FLEXI PRO Servo Drive

Transcription

1 Servo Drive CApen for CAN and EtherCAT Drives Reference Manual Manual Revision: 3.0 Firmware Version: 1.4.4

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3 Revision History Document Revision Date Remarks 3.0 Oct Release for firmware May 2013 Minor fixes 2.1 Jan General release for firmware Jan Preliminary Release 1.0 Aug Internal release Firmware Revision Important tice Disclaimer Trademarks 2013 Motor Power Company s.r.l. All rights reserved. part of this work may be reproduced or transmitted in any form or by any means without prior written permission of Motor Power Company. The information in this manual was accurate and reliable at the time of its release. Motor Power Company s.r.l. reserves the right to change the specifications of the product described in this manual without notice at any time. CApen and CiA are registered trademarks of the CAN in Automation User's Group EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH HIPERFACE is a registered trademark of Sick Stegmann Gmbh Windows is a registered trademark of Microsoft Corporation Contact Information Motor Power Company s.r.l. Via Leonardo Da Vinci, Castelnovo Sotto Reggio Emilia - Italia Tel: Fax: Website : Technical Support If you need assistance with the installation and configuration of the FLEXI PRO drive, contact Motor Power Company technical support: info@motorpowerco.it CApen for CAN and EtherCAT Drives Reference Manual 3

4 Customer Service FLEXI PRO Motor Power Company is committed to delivering quality customer service and support for all our products. Our goal is to provide our customers with the information and resources so that they are available, without delay, if and when they are needed. In order to serve in the most effective way, we recommend that you contact your local sales representative for order status and delivery information, product information and literature, and application and field technical assistance. If you are unable to contact your local sales representative for any reason, please use the most relevant of the contact details below: For technical support, contact: To order products, For all other inquiries regarding FLEXI PRO drives or other Motor Power Company products, contact: 4 CApen for CAN and EtherCAT Drives Reference Manual

5 Contents 1 Introduction About This Manual Documentation Set for the FLEXI PRO Manual Format Object Dictionary CAN Cabling and Setup Typical FLEXI PRO CAN Hardware Configuration FLEXI PRO de Address FLEXI PRO Termination Resistor Switch FLEXI PRO CAN Bit Rate FLEXI PRO EtherCAT Communication CApen Basics Device Communication Communication Objects Service Data Communication Process Data Communication Object Object Types Errors and Faults Service Request Error Codes Emergency Error Codes (Faults) Communication Objects h Device Type h Error Register h Manufacturer Status Register h Predefined Error Field h COB-ID SYNC Message h Communication Cycle Period h Synchronous Window Length h Manufacturer Device Name h Manufacturer Hardware Version Ah Manufacturer Software Version h Store Parameter Field h Restore Default Parameters h COB-ID EMCY h Inhibit Time Emergency h Heartbeat Consumer Time h Producer Heartbeat Time h Identity Object h Synchronous Counter Overflow Value h Server SDO Parameter h Server SDO Parameter h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive Parameter h Receive Parameter h Receive Parameter h Receive Parameter h Transmit PDO Communication Parameter h Transmit PDO Communication Parameter h Transmit PDO Communication Parameter CApen for CAN and EtherCAT Drives Reference Manual 5

6 1803h Transmit PDO Communication Parameter A00h Transmit Parameter A01h Transmit Parameter A02h Transmit Parameter A03h Transmit Parameter Manufacturer-Specific Objects h Configuration Command h CL BEMF Gain h Current DQ Axis Compensation h Current KI Gain h Current KP Gain h Current Controller D Integrator h Current Controller Q Integrator Ah HD Anti-Vibration Filter Bh HD Anti-Resonance Sharpness Ch HD Anti-Vibration Gain Dh Absolute Feedback Offset Fh Field Bus Unit Scaling h Velocity Loop Bandwidth h Current CL VD h Current CL VQ h Drive Name h Electrical Position h HD Derivative Gain h HD Integral Gain h HD Derivative-Integral Gain Ah HD Proportional Gain Bh HD Adaptive Gain Scale Factor Ch Position Acceleration Feedforward to Current Dh Position Acceleration Feedforward Eh Position Derivative Gain Fh Position Proportional Adaptive Gain h Position Integral Gain h Position Integral Saturation Output h Position Proportional Gain h Position Velocity Feedforward h Motor Type h Velocity Feedforward Ratio h Velocity Integrator h Velocity Gain h Mechanical Angle h Encoder Type Ah Motor Encoder Position Bh Motor and Feedback Direction Ch Point-to-Point Move Low Pass Filter Dh Motor Feedback Mode Eh Motor Foldback Status Fh Motor Foldback Delay Time h Motor Foldback Disable h Motor Foldback Recovery Time h Motor Foldback Time Constant h Motor Foldback Current h Motor Foldback Fault Threshold h Motor Foldback Warning Threshold h Motor Peak Current h Rotor Inertia CApen for CAN and EtherCAT Drives Reference Manual

