 and 0x3025,2) allow the inhibition of the corresponding error.

Sub Index 3 Description Error Stop 2 mask 1 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Value See 0x3022-1 Default value No

Sub Index 4 Description Error Stop 2 mask 2 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Value See 0x3022-2 Default value No

These 2 elements (0x3025,3 and 0x3025,4) allow triggering a stop 2 when the corresponding error occurs.

Sub Index 5 Description Error Stop 3 mask 1 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Value See 0x3022-1 Default value No

trapulsPac - User Guide

Chapter 3 – Reference

Sub Index 6 Description Error Stop 3 mask 2 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Value See 0x3022-2 Default value No

These 2 elements (0x3025,5 and 0x3025,6) allow triggering a stop 3 when the corresponding error occurs.

Stop On Error operation

Drive parameters 0x3025,3 and 0x3025,4 (Error Stop 2 mask) allow selecting a Stop 2 behaviour (Slow down ramp) for a given drive fault when this fault occurs.

Drive parameters 0x3025,5 and 0x3025,6 (Error Stop 3 mask) allow selecting a Stop 3 behaviour (Slow down in current limitation) for a given drive fault when this fault occurs.

On a given fault occurrence, if the corresponding bit is equal to 0 in both “Error Stop 1 mask” and “Error Stop 3 mask” parameters, a Stop 0 is executed (power stage switched off and motor brake activated). This is the default drive configuration for the Stop on error functionality.

The Stop 2 and Stop 3 selections are not compatible with any fault occurrence situation.

The conditions for a possible Stop 3 operation are listed below:

-motor power control is fully operating

-motor position feedback signal is not corrupted

The Stop 2 selection is more restrictive than Stop 3 because the slow down ramp requires a correct motion control chaining when the fault occurs. The conditions for a possible Stop 2 operation are listed below:

-motor power control is fully operating

-motor position feedback signal is not corrupted

-position and speed set point are not corrupted

The Stop 2 or Stop 3 selection requires a careful failure case analysis. The drive operating mode, the application context and the machine safety requirements must all be considered.

For example, in the Interpolated Position mode, if a communication error occurs, the drive internal position set point is corrupted and can cause a wrong slow down ramp chaining. This situation can result in an uncontrolled motor movement. But if the drive is operating in Sequence mode, the drive position set point is not concerned by the fieldbus communication and the Stop 1 selection is then possible.

If an exhaustive failure case analysis in the application context cannot be carried, Stop 0 must be selected.

Most faults are not compatible with the Stop 3 or Stop 2 selections. The possible “Stop on error” selection regarding the drive faults are listed in the chart below. When Stop 2 and Stop 3 are both compatible, the Stop 3 selection must be preferred.

CAUTION !

A wrong “Stop on error” selection can cause uncontrolled motor movements that can be dangerous for operator and machine. It is the user's responsibility to check that a Stop 0 or Stop 2 or Stop 3 selection is compatible with his application.

trapulsPac – User Guide

Chapter 3 - Referenc

Error Code

Protection Possible Stop on error

selection

Remarks

34 Velocity following error Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful

fault occurrence analysis

35 Position following error Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful

fault occurrence analysis

36 Software position limit Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful

fault occurrence analysis

37 Motor Temperature error Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful

fault occurrence analysis

38 I²t error Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful

fault occurrence analysis

46 Extension Error or

Fieldbus watchdog error

Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful

fault occurrence analysis

49 Fieldbus SYNC cycle error Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful

fault occurrence analysis

50 Fieldbus IP reference

underflow/overflow

Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful

fault occurrence analysis

51 Fieldbus guarding error Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful

fault occurrence analysis

58 CAN Extension Module

communication lost or not found

Stop 0 or Stop 2 or Stop 3 Stop 2 selection requires a careful

fault occurrence analysis

Other Stop 0 only

Important note

: When a Stop 2 or Stop 3 is executed due to a fault occurrence, a second fault occurrence with

Stop 2 or Stop 3 selection cannot be considered.

Sub Index 7 Description AOK mask 1 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Value See 0x3022-1 Default value 0x0000 0004 (UnderVoltage)

Sub Index 8 Description AOK mask 2 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Value See 0x3022-2 Default value 0x0000 0000

These 2 elements (0x3025,7 and 0x3025,8) allow selecting the errors not considered for the AOK signal deactivation. Errors with the higher criticism regarding fire risk (power stage, braking system) cannot be masked.

trapulsPac - User Guide

Chapter 3 – Reference

XtrapulsPac Error Codes and DS-402 Error Codes

Infranor code

Description (Gem Drive Studio) Object: 0x3023,4

DSP402 code

Description (CANopen DSP-402) Object: 0x603F,0

0 No Error 0x0000 Error Reset or No Error 1 Hardware System 2 Error 0x5080 Device Hardware 2 24 Volt Error 0x5112 Supply Low Voltage 24V 3 Undervolt. 0x3220 DC link undervoltage 4 Braking system error 0x7110 Brake Chopper 5 Safety channel 2 Error 0x9082 External Error 6 Overvoltage 0x3210 DC link overvoltage 7 Internal Communication 2 Error 0x6182 Internal Software 8 IGBT module 0x2230 Short circuit/Earth leakage (device

internal) 9 reserved 0x3130 10 reserved 0x3130 11 Power Module over-temperature 0x4210 Excess Temperature Device 12 Power Module over-temperature

(not for standard XtrapulsPac)

0x4210 Excess Temperature Device

13 Fan failure (not for standard XtrapulsPac) 0x5090 Device Hardware 14 reserved 0x1000 15 reserved 0x1000 16 reserved 0x1000 17 Current measurement offset 0x5210 Control: Measurement circuit 18 Overcurrent 0x2310 Continuous over current 19 Encoder counting error 0x7305 Incremental sensor 1 fault 20 Resolver tracking error 0x7303 Resolver 1 fault 21 Resolver (cable interrupted) 0x7303 Resolver 1 fault 22 Encoder (cable interrupted) 0x7305 Incremental sensor 1 fault 23 Encoder (Z marker) 0x7305 Incremental sensor 1 fault 24 reserved 0x1000 25 reserved 0x1000 26 reserved 0x1000 27 Motor Brake Error (not for standard

XtrapulsPac)