7 2038h Torque Constant for Linear Motors h Torque Constant Ah Motor Inductance Bh Adaptive Gain Value at Continuous Motor Current Ch Adaptive Gain Value at Peak Motor Current Dh Rotor Coil Mass (Linear Motor) Eh Motor Commutation Type Fh Motor Name h Phase Disconnect Scan h Motor Setup h Motor Setup Status h Commutation Offset h Drive Temperature h Feedback Direction h Disabling Mode h Capture Input Position Offset h Capture Input Position Offset h Quick Stop Deceleration Time Ah Active Disabling Speed Threshold Bh Active Disabling Time Ch Factory Restore Dh Feedback Type Eh Velocity Loop Output Filter Parameter Fh Velocity Loop Output Filter Parameter h Velocity Loop Output Filter h Foldback Status h Friction Compensation Negative Current h Friction Compensation Positive Current h Friction Compensation Negative Velocity Hysteresis h Friction Compensation Positive Velocity Hysteresis h Halls State h Invert Hall Signals h Hall Signals Type h Harmonic Correction Feedback Ah Harmonic Correction Feedback Parameter Bh Harmonic Correction Feedback Parameter Ch Harmonic Correction Current Dh Harmonic Current ICMD Parameter Eh Harmonic Current ICMD Parameter Fh HD Current LPF Rise Time h HD Current Filter Damping h Current tch Filter Center h HD Current tch Filter Bandwidth h Hold Position Command h Hardware Position External h Hardware Position h Current D Axis h Current Q Axis h Current Feedforward LPF h Drive Foldback Current Limit Ah Drive Foldback Fault Threshold Bh Drive Foldback Warning Threshold Ch Gravity Compensation Dh Encoder Initialization Eh Encoder Initialization Status Fh Encoder Position Feedback h Input Inversion CApen for CAN and EtherCAT Drives Reference Manual 7

8 2071h Dynamic Brake Current h Phase U Actual Current h Phase U Current Offset h Phase V Actual Current h Phase V Current Offset h Zero Procedure Current h Position Integral Saturation Input h Negative Limit Switch Status h Positive Limit Switch Status Ah Load to Motor Inertia Ratio Bh Drive Peak Current Ch Drive Continuous Current Dh Motor Pitch Eh Motor Poles Fh Motor Resistance h Motor Resolver Poles h Motor Rated Torque h Current KCFF Gain h Torque Commutation Angle Advance at Motor Continuous Current h Torque Commutation Angle Advance at Motor Peak Current h Velocity Commutation Angle Advance at Motor Maximum Speed h Velocity Commutation Angle Advance at Motor Maximum Speed/ h HD Spring Filter h PFB Backup h PFB Backup Mode Ah HD Maximum Adaptive Gain Bh HD Current Filter Second tch Filter Bandwidth Ch HD Current Filter Second tch Filter Center Dh Emergency or Controlled Stop Current Limit Eh Position Command Fh HD Flexibility Compensation h Home Status h HD Spring Deceleration Ratio h HD Autotune Command h HD Autotune Procedure Parameter h Position Feedback Offset h HD Anti Vibration Filter h HD Anti Vibration Filter h HD Autotune Timeout h Current Level 1 for Digital Output Definition Ah Current Level 2 for Digital Output Definition Bh Output Inversion Ch Output Mode Dh Position Level 1 for Digital Output Definition Eh Position Level 2 for Digital Output Definition Fh Velocity Level 1 for Digital Output Definition A0h Velocity Level 2 for Digital Output Definition A1h Over-Voltage Threshold A2h - Software Enable Status A3h Position Loop Position Error A4h Phase Find Command A5h Forced Electrical Position A6h Phase Find Gain A7h Phase Find Current A8h Phase Find Mode A9h Phase Find Status AAh Phase Find Duration CApen for CAN and EtherCAT Drives Reference Manual

9 20ABh Position Loop Controller Mode ACh Software Position Limit Mode ADh PRB Generator Frequency AEh PRB Generator Mode AFh PRB Generator Configuration B0h PTP Generator Target Error B1h PTP Generator Velocity Command B2h PWM Frequency B3h Gearmode B4h PWM Saturation Ratio B5h Position Error in Position Flag B6h Machine Hardware Position External B8h Fault Relay Status B9h Fault Relay Mode BAh Remote Hardware Enable Status BBh Resolver Amplitude Range BCh Resolver Conversion Bandwidth BDh Save/Load Status BEh Sine/Cosine Calibration Command BFh Sine/Cosine Calibration Mode C0h Sine/Cosine Calibration Status C1h Sine/Cosine Calibration Parameters C2h Synchronization Mode C3h Tracking Factor C4h Motor Over-Temperature C5h Motor Over-Temperature Clear Fault Level C6h Motor Over-Temperature Mode C7h Motor Temperature C8h Motor Over-Temperature Time C9h Motor Over-Temperature Fault Level CAh Motor Over-Temperature Type CBh Tamagawa Multi-Turn Reset CCh Run Time CDh Under-Voltage Mode CEh Under-Voltage Recovery Mode CFh Under-Voltage Threshold D0h Under-Voltage Time D1h Bus Voltage (DC) D3h Velocity Error D4h Velocity Loop Controller D5h Velocity Design Structure D6h Velocity Filter Mode D7h Drive Version D8h Velocity Loop Output Filter D9h Velocity Loop Input Filter DAh Advanced Pole Placement H Polynomial DBh Advanced Pole Placement R Polynomial DCh Wake Shake Status DDh Display Warnings DEh External Encoder Resolution DFh Zeroing Command E0h Input Mode E1h Rotary Address Switch E2h Test 7-Segment Display E3h Encoder Simulation Mode E4h Encoder Simulation Resolution E5h Encoder Simulation Position CApen for CAN and EtherCAT Drives Reference Manual 9

10 20E6h Record Done Indicator E7h Get Recorded Data E8h Trigger Recording E9h Cancel Recording EAh Record EBh Recording Status ECh Ready to Record EDh HD Autotune Status EEh Drive and Motor Maximum Velocity EFh Dead Time Compensation Minimal Level F0h Drive and Motor Maximum Current F1h Motor Encoder Resolution F2h Analog Input F3h Analog Input 1 Deadband F4h Analog Input 1 Current Scaling F5h Analog Input 1 Low Pass Filter F6h Analog Input 1 Offset F7h Analog Input 1 Velocity Scaling F8h Analog Input 1 Zeroing F9h Analog Input FAh Analog Input 2 Deadband FBh Analog Input 2 Current Scaling FCh Analog Input 2 Low Pass Filter FDh Analog Input 2 Offset FEh Analog Input 2 Velocity Scaling FFh Analog Input 2 Zeroing h Analog Input 2 Mode h Motor Winding Estimation h Motor Winding Estimation Status h Homing Command h Current Level for Homing on Hard Stop h Current Loop Compatibility Mode h Point-to-Point Move Average h Point-to-Point Move Smoothing Mode Ah HD Anti-Vibration Reduced Factor for KNLD Bh Load to Motor Inertia Ratio for Anti-Vibration Only Ch HD Anti-Resonance Filter Divider Dh HD Current Filter Low Pass Filter Rise Time h Drive Ready h Drive Status h Step Command h Position Motion Ended h Linear Acc/Dec h Linear Position h Linear Velocity Ah Rotary Acc/Dec Bh Rotary Position Ch Rotary Velocity Dh Velocity Filter Pole Frequency Eh Gear h Gear Acceleration Threshold h Gear Filter Acceleration Feedforward h Gear Filter Mode h Gear Filter Depth h Gear Filter Velocity and Acceleration Depth h Gear Filter Velocity Feedforward h Gear Ratio Multiplier CApen for CAN and EtherCAT Drives Reference Manual

11 2127h Gearing Input Interpolation Mode h Gear Following Limits Mode h Gear Ratio Divider Ah Drive Info Bh Torque Window Ch Block Control Word Dh HD Anti-Vibration Sharpness Eh HD Derivative Gain Fh HD Integral Gain Factor Standard Servo Drive Objects Fh Error Code h Controlword h Statusword Dh Halt Option Code h Modes of Operation h Modes of Operation Display h Position Demand Value h Position Actual Value h Following Error Window h Following Error Time Out h Position Window h Position Window Time Bh Velocity Demand Value Ch Velocity Actual Value Dh Velocity Window Eh Velocity Window Time Fh Velocity Threshold h Velocity Threshold Time h Target Torque h Maximum Current h Torque Demand Value h Motor Rated Current h Current Actual Value h DC Link Circuit Voltage Ah Target Position Ch Home Offset Dh Software Position Limit Eh Polarity Fh Max Profile Velocity h Max Motor Speed h Profile Velocity h Profile Acceleration h Profile Deceleration h Quick Stop Deceleration Fh Position Encoder Resolution h Gear Ratio h Feed Constant h Homing Mode h Homing Speeds Ah Homing Acceleration B0h Position Offset C0h Interpolation Submode C2h Interpolation Time Period C5h Max Acceleration C6h Max Deceleration F2h Position Option Code CApen for CAN and EtherCAT Drives Reference Manual 11

12 60F4h Following Error Actual Value FCh Position Demand Internal Value FDh Digital Inputs FEh Digital Outputs FFh Target Velocity h Supported Drive Modes CAN Operation Device Control and State Machine Indicating the Operating State Changing the Operating State Starting and Changing an Operating Mode Operating Mode Profile Position Procedure Associated Objects Example: Profile Position Operating Mode Homing Procedure Associated Objects Example: Homing Operating Mode Profile Velocity Procedure Associated Objects Example: Profile Velocity Operating Mode Profile Torque Procedure Associated Objects Example: Profile Torque Defining Gear Ratio and Feed Constant Parameters Overview Simple Rotary Motor Setting CApen to Represent Revolutions Setting CApen to Represent Degrees Setting CApen to Represent Counts Linear Motor Setting CApen to Represent Motor Pitch Setting CApen to Represent Millimeters Setting CApen to Represent Counts Rotary Motor with Gear or Rotary to Linear Motion Translation Device Examples CApen for CAN and EtherCAT Drives Reference Manual