0x7120 Motor

28 Power Stage Controller Error 0xFF80 Manufacturer specific 29 Manufacturer parameters error 0x50A1 Device Hardware 30 Internal Communication 1 error 0x6181 Internal Software 31 Configuration error 0x6320 Parameter Error 32 System error 0x50A0 Device Hardware 33 reserved 0x8300 Torque Control 34 Velocity Speed following error 0x8400 Velocity Speed Controller 35 Position following error 0x8611 Following Error 36 Software Position Limit 0x8680 Positioning Controller 37 Motor Temperature error 0x4290 Device Temperature 38 I²t error 0x2350 Load level fault (I²t, thermal state) 39 System Parameters Error 0x6190 Internal Software 40 Busy 0xFFA0 Manufacturer specific 41 Calibration parameters file error 0x6320 Parameter Error 42 Drive parameters file error 0x6320 Parameter Error 43 User parameters file error 0x6320 Parameter Error 44 Sequence file error 0x6320 Parameter Error 45 Cam file error (not for standard

XtrapulsPac)

0x6320 Parameter Error

trapulsPac – User Guide

Chapter 3 - Referenc

46 Extension Error or Fieldbus watchdog

error

0x8181 Communication

47 Extension Error or Fieldbus hardware

error

0x50B2 Device Hardware

48 Extension Error or Fieldbus hardware

error

0x50B3 Device Hardware

49 Fieldbus SYNC cycle error 0x8780 Sync Controller 50 Fieldbus IP reference underflow/overflow 0x8782 Sync Controller 51 Fieldbus guarding error 0x8130 Life Guard Error or Heartbeat Error 52 reserved 0x1000 53 SD card error (not for standard

XtrapulsPac)

0x7600 Data Storage (external)

54 File Erase/Write Error 0x6320 Parameter Error 55 Watchdog error 0x5220 Control: Computing circuit 56 Safety channel 1 (STO) Error 0x9081 External Error 57 User Code Error 0x6282 User Software 58 CAN Extension Module communication

lost or not found

0x7580 Communication

59 reserved 0x1000 60 Stop Operation failed or speed/position

monitoring failed

0xFF10 Manufacturer specific

61 Encoder: Commutation channel /

Incremental channel error

0x7305 Incremental sensor 1 fault

62 Encoder: Absolute channel error 0x7305 Incremental sensor 1 fault 63 User Program Error (not for standard

XtrapulsPac)

0x6280 User Software

64 Procedure error (Auto-tuning, auto-

phasing...)

0xFFA2 Manufacturer specific

3.2.1.2.2 - Warning

Warning:

Warning is displayed in object 0x3024,0 (32-bit). Warning bit in status (bit 7) is also set. Warning cannot be cleared by the user, it will automatically be cleared when the origin of the warning is discarded.

Warning Code

Index 0x3024

Name Warning Code Object Code VAR Data Type Unsigned32 Object Class all Access ro PDO Mapping Possible Default Value 0

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Bit

alue Warning

Code

Function

0 0x00000001 1 STO active

9 0x00000200 10 Mains phase loss 10 0x00000400 11 IGBT module temperature 11 12 0x00001000 13 Fan 13 0x00002000 14 Daughter board/Plugin software incompatible 14 0x00004000 15 Daughter board/Plugin hardware not ready 15 0x00008000 16 Daughter board/Plugin software not ready 16 0x00010000 17 Limit Switch 17 0x00020000 18 Ambient temperature 18 0x00040000 19 I²t 19 0x00080000 20 Undervoltage 20 0x00100000 21 SoftStart forced 21 0x00200000 22 Motor temperature 22 23 24 0x01000000 25 Position limit 25 0x02000000 26 CAN Extension Module communication lost or not found 26 27 28 0x10000000 29 Multi-turn Absolute Encoder not Initialized 29 0x20000000 30 Cannot read/write to encoder 30 0x40000000 31 Motor phasing Init not ok 31

3.2.1.2.3 - I²t Protection

I²t Function

Index 0x3404

Name I²t Function Object Code RECORD Number of Elements

Value Description

Sub Index 1 Description I²t Mode Data Type Unsigned16 Access rw PDO Mapping No Value Range 0 Limiting

1 Fusing

Default Value

Sub Index 2 Description I²t signal Data Type Unsigned16 Access ro PDO Mapping No Default Value No

The motor RMS current value in Amps is calculated according to the following formula: RMS motor current (A) = Amplifier current rating (A) x [value(0x3404-2) x 5000 / 16384]

1/2

/ 100

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Sub Index 3 Description Continuous measurement of the current Data Type Unsigned16 Access ro PDO Mapping No Unit 0x7FFF = drive max. current (0x6510) Default Value No

3.2.1.2.4 - Braking resistor Protection

Braking resistor duty cycle limit

Index 0x33B0

Name Braking resistor duty cycle limit Description This parameter allows the protection of the braking resistor against overheating and

failure. This parameter is valid only for the drive operation in standalone mode (AC mains

connection without GDPS). Object Code ARRAY Number of Elements 2

Value Description

Sub Index 1 Name Braking system operation Description

The braking system operation is selected according to the drive configuration

on the X9 connector.

- When the External resistor operation is selected, the duty cycle value is

limited at 70 per thousand. This means a maximum braking transistor

conduction of 70 ms over a period of 1 second.

- When the Internal resistor operation is selected, the duty cycle value is limited at 25

per thousand. This means a maximum braking transistor conductionof 25 ms over a

period of 1 second. This selection allows protecting the drive internal 35 W braking

resistor against overheating and failure. Data Type Unsigned16 Object Class All Access rw PDO Mapping No Value Range 0 = External braking resistor

1 = Internal braking resistor Default Value 0

Sub Index 2 Name Duty cycle limit Description The braking resistor duty cycle limit parameter allows limiting the external braking

resistor average power in order to protect it against overheating and failure. This

parameter value is calculated according to the braking resistor specifications as

described below:

Duty cycle limit = Braking resistor rated power (W) x Braking resistor ohmic value

(Ohms) / Braking on threshold (V) / Braking on threshold (V) Data Type Unsigned16 Object Class All Access rw PDO Mapping No Value Range 0-70 for external braking resistor selection (see 0x33B0-1)

0-25 for internal braking resistor selection (see 0x33B0-1) Unit

Default Value 70

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3.2.1.3 - Stop Operation

Stop 1 - stop on speed ramp: the motor is slowed down in position loop with a slow down ramp. The initial speed is defined with the reference speed.

Stop 2 - stop on speed ramp: the motor is slowed down in speed loop with a quick stop speed ramp. The initial speed is defined with the current motor speed.

Stop 3 - stop on current limit: the motor is slowed down in velocity loop with a current limitation.

Velocity

Slow down ramp

Motor brake

Disable power

Current

Velocityt2

Slow down with limited current

Motor brake

Disable power

Current

Velocity

quick stop ramp

Motor brake

Disable power

Current

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Stop option code

ction

0 Disable drive 1 Stopped on Slow down speed ramp and disabled 2 Stopped on Quick Stop speed ramp and disabled 3 Stopped on current limit and disabled

5 Stopped on Slow down speed ramp and stay in Quick Stop state 6 Stopped on Quick Stop speed ramp and stay in Quick Stop state 7 Stopped on current limit and stay in Quick Stop state

When a transition of the state machine occurs, a stop can be performed. These transitions are:

- Quick Stop (transition 11)

- Disable Operation (transition 5)

- Shut down (transition 8)

Each transition can have different ways to stop, respectively defined in objects 0x605A, 0x605C and 0x605B.

The Inhibit input stops the drive with a parameter defined in object 0x305A.

Hardware limit switches stop with slow down speed ramp (with parameter in 0x3300,1)

Stop on current limit uses the current limit value defined in object 0x3301,1 Stop on slow down speed ramp uses the speed ramp defined in object 0x3300,1 Stop on quick stop speed ramp uses the speed ramp defined in object 0x6085,0

Object definitions

Index Object Name Type Attr.

0x605A VAR Quick Stop Option Code Integer16 rw 0x605B VAR Shut down Option Code Integer16 rw 0x605C VAR Disable Operation Option Code Integer16 rw 0x305A VAR Inhibit Option Code Integer16 rw 0x3300 ARRAY Slow down ramp Unsigned32 rw 0x6085 VAR Quick Stop ramp Unsigned32 rw 0x3301 ARRAY Stop Current Limit Integer16 rw 0x3302 ARRAY Stop Time Limit Unsigned16 rw 0x3304 VAR Amplifier Reaction Time Unsigned16 rw 0x3305 VAR Motor Brake Reaction Time Unsigned16 rw

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Quick Stop Option Code

Index 0x605

Name Quick Stop Option Code Object Code VAR Data Type integer16 Object Class all Access rw PDO Mapping No Default Value 1

This object defines the stop behaviour when a QUICK_STOP command is executed (see Drive State Machine transition 11).

Quick stop option code

ction

0 Disable drive 1 Stopped on Slow down speed ramp and disabled 2 Stopped on Quick Stop speed ramp and disabled 3 Stopped on current limit and disabled

5 Stopped on Slow down speed ramp and stay in Quick Stop state 6 Stopped on Quick Stop speed ramp and stay in Quick Stop state 7 Stopped on current limit and disabled and stay in Quick Stop state

Shut Down Option Code

Index 0x605B

Name Shut Down Option Code Object Code VAR Data Type integer16 Object Class all Access rw PDO Mapping No Default Value 0

This object defines the stop behaviour when a SHUTDOWN command is executed (see Drive State Machine transition 8).

Shut down option code

ction

0 Disable operation 1 Stopped on Slow down speed ramp 2 Stopped on Quick Stop speed ramp 3 Stopped on current limit

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Disable Operation Option Code

Index 0x605C

Name Disable Operation Option Code Object Code VAR Data Type integer16 Object Class all Access rw PDO Mapping No Default Value 1

This object defines the stop behaviour when a DISABLE_OPERATION command is executed (see Drive State Machine transition 5).

Disable operation option code

ction

0 Disable operation 1 Stopped on Slow down speed ramp 2 Stopped on Quick Stop speed ramp 3 Stopped on current limit

Inhibit Option Code

Index 0x305

Name Inhibit Option Code Object Code VAR Data Type integer16 Object Class all Access rw PDO Mapping No Default Value 1

This object defines the stop behaviour when an Inhibit logic input is activated (see Digital Inputs 0x60FD).

Inhibit option code

ction

0 Disable drive 1 Stopped on Slow down speed ramp and disabled 2 Stopped on Quick Stop speed ramp and disabled 3 Stopped on current limit and disabled

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Slow Down Ramp

Index 0x3300

Name Slow Down Ramp Object Code ARRAY Number of Elements 2

These parameters define the slow down deceleration with a stop executed with stop option code = 1 or 5 (Stopped on Slow down ramp).

Value Description

Sub Index 1 Description Slow Down Ramp 1 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Unit Acceleration unit Default Value

Sub Index 2 Description Slow Down Ramp 2

reserved for future use. Data Type Unsigned32 Object Class all Access rw PDO Mapping No Unit Acceleration unit Default Value

Quick Stop Ramp

Index 0x6085

Name Quick Stop Ramp Object Code VAR Data Type Unsigned32 Object Class all Access rw PDO Mapping No Unit Acceleration unit Default Value 0x00200000

This object defines the deceleration for a quick stop with Quick Stop Option Code = 2 or 6 (Stopped on Quick Stop ramp).

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Stop Current Limit

Index 0x3301

Name Stop Current Limit Object Code ARRAY Number of Elements 2

Value Description

Sub Index 1 Description Stop Current Limit 1

This parameter defines the current limit when a stop on current limit is performed. Data Type Unsigned16 Object Class all Access rw PDO Mapping No Unit per thousand of rated current Value Range 100..6000 Default Value 1000

This parameter is used with a Quick Stop with Quick Stop Option Code = 3 or 7 (Stopped on current). This parameter is also applied with a stop at limit switches.

Sub Index 2 Description Stop Current Limit 2

Data Type Unsigned16 Object Class all Access rw PDO Mapping No Unit per thousand of rated current Value Range 100..6000 Default Value 1000

This parameter is reserved for future use.

Stop Time Limit

Index 0x3302

Name Stop Time Limit Object Code ARRAY Number of Elements 2

These parameters define the time limit for a stop operation.

When a stop on current limit is executed, the end of the stop may not be correctly detected if the axis is oscillating. The time stop limit allows limiting the execution time of the stop operation.

Value Description

Sub Index 1 Description Stop Time Limit 1

Time limit for all stop operations with ramp. Data Type Unsigned16 Object Class all Access rw PDO Mapping No Unit ms Value Range 0..65000 Default Value 1000

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Sub Index 2 Description Stop Time Limit 2

Time limit for all stop operations with current limit. Data Type Unsigned16 Object Class all Access rw PDO Mapping No Unit ms Value Range 0..65000 Default Value 1000

3.2.2 - DRIVE PARAMETERS

3.2.2.1 - Motor parameters

The motor parameters are stored in object 0x6410 These values are the parameters given in the motor manufacturer's catalogue.

The motor control parameters number of pole pairs (0x6410-14), motor phase (0x6410-15), motor offset (0x6410-16) will be respectively copied in objects 0x3410-1, 0x3410-2 and 0x3410-3.