13 Introduction 1 Introduction 1.1 About This Manual FLEXI PRO drive functionality is configured using various commands and variables, which are communicated over the serial port or over CAN bus. This manual describes the implementation of CiA 402 and 301 CApen protocols in the FLEXI PRO digital servo drive. This manual is not meant to replace the CApen specifications, or to reproduce them. This manual is intended for skilled personnel who have been trained to work with the equipment described. 1.2 Documentation Set for the FLEXI PRO This manual is part of a documentation set. The entire set consists of the following: FLEXI PRO Quick Start Guide. Basic setup and operation of the drive. FLEXI PRO User Manual. Hardware installation, configuration and operation. FLEXI PRO Reference Manual. Parameters and commands used to program the FLEXI PRO. FLEXI PRO CApen for CAN and EtherCAT Drives Reference Manual. FLEXI PRO implementation of CApen protocol for CAN and EtherCAT. 1.3 Manual Format Object Dictionary The CAN objects are presented and described in the following format: nnnnh - Object Name nnnn of the object Array Record Integer8 Integer16 Integer32 Unsigned8 Unsigned16 Unsigned32 Real32 Visible_String Mandatory equivalent CApen for CAN and EtherCAT Drives Reference Manual 13

14 Introduction FLEXI PRO for and Record Objects Read Only Constant Yes Value Range Discrete values and ranges of values. Default Value The object s default value. When the object value implies units of measure, these units are specified. for Array Objects Sub- nnn of the sub-index Array Record Integer8 Integer16 Integer32 Unsigned8 Unsigned16 Unsigned32 Real32 Visible_String Mandatory Read Only Constant Yes Value Range Discrete values and ranges of values. Default Value The object s default value. When the object value implies units of measure, these units are specified. 14 CApen for CAN and EtherCAT Drives Reference Manual

15 CAN Cabling and Setup 2 CAN Cabling and Setup 2.1 Typical FLEXI PRO CAN Hardware Configuration Figure 2-1. Typical FLEXI PRO CAN Configuration 1 PLC or embedded PC 2 CAN bus module* 3 D9 to RJ45 adapter*, with following pin assignments Function FLEXI PRO RJ45 Pin D9 Connector Pin CAN High 1 7 CAN Low 2 2 Functional Ground 3 3 CAN Shield 4 5 Functional Ground RJ45 cables 5 FLEXI PRO with internal termination set to 0Ω (towards T) 6 Last FLEXI PRO, with internal terminator set to 120Ω (away from T) * A 120Ω termination resistor is required at the beginning of the chain. CApen for CAN and EtherCAT Drives Reference Manual 15

16 CAN Cabling and Setup FLEXI PRO Be sure the required EDS file is installed in the controller. You can download the file from the Motor Power Company website or contact Technical Support. For additional information, refer to the FLEXI PRO User Manual. 2.2 FLEXI PRO de Address Within the CApen network, a unique node address (identification number) must be allocated to each individual CApen device. The FLEXI PRO node address is set using two 10-position rotary switches, accessible from the front of the unit. Each switch has 10 positions: The upper switch positions are set as tens: 10, 20, The lower switch positions are set as ones: 0, 1, 2 9 tes: If two or more drives are connected to the network, address 0 cannot be used. Only a singular drive may have the address 0. Two drives in the same network cannot have the same address. 2.3 FLEXI PRO Termination Resistor Switch te the Termination Resistor switch located on the top of the drive next to the daisy chain connector (C8). Using a small screwdriver or similar tool, set the switch to the correct position: Towards T (default): 120Ω termination resistor not in use. Away from T: Used when the drive is the last drive in a chain. The drive provides the 120Ω termination resistor between CAN high and CAN low. Using any RJ45 cables: Connect the host to the drive on interface C5. Connect the next node to interface C6. te: A 120Ω termination resistor is also required at the beginning of the chain, on either the CAN bus module, or the D9 to RJ45 adapter. 16 CApen for CAN and EtherCAT Drives Reference Manual

17 For additional wiring information, refer to the FLEXI PRO User Manual. CAN Cabling and Setup In addition, to enable CAN communication, the RS-232 () command COMMODE must be set to FLEXI PRO CAN Bit Rate FLEXI PRO has an automatic bit rate detection mechanism that is executed on power up. During the initialization phase the drive listens to messages on the bus and automatically adjusts its bit rate setting. Once the bit rate is determined, the drive s status becomes pre-operational, and the drive transmits a boot up message containing the drive's node ID. For the automatic bit rate detection mechanism to work, there must be bus traffic. This means that a master and at least one slave must be present on the bus and communicating at the same bit rate. It is also possible to set the manual bit rate using the RS-232 () command CANBITRATE. This command takes one of the following values: 1 for 125 kilobit per second 2 for 250 kilobit per second 3 for 500 kilobit per second 4 for 1000 kilobit per second (1 megabit) After setting the CANBITRATE value, you must issue a RS-232 () command SAVE, and then power cycle the drive. The bit rate will then be set. 2.5 FLEXI PRO EtherCAT Communication Using any RJ45 cables: Connect the host to the drive on interface C5. Connect the next node to interface C6. Be sure the required XML file is installed in the controller. You can download the file from the Motor Power Company website or contact Technical Support. For additional information, refer to the FLEXI PRO User Manual. CApen for CAN and EtherCAT Drives Reference Manual 17