Object 0x3410 can be possibly modified and will be used for the motor control (i.e. if the resolver wiring or adjustment is not correct).

The auto-phasing procedure will calculate these parameters of object 0x3410.

The motor inductance parameter of the catalogue (0x6410-13) will be copied in object 0x340F-0 and will be used for calculating the current loop gains (0x60F6).

Object 0x340F-0 can be possibly modified before calculating the gains if inductances are serially mounted with the motor.

The Maximum Motor Speed (0x6410-7) parameter of the catalogue will clip the motor speed peaks in 0x6080.

Index 0x6410

Name Motor Data Object Code RECORD Object Class all Number of Elements 19

This object defines the manufacturer's motor data.

Value Description

Sub Index 1 Description Motor Manufacturer Name Data Type String Access rw PDO Mapping No Value Maximum 30 characters

Sub Index 2 Description Motor Model Name Data Type String Access rw PDO Mapping No Value Maximum 30 characters

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Sub Index 3 Description Motor Code

Special code or personalisation code. Data Type String Access rw PDO Mapping No Value Maximum 30 characters

Sub Index 4 Description Catalog Date Code Data Type Unsigned16 Access rw Object Class all PDO Mapping No

The structure of the entries is the following:

MSB LSB Year (7-bit) Month (4-bit) Date (5-bit)

Year is relative to 1984.

Sub Index 5 Description Modification Date Code Data Type Unsigned16 Access rw PDO Mapping No

Sub Index 6 Description Motor Type Data Type Unsigned16 Access rw PDO Mapping No Value

Bits Description

0..7 Axis Type

0 Rotating 1 Linear

8..15 Motor Type

0 Brushless motor 4 Induction motor 8 DC motor

The motor type will be copied in 0x6402,0.

Sub Index 7 Description Motor Max Speed Data Type Unsigned32 Access rw PDO Mapping No Unit rpm

When writing to this parameter, its value will also be written to 0x6080,0.

Sub Index 8 Description Motor Rated Speed Data Type Unsigned32 Access rw PDO Mapping No Unit rpm

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Sub Index 9 Description Motor Stall Current Data Type Unsigned32 Access rw PDO Mapping No Unit mA

The value written in this object can consequently modify the value of 0x6075

Sub Index 10 Description Motor Peak Current Data Type Unsigned32 Access rw PDO Mapping No Unit mA

The value written in this object can consequently modify the value of 0x6073

Sub Index 11 Description Torque Constant (Kt) Data Type Unsigned16 Access rw PDO Mapping No Unit 0.001Nm/A

Sub Index 12 Description Inertia Data Type Unsigned16 Access rw PDO Mapping No Unit 0.001gm²

Sub Index 13 Description Inductance Data Type Unsigned16 Access rw PDO Mapping No Unit 0.1mH

When writing to this parameter, its value will also be written to 0x340F,0

Sub Index 14 Description Number of motor pole pairs Data Type Unsigned16 Access rw PDO Mapping No Value 1..24

When writing to this parameter, its value will also be written to 0x3410,1

Sub Index 15 Description Motor Phase Data Type Unsigned16 Access rw PDO Mapping No Value 0x5555 or 0xAAAA (corresponding to 240° or 120°)

When writing to this parameter, its value will also be written to 0x3410,2

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Sub Index 16 Description Motor Sensor Offset Data Type Unsigned16 Access rw PDO Mapping No Value

When writing to this parameter, its value will also be written to 0x3410,3

Sub Index 17 Description Motor Temperature Probe Data Type Unsigned16 Access rw PDO Mapping No Value

Sub Index 18 Description Motor Temperature Warning Threshold Data Type Unsigned16 Access rw PDO Mapping No Value

Sub Index 19 Description Motor Temperature Error Threshold Data Type Unsigned16 Access rw PDO Mapping No Value

Sub Index 20 Description Motor Pole Pitch Data Type Unsigned16 Access rw PDO Mapping No Value

Sub Index 21 Description Magnetization Current Data Type Unsigned32 Access rw PDO Mapping No Unit mA Value

When writing to this parameter, its value will also be written to 0x3420,1

Sub Index 22 Description Rotor Time Constant Data Type Unsigned16 Access rw PDO Mapping No Unit ms Value

When writing to this parameter, its value will also be written to 0x3420,2

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Sub Index 23 Description Base Speed Data Type Unsigned32 Access rw PDO Mapping No Unit rpm Value

When writing to this parameter, its value will also be written to 0x3420,3

Sub Index 24 Description Leakage Factor Data Type Unsigned16 Access rw PDO Mapping No Unit per thousand Value

When writing to this parameter, its value will also be written to 0x3420,4

Sub Index 25 Description Saturation Model Data Type Unsigned16 Access rw PDO Mapping No Unit Value

When writing to this parameter, its value will also be written to 0x3420,5

Index 0x3410

Name Motor Control Parameters Object Code ARRAY Object Class all Number of Elements 3

This object defines the parameters which control the motor.

Value Description

Sub Index 1 Description Number of motor pole pairs Data Type Unsigned16 Access rw PDO Mapping No Value 1..24

Sub Index 2 Description Motor Phase Data Type Unsigned16 Access rw PDO Mapping No Value 0x5555 (240°)

0xAAAA (120°)

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Sub Index 3 Description Motor Offset Data Type Unsigned16 Access rw PDO Mapping No Value

Auto-phasing procedure

Index 0x3413

Name Start Auto-phasing procedure Object Code Data Type Unsigned32 Object Class all Access rw PDO Mapping No

In order to avoid running the auto-phasing procedure by mistake, the auto-phasing is only executed when a specific signature is written to this sub-index. The signature is 'apha'. Signature = 0x61687061

Writing 0 to this object when auto-phasing is running will abort the procedure.

When reading, this object returns the operation status:

Read Value Meaning

0 Procedure never executed 1 Cannot execute 2 Procedure running 3 Procedure aborted by user 4 Procedure stopped on error >= 5 Procedure performed

When running, the BUSY bit of status word (0x6041) is set.

The auto-phasing procedure calculates these parameters: number of pole pairs 0x3410,1 motor phase 0x3410,2 motor offset 0x3410,3

Motor phasing procedure

Index 0x3414

Name Start Motor phasing procedure Object Code Data Type Unsigned32 Object Class all Access rw PDO Mapping No

In order to avoid running the motor phasing procedure by mistake, the motor phasing is only executed when a specific signature is written to this sub-index. The signature is 'mcal'. Signature = 0x6C61636D

Writing 0 to this object when motor phasing is running will abort the procedure.