18 CAN Cabling and Setup FLEXI PRO 18 CApen for CAN and EtherCAT Drives Reference Manual

19 CApen Basics 3 CApen Basics 3.1 Device Communication The FLEXI PRO communication interface follows the CiA CApen specifications (can-cia.org), as follows: DS-301: Communication Profile for Industrial Systems DS 402: Device Profile for Drives and Motion Control Host PC or PLC CApen or EtherCAT Local CAN Host CAN de Servo Drive C5 C7 Application Layer and Communication Profile DS 301 Standard Objects [0x1000] Servo Drive Profile DS 402 Device Control State Machine Modes of Operation Manufacturer-Specific Objects [0x2000] Homing Profile Position Mode Profile Velocity Mode Profile Torque Mode Standard Objects [0x6000] Cyclic Synchronous Torque Mode Position Mode Velocity Mode Feedback Motor Servo Motion Software Serial communication Via USB or RS232 Control Parameters Motor Parameters Position Loop Velocity Loop Torque Loop C1 USB Or C7 RS232 Figure 3-1. Communication Architecture Device Control Modes of Operation Starting and stopping of the drive and several mode-specific commands are executed by the state machine. The operating mode defines the behavior of the drive. CApen for CAN and EtherCAT Drives Reference Manual 19

20 CApen Basics 3.2 Communication Objects FLEXI PRO Communication objects are used for exchanging process and service data, for process or system time synchronization, for error state supervision, and for control and monitoring of node states. These objects are defined by their structure, transmission types and their CAN identifier. Service Data Communication Service data objects (SDOs) provides direct access to object entries in the CApen device object dictionary. As these object entries contain data of arbitrary size and data type, the SDOs are used to transfer multiple data sets (each containing an arbitrary large block of data) from a client to a server and vice versa. The client controls, via a multiplexer (index and sub-index of the object dictionary), which data set is transferred. The content of the data set is defined within the object dictionary. In general, an SDO is transferred as a sequence of segments. Prior to transferring the segments there is an initialization phase in which client and server prepare for transferring the segments. For SDOs, it is also possible to transfer a data set of up to four bytes during the initialization phase. This mechanism is called SDO expedited transfer. The client always initiates an SDO transfer for any type of transfer. The owner of the accessed object dictionary is the server of the SDO. Either the client or the server can take the initiative to abort the transfer of an SDO. By means of an SDO, a peer-to-peer communication channel between two CApen devices is established. A CApen device supports more than one SDO. One supported Server-SDO is the default case (Default SDO). Process Data Communication Process data objects (PDOs) perform real-time data transfer. The transfer of PDOs is performed without any protocol overhead. The PDOs correspond to objects in the object dictionary and provide the interface to the application objects. Data type and mapping of application objects into a PDO is determined by a corresponding default PDO mapping structure within the object dictionary. FLEXI PRO supports variable PDO mapping; therefore, the number of PDOs and the mapping of application objects into a PDO may be transmitted to a CApen device during the configuration process, by applying the SDO services to the corresponding objects of the object dictionary. PDOs are used for both data transmission and data reception termed Transmit-PDO (TPDO) and Receive-PDO (RPDO), respectively. CApen devices supporting TPDO are PDO producers, and CApen devices supporting RPDO are called PDO consumers. FLEXI PRO supports both. The PDO communication parameter describes the communication capabilities of the PDO. The PDO mapping parameter contains information about the contents of the PDO. For each PDO, a pair of communication and mapping parameters is mandatory. By default 4 TPDOs and 4 RPDOs are implemented in the FLEXI PRO: TPDO 1 Statusword, 6041h, 16 bits TPDO 2 Position actual value, 6064h, 32 bits and Velocity actual value, 606Ch, 32 bits TPDO 3 Current actual value, 6077h, 16 bits 20 CApen for CAN and EtherCAT Drives Reference Manual

21 CApen Basics TPDO 4 Digital inputs, 60FDh, 32 bits RPDO 1 Controlword, 6040h, 16 bits RPDO 2 Target position, 607Ah, 32 bits and Target velocity, 6081h, 32 bits RPDO 3 Target velocity, 60FFh, 32 bits RPDO 4 Target torque, 6071h, 16 bits 3.3 Object Table 3-1. Unit Dimensions Unit Dimension Position units Velocity units Definition The units are: (object 6091h sub-index h sub-index 2) (object 6092h sub-index h sub-index 2) For example: Assuming: object 6091h sub-index 1 = 360 object 6091h sub-index 2 = 1 object 6092h sub-index 1 = 1 object 6092h sub-index 2 = 1 and the actual position reading = 720 Then: 720 [(360 1) (1 1)] = 2 (= 2 revolutions) The units are: (object 6091h sub-index h sub-index 2) (object 6092h sub-index h sub-index 2) For example: Assuming: object 6091h sub-index 1 = 360 object 6091h sub-index 2 = 1 object 6092h sub-index 1 = 1 object 6092h sub-index 2 = 1 and the actual velocity reading = 720 Then: 720 [(360 1) (1 1)] = 2 (= 2 revolutions per second) CApen for CAN and EtherCAT Drives Reference Manual 21