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When reading, this object returns the operation status:

Read Value Meaning

0 Procedure not executed 1 Cannot execute 2 Procedure running 3 Procedure aborted by user 4 Procedure stopped on error >= 5 Procedure performed

When running, the BUSY bit of status word (0x6041) is set.

The motor phasing procedure calculates these parameters: motor offset 0x3410,3

3.2.2.2 - Motor Brake

Servo On/Off Timing Diagram

T_brake: Motor Brake Reaction Time T_drive: Drive Reaction Time

Index Object Name Type

ttr.

0x3304 VAR Amplifier Reaction Time Unsigned16 rw 0x3305 VAR Motor Brake Reaction Time Unsigned16 rw

Note

: The motor brake control is automatic with Switch On/Off by the control_word. To disable the motor brake control, it is necessary to set at 1 bit 0 of object 60FE sub-index 2 (digital output bitmask). The motor brake is then manually controlled by bit 0 of object 60FE sub-index 1.

Control_Word

xx07h

Brake Cmd

Status_Word

Servo

xx21h

T_drive

T_brake

xx23h xx27h xx40h

Switch On

xx0Fh xx00h xx06h

xx23ht

xx21h

xx07h xx06h

xx40h

Switch On

Switch On Disabled

xx00h

T_brake

Servo On Servo Off

Brake Off Brake On

Switch On Disabled

Ready To Switch On

Operation Enable

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Drive Reaction Time

Index 0x3304

Name Drive Reaction Time Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Unit ms Value Range 0..65535 Default Value x

This parameter defines the reaction time of the drive when enabled / disabled.

Motor Brake Reaction Time

Index 0x3305

Name Motor Brake Reaction Time Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Unit ms Value Range 0..65535 Default Value 0

This parameter defines the reaction time of the motor brake.

3.2.2.3 - Motor current limits & Current Loop

The parameters defining the current limitation to be applied to the motor are the following:

- Motor Max. Current 0x6073

- Motor Rated Current 0x6075 The motor parameters Motor Peak Current (0x6410-10) and Motor stall Current (0x6410-9) will be used for

calculating the internal limitations of the drive according to the drive maximum and rated currents (0x6510). The values of the drive internal limitations can be displayed by object 0x30F4.

The current loop gains are accessible in object 0x60F6.

Object 0x3411 allows:

- calculating the current loop gains according to the motor parameters and the drive specifications: Parameters: Inductance (0x340F) Drive Max. current (0x6510-1) Results: Current Loop Gains (0x60F6)

Object 0x3412 allows:

- calculating the drive current limitations according to the motor and drive currents (0x6510): Parameters: Motor Peak current (0x6410-10) Motor Stall current (0x6410-9) Drive Max current (0x6510-1) Drive Rated current (0x6510-2) Results: Motor Max current (0x6073-0) Motor Rated current (0x6075-0) The input parameters must be previously defined.

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Manufacturer Drive Data

Index 0x6510

Name Manufacturer Drive Data Object Code ARRAY Number of Elements 5

This object indicates the peak current and the rated current supported by the power module.

Value Description

Sub Index 1 Description Drive Max. Current

gives the drive rating Data Type Unsigned32 Access ro PDO Mapping No Unit mA

Sub Index 2 Description Drive Rated Current

gives the drive rated current Data Type Unsigned32 Access ro PDO Mapping No Unit mA

Sub Index 3 Description Drive Voltage

gives the drive voltage (AC value) Data Type Unsigned16 Access ro PDO Mapping No Unit V

Sub Index 4 Description Drive Operating Voltage

Defines the drive operating voltage (AC value) Data Type Unsigned16 Access rw Backup drive's parameter file PDO Mapping No Unit V Value Possible values: 400, 230, 34 or 17

And must be less than or equal to Drive Voltage (0x6510-3)

Sub Index 5 Description Power Supply Voltage Threshold

Defines the Undervoltage error level. Data Type Unsigned16 Access Rw Backup drive parameter file PDO Mapping No Unit V Range See below Default value See below

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Drive Voltage = 400 Drive Operating Voltage Undervoltage min value Undervoltage max value Undervoltage default value

400 40 210 210 230 20 100 100

34 10 40 20 17 10 20 17

Drive Voltage = 230 Drive Operating Voltage Undervoltage min value Undervoltage max value Undervoltage default value

230 20 100 100

34 10 40 20 17 10 20 17

Index 0x3411

Name Current Loop Calculation Object Code VAR Data Type Unsigned32 Object Class all Access rw PDO Mapping No Default Value 0

When the motor inductance (0x6410) and drive current (0x6510) are correct, this object allows calculating the current loop parameters.

In order to avoid running this operation by mistake, the user must write a specific signature to this object to make the calculation. The signature is 'calc'.

Signature = 0x636C6163

The parameters calculated are in object 0x60F6.

This procedure also calculatess the current limit values (0x6073 and 0x6075).

Index 0x3412

Name Current Limitation Calculation Object Code VAR Data Type Unsigned32 Object Class all Access rw PDO Mapping No Default Value 0

Signature = 0x636C6163

This procedure calculates the current limit values (0x6073 and 0x6075)

Index 0x6073

Name Motor Max. current Object Code VAR Data Type Integer16 Object Class all Access rw PDO Mapping No Unit per thousand of rated current (0x6075) Value Range Default Value

This object defines the maximum current which the drive can deliver to the motor.

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Index 0x6075

Name Motor Rated Current Object Code VAR Data Type Integer32 Object Class all Access rw PDO Mapping No Unit mA Value Range Default Value

This object defines the rated current which the drive can deliver to the motor.

Current Loop Parameters

This object defines the parameters of the current loops.

Index 0x60F6

Name Current Loop Parameter Set Object Code RECORD Number of Elements 5

Value Description

Sub Index 1 Description Regulator Type Data Type Unsigned16 Object Class all Access rw PDO Mapping No Value Range 0.. 65535 Default Value 0

Sub Index 2 Description q-Loop Proportional Gain Data Type Unsigned16 Object Class all Access rw PDO Mapping No Value Range 0.. 65535 Default Value

Sub Index 3 Description q-Loop Integral Gain Data Type Unsigned16 Object Class all Access rw PDO Mapping No Value Range 0.. 65535 Default Value

Sub Index 4 Description d-Loop Proportional Gain Data Type Unsigned16 Object Class all Access rw PDO Mapping No Value Range 0..65535 Default Value

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Sub Index 5 Description d-Loop Integral Gain Data Type Unsigned16 Object Class all Access rw PDO Mapping No Value Range 0.. 65535 Default Value

Torque Offset: This object allows adding an offset to the torque command.

Index 0x60B2

Name Torque Offset Object Code VAR Data Type Integer16 Object Class all Access rw PDO Mapping Yes Unit per thousand of rated current (0x6075) Default Value 0

Index 0x30B3

Name Torque Offset 2

This object allows adding an offset to the current command. Object Code VAR Data Type Integer16 Object Class all Access rw PDO Mapping Yes Unit per thousand of rated current (0x6075) Default Value 0

The "Current Actual Value" gives the value of the DC current in the drive. This signal is filtered by a low-pass filter (0x3078)

Index 0x6078

Name Current Actual Value Object Code VAR Data Type Integer16 Object Class all Access ro PDO Mapping Yes Unit per thousand of motor rated current (0x6075) Value Range Default Value -

Low-pass filter on “Current Actual Value” (0x6078)

Index 0x3078

Name Current measurement filter Object Code VAR Data Type Integer16 Object Class all Access rw PDO Mapping No Unit Hz Defaut Value 1000

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Undervoltage Warning Threshold

Index 0x3079

Description Power Supply Voltage Threshold

Defines the undervoltage warning level on the DC bus. Object Code VAR Data Type Unsigned32 Object Class all Access rw Backup drive parameter file PDO Mapping No Unit mV Default Value 0

Remark When this parameter value is 0, the “Undervoltage” bit is not controlled (reset to 0) in

object 0X3024 (drive warning).

When the DC bus voltage value drops below this parameter value, the “Undervoltage” bit is activated in object 0X3024 (drive warning).

3.2.2.4 - Dynamic current limits

The current applied to the motor is dynamically limited by the value of a defined object. By default, object 0x30D1 is used to limit the motor current (defined in 0x30DA).

The default value of object 0x30D1 is 0x3FFF and corresponds to the maximum current set by the user (0x6073).

Dynamic Current Limit Input Source

Index 0x30D

Name Dynamic Current Limit Input Source Description Index/sub-index of input data Data Type Unsigned32 Object Class all Access rw PDO Mapping No Default Value 0x30D10000 Value See below

This object allows connecting any dataflow as the source of the Dynamic Current Limit.

By default the object 0x30D1 is used as Dynamic Current Limit signal.

The structure of the entries is the following:

MSB LSB Index (16-bit) Sub-index (8-bit) 0

Current Limit

Index 0x30D1

Name Current Limit Description This object allows limiting the current dynamically applied to the motor. Changes on

this object will be continuously effective. Data Type integer16 Object Class all Access rw PDO Mapping Yes Default Value 0x3FFF Value 0-0x3FFF

0x3FFF corresponds to the maximum value setting (0x6073) for maximum current in

the motor

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Dynamic Current Limit Configuration

Index 0x30D2

Name Dynamic Current Limit Configuration Description This object allows defining the effect of Dynamic Current Limit signal. Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0 Value bit description

0 0 normal effect of the Dynamic Current Limit signal:

0 current is limited at 0

0x3FFF corresponds to the maximum current (0x6073)

1 reverse effect of the Dynamic Current Limit signal

0x3FFF current is limited at 0

0 corresponds to the maximum current (0x6073)

1..15 reserved

Current Monitor

Index

0x30D4 Name Current monitor Object Code VAR Data Type Integer16 Object Class all Access ro PDO Mapping Yes Unit % of drive max. current (0x6510) (0x3FFF = 100% Imax) Value Range Default Value -

3.2.2.5 - Motor temperature probe

Index 0x3324

Name Motor temperature probe configuration Object Code RECORD Object Class all Number of Elements 3

This object defines the Motor temperature probe configuration.

Value Description

Sub Index 1 Description Motor temperature type Data Type Integer16 Access rw PDO Mapping No Value -1 NTC probe

1 PTC probe

0 No probe

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Sub Index 2 Description Motor temperature warning threshold Data Type Unsigned32 Access rw PDO Mapping No Unit Ω (ohm) Default value 2400

This parameter defines the threshold of the equivalent resistor corresponding to the temperature at which a warning will be notified.

Sub Index 3 Description Motor temperature error threshold Data Type Unsigned32 Access rw PDO Mapping No Unit Ω (ohm) Default value 2400

This parameter defines the threshold of the equivalent resistor corresponding to the temperature at which an error will be triggered.

Inde

0x3323

Name Motor temperature probe monitoring Object Code VAR Data Type Unsigned32 Object Class all Access ro Unit Ω (ohm) PDO Mapping No

The returned value gives an image of the equivalent resistance (in Ω).

3.2.2.6 - IGBT temperature

IGBT module temperature value

Index 0x3328

Name IGBT module temperature information Object Code VAR Data Type Integer 16 Object Class all Access ro PDO Mapping Yes Unit °C Remark Only valid for the 400 V range

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3.2.2.7 - Sensors

The Xtrapuls servo drive has 2 sensor inputs: Resolver and Encoder

Each sensor can be used as motor feedback or position feedback.

Index Object Name Type Attr.

0x306A VAR Position Feedback Sensor Select Unsigned16 rw 0x3070 VAR Motor Feedback Sensor Select Unsigned16 rw

Position Feedback Sensor Select

Index 0x306

Name Position Feedback Sensor Select Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

This object defines the feedback sensor which will be used to close the position loop.

alue Function

0 Resolver Feedback 1 Encoder Feedback

When motor feedback and position feedback are different (resolver for motor feedback and encoder for position feedback, for example), both sensors must count in the same direction.