22 CApen Basics FLEXI PRO Unit Dimension Acceleration units Current units Definition The units are: (object 6091h sub-index h sub-index 2) (object 6092h sub-index h sub-index 2) For example: Assuming: object 6091h sub-index 1 = 360 object 6091h sub-index 2 = 1 object 6092h sub-index 1 = 1 object 6092h sub-index 2 = 1 and the actual acceleration reading = 720 Then: 720 [(360 1) (1 1)] = 2 (= 2 revolutions per second 2 ) The units are derived from object 6075h (Motor Rated Current) The value of this object is user defined, in ma. After setting a value for 6075h, all other current objects must receive values defined in 1/1000 (one-thousandth) of 6075h. For example: Assuming 6075h has a value of ma, then to set a value of ma for 6071h (Target Torque), write 1000 for 6071h. The calculation is: ( ) 2000 = Object Types Table 3-2. Object Types Unit Dimension Read Only Constant Definition Read and write access Read only Read only access, value is constant 3.5 Errors and Faults Service Request Error Codes Table 3-3 lists the service request error (abort) codes, which the drive sends to the master device when the master issues an invalid SDO request to the FLEXI PRO. For example, if you write a parameter value to the drive, but the value is higher than allowed, the drive will respond by sending error code: Dh (value is out of range). 22 CApen for CAN and EtherCAT Drives Reference Manual

23 Table 3-3. Service Request Error Codes CApen Basics Error Code Ch Eh h h h Ah Bh Dh Eh Fh h h Fh h h h h h h h h Ah Bh Ch Eh h h h Ah Bh h Fh h h Waiting for enable; configuration cannot be executed The EnDat encoder is currently busy The drive configuration is invalid Failed to configure the velocity loop The drive is currently in Hold mode The value or service is not currently available phase found on Tamagawa encoder The requested functionality is currently in use and not available The function is not supported on the input/output The argument must be an even number The motor peak rated current conflicts with the motor continuous rated current (MICONT > MIPEAK) The drive peak rated current conflicts with the drive continuous rated current conflict (DICONT > DIPEAK) Motor and encoder type mismatch Linear motor and encoder type mismatch The actual Harmonic current correction is out-of-range The position encoder resolution value is invalid The motor commutation type is invalid The velocity limit is invalid The drive peak rated current is invalid (sinusoidal peak) The motor peak rated current is invalid The drive bus voltage is invalid The motor minimum line-to-line inductance is invalid The number of motor poles is invalid The resolution in number of lines of the encoder equivalent output is invalid The homing type is invalid Reserved (unused) homing type The procedure is not yet completed The drive is active The drive is inactive The drive is currently busy and cannot execute the command Feedback is not properly defined The operation mode is invalid Active disable is in progress Password protected CApen for CAN and EtherCAT Drives Reference Manual 23

24 CApen Basics FLEXI PRO Error Code h Ch h h h Dh h h D Burning active Input/output is not supported Saving of parameters failed The parameter is not available for modification Internal firmware fault Value is out of range The input value must be an integer The value is invalid for the current command Flash fault occurred Emergency Error Codes (Faults) Upon detection of device-internal errors, the FLEXI PRO will transmit emergency message frames over the CApen network using COB-ID EMCY. An emergency message frame will be transmitted only once per error event and consists of the error code and the actual state of the Error Register object. Table 3-4. Emergency Message Frame Byte Emergency error code Error register Manufacturer-specific Table 3-5 lists the fault (emergency error) codes. When an illegal state occurs in the drive, the FLEXI PRO sends the code to the master device as object 603Fh (Error Code). Whenever the value of 603Fh is not zero, there is a fault in the drive. The CApen state machine enters Fault mode, and the FLEXI PRO cannot be enabled. If, for example, the Motor Feedback interface cable is unplugged from the FLEXI PRO, the motion control of the drive will not function; the drive will send the code 7383h (A/B line break fault) to the master device as object 603Fh (Error Code). Table 3-5. Emergency Error Codes (Faults) 24 CApen for CAN and EtherCAT Drives Reference Manual