Motor Feedback Sensor Select

Index 0x3070

Name Motor Feedback Sensor Select Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

The motor feedback sensor is used to close the servo motor torque and speed control loops. The servo motor position loop can be closed by the motor feedback sensor or with the secondary sensor (see object 0x306A).

alue Function

0 Resolver Feedback 1 Encoder Feedback

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3.2.2.7.1 - Resolver

Resolver Parameters

Index Sub Name Description Type Attribute

0x3100 Resolver Resolver monitoring 1 Res_Sin Integer16 ro 2 Res_Cos Integer16 ro 3 Res_Amp2 Unsigned16 ro

4 Res_Mod Resolver value for one motor revolution.

(absolute single-turn) one revolution -> 16-bit

Unsigned16 ro

5 Res_Amp Unsigned16 ro 0x3101 Res_Setp Resolver Setup 1 Res_Type rw 2 Res_Cfg rw 3 Res_Zsh rw 4 Res_Zsz rw 5 Res_NP rw 0x3102 Res_Err Resolver Error control 1 Res_Thrs Unsigned16 rw 2 Res_Lim Unsigned16 rw 3 Res_AmpF Unsigned16 rw 4 Res_Rdc Unsigned32 rw 5 Res_Filt Unsigned16 rw 0x3104 Res_Cal Resolver Calibration procedure 0x3105 Res_CalV Resolver Calibration parameters 0x3107 0 Res_TopZ Resolver Virtual Top Z Unsigned16 ro 0x3108 0 Res_ofs Resolver Offset (user position unit) Integer32 rw 0x3109 0 Res_pos Resolver Position (user position unit) Integer32 ro 0x310A 0 Res_vel Resolver Velocity (user velocity unit) Integer32 ro 0x310C 0 Res_raw Resolver raw position Integer32 ro

Resolver Setup

Index 0x3101

Name Resolver Setup Object Code RECORD Number of Elements 6

Value Description

Sub Index 1 Description Resolver Type Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

Bit Numbe

Description

0 1 Enabled

0 Disabled 1, 2 reserved 3 1 SinCos Track 4, 5 reserved 6 1 Absolute Single-turn

7..15 reserved

For a resolver, the setting value is 0x41 For a SinCos track encoder, the setting is 0x49

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Sub Index 2 Description Resolver Configuration Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

Bit Numbe

Description

0 0 Normal direction

1 Reverse direction

Sub Index 3 Description Resolver Virtual Top Z shift Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

This parameter defines the offset between marker Z of the encoder and the virtual marker Z. The value is given in encoder increments (4096 increments / revolution).

Sub Index 4 Description Resolver Virtual Top Z size Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

This parameter defines the width of the virtual marker Z. The value is given in encoder increments (4096 increments / revolution).

The virtual marker Z is working with polling technique, the width of the virtual marker Z allows increasing the marker Z size in order to avoid a missing of the marker Z.

The status of the virtual marker Z can be read by object 0x3027.

Sub Index 5 Description Resolver Pole pairs

reserved for future use Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 1

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Resolver Position Offset

Index 0x3108

Name Resolver Position Offset Object Code VAR Data Type Integer32 Object Class all Access rw PDO Mapping Yes Unit User Position Unit Value Range (-231)..(231-1) Default Value 0

See Resolver Position (0x3109).

Resolver Position

Index 0x3109

Name Resolver Position Object Code VAR Data Type Integer32 Object Class all Access ro PDO Mapping Yes Unit User Position Unit Value Range (-231)..(231-1) Default Value -

This object monitors the resolver position:

Resolver_Position = Resolver_Internal_Position + Resolver_Position_Offset

Resolver_Position (0x3109) in user position unit is the position given by the resolver. If the position loop feedback is resolver, and the modulo function (Position Limit) is not activated, then the resolver position is the same as 0x6064.

Resolver_Internal_Position in user position unit is the resolver position value related to the initial position at power on.

Resolver_Position_Offset (0x3108) defines an offset between user position (0x3109) and internal resolver position. If the position loop feedback is resolver, this offset will be calculated by the homing procedure. At power on Resolver_Position_Offset is 0.

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3.2.2.7.2 - Encoder

Encoder support types:

- TTL Incremental Encoder

- TTL Incremental Encoder + Hall Effect Sensor

- Sin-Cos Incremental Encoder

- Sin-Cos Incremental Encoder + Hall Effect Sensor

- Hiperface® Encoder

Encoder Parameters

Index Sub Name Description Type Attribute

0x3120 Encoder1 Encoder 1 1 Enc1Sin Integer16 ro 2 Enc1Cos Integer16 ro 3 Enc1Amp2 Integer16 ro

4 Enc1Mod Encoder value for one motor revolution.

one revolution -> 16-bit

Unsigned16 ro

5 Enc1Amp Integer16 ro 0x3121 Enc1Setp Encoder 1 Setup 0x3122 Enc1Err Encoder 1 Error Control 1 Enc1Cnt Unsigned32 rw 2 Enc1Thrs Unsigned16 rw 3 Enc1Lim Unsigned16 rw 4 Enc1Zlim Unsigned16 rw 5 Enc1Clim Unsigned16 rw 6 Enc1Vlim Unsigned32 rw 0x3124 Enc1CalP Encoder 1 Calibration 0x3127 0 Enc1TopZ Encoder 1 Virtual Top Z Unsigned16 ro 0x3128 0 Enc1ofs Encoder 1 Offset (user position unit) Integer32 rw 0x3129 0 Enc1pos Encoder 1 Position (user position unit) Integer32 ro 0x312A 0 Enc1vel Encoder 1 Velocity (user velocity unit) Integer32 ro 0x312C 0 Enc1raw Encoder1 Raw Position Integer32 ro

Encoder Setup

Index 0x3121

Name Encoder Setup Object Code RECORD Number of Elements 6

Value Description

Sub Index 1 Description Encoder Type Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value

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Bit Numbe

Description

0 1 Enabled

0 1 1 TTL Encoder

0 2 1 Sin/Cos Encoder

0 3 1 Encoder with CD track

0 4 1 HES

0 5 0 HAL 60°

1 HAL 120° 6 Absolute Single-turn 7 Absolute Multi-turn 8 Reverse Incremental track / Absolute track 12-15 Communication Protocol

1 Hiperface®

Sub Index 2 Description Encoder Configuration Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value

Bit Number Description

0 0 Normal direction

1 Reverse direction

Sub Index 3 Description Encoder Virtual Top Z shift Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

This parameter defines the offset between marker Z of the encoder and the virtual marker Z. The value is given in encoder increments (encoder resolution x 4)

Sub Index 4 Description Encoder Virtual Top Z size Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0

This parameter defines the width of the virtual marker Z. The value is given in encoder increments (encoder resolution x 4).

The virtual marker Z is working with polling technique, the width of the virtual marker Z allows increasing the marker Z size in order to avoid the missing of the marker Z.

The status of the virtual marker Z can be read by object 0x3127

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Sub Index 5 Description Encoder Resolution x 4 Data Type Unsigned32 Object Class all Access rw PDO Mapping No Default Value

This parameter defines the resolution (period) of the encoder x 4.

Encoder Position Offset

Index 0x3128

Name Encoder Position Offset Object Code VAR Data Type Integer32 Object Class all Access rw PDO Mapping Yes Unit User Position Unit Value Range (-231)..(231-1) Default Value 0

See Encoder Position (0x3129).

Encoder Position

Index 0x3129

Name Encoder Position Object Code VAR Data Type Integer32 Object Class all Access ro PDO Mapping Yes Unit User Position Unit Value Range (-231)..(231-1) Default Value -

This object monitors the encoder position:

Encoder_Position = Encoder_Internal_Position + Encoder_Position_Offset

Encoder _Position (0x3129) in user position unit is the position given by the encoder. If the position loop feedback is encoder and modulo function (Position Limit) is not activated, then the encoder position is the same as 0x6064.

Encoder_Internal_Position in user position unit, is the encoder position value related to the initial position at power on.

Encoder_Position_Offset (0x3128) defines an offset between user position (0x3129) and internal encoder position. If the position loop feedback is encoder, this offset will be calculated by the homing procedure. At power on, Encoder_Position_Offset is 0. If the encoder is absolute multi-turn, the Encoder_Position_Offset is saved in the drive parameter file, and is restored at power on.

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3.2.2.7.3 - TTL Encoder

An incremental TTL encoder can be connected to Xtrapuls drives as motor feedback or only as position feedback.

Motor Feedback:

Incremental TTL encoder is not absolute for motor commutation, so:

- In a first time, an auto-phasing must be performed to define the motor pole pair number, motor phase order, and encoder offset.

- Each time the drive is restarted with 24 V, a motor-phasing must be performed before the motor can be controlled.

Note:

- Motor-phasing applies torque and moves the motor

- Power supply must be on

- Please check that the motor is at standstill and its movement over one revolution dangerous neither for operator nor machine.

- Motor-phasing does not work with vertical axis or axis with driving load.

Position Feedback:

If the encoder is used as a position feedback only (motor feedback is resolver) then the encoder resolution defined in object 0x608F must be the encoder counts for one motor revolution.

3.2.2.7.4 - Sin-Cos Encoder

An incremental SinCos encoder can be used with Xtrapuls drives as an incremental TTL encoder.

An internal SinCos interpolation allows the drive working at a higher resolution, which means better results on the speed loop.

3.2.2.7.5 - Hall Effect Sensor

The Hall effect sensor can be used with a TTL incremental encoder or a Sin-Cos incremental encoder to avoid a motor phase search with motor-phasing operation each time the 24 V supply is applied.

The Hall effect sensor parameters are calculated with the auto-phasing procedure.

Parameters depending on the Hall effect sensor:

- Motor phase order: 0x3410,2

- Sensor offset: 0x3410,3

- Hall effect sensor parameter: 0x313E,0

Index Object Name Type Attr.

0x313E VAR HES configuration Unsigned16 rw

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Hall Effect Sensor configuration

Index 0x313E

Name Encoder HES configuration Description Encoder Type Data Type Unsigned16 Object Class all Access rw PDO Mapping No Saved Yes Default Value 0

Value Description Bit Number Description

0-2 HES initial state

3 Direction 4 Type:

0 60°

1 120°

Manual Configuration for an incremental encoder + HES: 0x3121,1 = 0x0013 ; incremental TTL encoder + HES 0x313E,0 = HES config 0x3410,1 = pole pairs 0x3410,2 = phase order 0x3410,3 = sensor offset (mechanic)

3.2.2.7.6 - Hiperface®

A Hiperface® type encoder can be connected to an Xtrapuls drive. Only Hiperface® Encoder type different from 0xFF can be recognized.

Setup Hiperface® encoder with Gem Drive Studio

The Hiperface® Encoder commissioning can be done with Gem Drive Studio:

- Select Hiperface® Encoder

- Check "Enable encoder input"

- "Read Encoder Configuration" to read encoder parameters

- "Apply"

Move the motor by hand: if there is an "Encoder Commutation channel / Incremental channel Error", then toggle "Reverse Incremental Track".

Setup Hiperface® encoder manually

Enabling and selecting Hiperface® encoder are defined with object 0x3121,1.

Writting a 1 to object 0x312B,1 allows reading Hiperface® encoder parameters.

The Hiperface® encoder has an absolute information track (serial) and an incremental information track (SinCos). The two information tracks must evolve in the same direction. Inverting the Sin-Cos signals may change the counting direction of the Sin-Cos signal with regard to the absolute value from the serial channel.

If there is an "Encoder Commutation channel / Incremental channel Error" when moving the encoder (motor), then "Reverse Incremental track / Absolute track" bit in object 0x3121,1 must be toggled.

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3.2.2.7.7 - Absolute Multi-turn Position

With an absolute encoder feedback, the motor absolute position value over one revolution is available and the servo motor can immediately be enabled after the amplifier power up. The servo drive behaviour at power up is similar to a resolver sensor feedback. For a position application, an absolute multi-turn encoder allows avoiding the homing sequence after power up. In this case, the absolute position value over the axis travel distance is available at power up and the positioning can be immediately started. However, the axis must never leave the encoder absolute position range.

Encoder Position Range

The absolute encoder gives a position value between 0 and a maximum position value (depending on the encoder type).

For a Hiperface® encoder, the max. position value is given by:

(Number_of_revolutions x Number_of_periods x 4 x 8) - 1 Number_of_revolutions is the maximum revolution for that encoder. Number_of_periods is the number of Sin-Cos periods per revolution 4 is the quadrature counter multiplier 8 is the interpolation factor.

Example 1

: Number_of_revolutions = 4096 Number_of_periods = 1024 Then, the maximum position value given by the encoder is 4096 x 1024 x 4 x 8 - 1 = 134 217 727 = 0x7FF FFFF

Once the encoder parameters set, this maximum position can be read with object 0x312D,1. The current position of the encoder is given by object 0x312D,3 Note

: these values are in encoder unit.

100

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Setting Motor Zero Position

For the drive operation in absolute positioning mode (without a new homing sequence after each drive power up), proceed as described below.

1) Check that the encoder 0 position is outside the axis travel range by using the object 0x312D,3 (encoder position read)

An absolute encoder gives a position value between 0 and the maximum position value (encoder modulo). So, for an absolute positioning application, the encoder 0 position must be out of the axis travel range as shown below.

Correct encoder absolute position range adjustment

Wrong encoder absolute position range adjustment

If the encoder 0 position is inside the axis travel range, uncouple the motor and adjust manually the encoder position range.

2) Adjust the motor position range by using the object 0x312B,1 (reset motor position)

The displayed motor position range can be adjusted according to the application with:

- a positive value only

- or a negative value only

- or bipolar value.

Encoder absolute position value

Max. position value (Encoder modulo)

Axis travel range

Axis position

Encoder absolute position value

Max. position value (Encoder modulo)

Axis travel range

Axis position

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