25 CApen Basics Fault Code 2214h Over-current P 2310h Motor foldback F2 2311h Drive foldback F1 2380h Current sensors offset out-of-range e h Motor phase disconnection r h Over-voltage o 3120h Under-voltage u 3180h Regen over-current n1 3181h STO (safe torque off) is not connected n 3182h Bus voltage measurement circuit failure e h Integrated power module over-temperature t2 4081h Control board over-temperature t3 4310h Drive over-temperature t1 4410h Motor over-temperature H 5111h Control +15V out-of-range o h Control -15V out-of-range o h Drive 5V out-of-range h 5V out of range o5 5530h Power board EEPROM fault e h Control digital board EEPROM fault e h CAN voltage supply fault A4 5583h Self test failed e h Parameter memory checksum failure e 5585h Parameter memory checksum failure e 5586h Failure writing to flash memory E 6381h Drive not configured h FPGA configuration failure e h line break r5 7112h Open load on the power brake output n h Short circuit on the power brake output n h Fieldbus - Target position exceeds velocity limit Fb1 7115h Fieldbus - Target position exceeds acceleration/ deceleration limits 7116h EtherCAT cable disconnected Fb3 7117h Fieldbus target command lost Fb4 7180h Secondary encoder (feedback) index break r17 7-Segment Display Fb2 CApen for CAN and EtherCAT Drives Reference Manual 25

26 CApen Basics FLEXI PRO Fault Code 7181h Secondary encoder (feedback) A/B line break r h Pulse & direction input line break r h Feedback communication error r h Nikon encoder (feedback) operation fault r h Tamagawa feedback initialization failed r h A/B Line break r4 7384h Illegal Halls r6 7385h Tamagawa battery low voltage b 7386h PLL synchronization failed b1 7388h Tamagawa abs operational fault r h Motor setup failed h Phase find failed r h Encoder simulation frequency too high r9 7784h EnDat sine (feedback) communication failed r h A/B out-of-range r8 7786h Sine encoder quadrature r h Sine/cosine calibration invalid r h Encoder (feedback) 5V over-current r h Secondary encoder (feedback) 5V over-current r19 778Ah Sensorless initialization r30 778Bh Resolver initialization failed r28 778Ch Stall fault F3 778Dh PFB Off checksum invalid r34 778Eh PFB Off data mismatch r35 778Fh PFB Off data r h FPGA version mismatch e h Emergency stop issued n3 7792h Endat2x feedback faults r h Drive locked b 8481h Velocity over-speed exceeded j 7-Segment Display 8611h Maximum position/velocityerror exceeded J1 / J2 26 CApen for CAN and EtherCAT Drives Reference Manual

27 Communication Objects 4 Communication Objects The following communication profile objects have been implemented in FLEXI PRO. For more information, refer to the specific CAN documentation. 1000h - Device Type 1001h - Error Register 1002h - Manufacturer Status Register 1003h - Predefined Error Field 1005h - COB-ID SYNC Message 1006h - Communication Cycle Period 1007h - Synchronous Window Length 1008h - Manufacturer Device Name 1009h - Manufacturer Hardware Version 100Ah - Manufacturer Software Version 1010h - Store Parameter Field 1011h - Restore Default Parameters 1014h - COB-ID EMCY 1015h - Inhibit Time Emergency 1016h - Heartbeat Consumer Time 1017h - Producer Heartbeat Time 1018h - Identity Object 1019h - Synchronous Counter Overflow Value 1200h - Server SDO Parameter h - Server SDO Parameter h - Receive PDO Communication Parameter h - Receive PDO Communication Parameter h - Receive PDO Communication Parameter h - Receive PDO Communication Parameter h - Receive Parameter h - Receive Parameter h - Receive Parameter h - Receive Parameter h - Transmit PDO Communication Parameter h - Transmit PDO Communication Parameter h - Transmit PDO Communication Parameter h - Transmit PDO Communication Parameter 4 1A00h - Transmit Parameter 1 1A01h - Transmit Parameter 2 1A02h - Transmit Parameter 3 1A03h - Transmit Parameter 4 CApen for CAN and EtherCAT Drives Reference Manual 27

28 Communication Objects 1000h Device Type 1000 FLEXI PRO Contains information about the device type and functionality. It is comprised of a 16-bit field that describes the device profile used, and a second 16-bit field that gives additional information about optional functionality of the device. Unsigned32 Mandatory Constant Default Value Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

29 1001h Error Register Communication Objects 1001 An error register for the device. A field of 8 bits, each of which indicates a particular type of error. If a bit is set to 1, the specified error has occurred. Bit 0 = Generic error 1 = Current 2 = Voltage 3 = Temperature 4 = Communication error (overrun, error state) 5 = Device profile specific 6 = Reserved 7 = Manufacturer specific Unsigned8 Mandatory Read Only Range 0 to h Manufacturer Status Register 1002 A common status register for manufacturer specific purposes. Unsigned32 Read Only Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 29

30 Communication Objects FLEXI PRO 1003h Predefined Error Field 1003 Holds errors that occurred in the device and have been signaled via the Emergency object. It is an error history. Array Unsigned32 Sub- 000 Number of errors. Contains the number of actual errors recorded in the array, starting at sub-index 1. It can read 0 if no error is registered, or 1 if an error is registered. Writing a 0 to sub-index 0 deletes the entire error history. Unsigned8 Mandatory Range 0 to 254 Sub Standard error field Unsigned32 Mandatory Read Only Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

31 1005h COB-ID SYNC Message Communication Objects 1005 Defines the COB-ID of the synchronization object (SYNC). The device generates a SYNC message if bit 30 is set. The meaning of other bits is the same as for other communication objects. Unsigned32 Default Value 128 Range 1 to h Communication Cycle Period 1006 Defines the communication cycle period. It is 0 if not used. Unsigned32 Range 0 to µs CApen for CAN and EtherCAT Drives Reference Manual 31

32 Communication Objects FLEXI PRO 1007h Synchronous Window Length 1007 Defines the length of the time window for synchronous messages. It is 0 if not used. Unsigned32 Range 0 to µs 1008h Manufacturer Device Name 1008 The manufacturer s name of the device Visible_String Default Value Range Constant FLEXI PRO drive 32 CApen for CAN and EtherCAT Drives Reference Manual

33 Communication Objects 1009h Manufacturer Hardware Version 1009 The version number of the manufacturer s hardware. Visible_String Constant Default Value Control:00 Power:00 Range 100Ah Manufacturer Software Version 100A The version number of the manufacturer s software. Visible_String Constant Default Value (depends on firmware) Range CApen for CAN and EtherCAT Drives Reference Manual 33

34 Communication Objects FLEXI PRO 1010h Store Parameter Field 1010 Saves parameters in non-volatile memory. Sub-index 1: All parameters Sub-index 2: Communication parameters Sub-index 3: Application parameters Sub-index 4-127: Manufacturer defined parameters Writing h (ASCII value of "save") to the appropriate sub-index saves the parameters. Array Unsigned32 SAVE Sub- 000 Number of entries Unsigned8 Read Only Default Value 3 Range 0 to 127 Sub- 001 Saves all parameters Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

35 Communication Objects Sub- 002 Saves communication parameters Unsigned32 Range 0 to Sub- 003 Saves application parameters Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 35

36 Communication Objects FLEXI PRO 1011h Restore Default Parameters 1010 Loads all parameters from non-volatile memory. Sub-index 1: All parameters Sub-index 2: Communication parameters Sub-index 3: Application parameters Sub-index 4-127: Manufacturer defined parameters Writing 64616F6Ch (ASCII value of "load") to the appropriate sub-index restores the parameters. Array Unsigned32 LOAD Sub- 000 Number of entries Unsigned8 Read Only Default Value 3 Range 0 to 127 Sub- 001 Restores all default parameters Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

37 Communication Objects Sub- 002 Restores communication default parameters Unsigned32 Range 0 to Sub- 003 Restores application default parameters Unsigned Range 0 to h COB-ID EMCY 1014 Defines the COB-ID of the Emergency object (EMCY) Unsigned32 Read Only Default Value 128 Range 1 to CApen for CAN and EtherCAT Drives Reference Manual 37

38 Communication Objects FLEXI PRO 1015h Inhibit Time Emergency 1015 Defines the inhibit time used for emergency message. Unsigned16 Range 0 to millisecond (ms) 38 CApen for CAN and EtherCAT Drives Reference Manual

39 1016h Heartbeat Consumer Time Communication Objects 1016 The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat. Monitoring starts after the reception of the first heartbeat. If the consumer heartbeat time is 0, the corresponding entry is not used. Bit = Must be 0 for each sub-index = de ID 15-0 = Heartbeat time Array Unsigned32 Sub- 000 Number of entries Unsigned8 Read Only Default Value 1 Range 1 to 127 Sub- 001 Consumer heartbeat time 1 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 39

40 Communication Objects 1017h Producer Heartbeat Time 1017 FLEXI PRO This object defines the cycle time of the heartbeat, which must be a multiple of 1 millisecond. It is 0 if not used. Unsigned16 Range 0 to milliseconds (ms) 40 CApen for CAN and EtherCAT Drives Reference Manual

41 1018h Identity Object Communication Objects 1018 Contains general information about the device. Sub-index 1: Defines a unique value allocated to each manufacturer. Sub-index 2: Defines the manufacturer product code (device version). Sub-index 3: Defines the revision number Bit = major revision number Bit 15-0 = minor revision number Sub-index 4: Defines the manufacturer serial number. Record Mandatory Sub- 000 Number of entries Unsigned8 Mandatory RO Default Value 4 Range 1 to 4 Sub- 001 Vendor ID Unsigned32 Mandatory Read Only Default Value 737 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 41

42 Communication Objects FLEXI PRO Sub- 002 Product code Unsigned32 Read Only Default Value 1 Range 0 to Sub- 003 Revision number Unsigned32 Read Only Range 0 to Sub- 004 Serial number Unsigned32 Read Only Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

43 1019h Synchronous Counter Overflow Value Communication Objects 1019 Defines whether a counter is mapped into the SYNC message, and the highest possible value of the counter. 0 = SYNC message transmitted with length 0 1 = Reserved = SYNC message transmitted with length 1, first data byte contains the counter value = Reserved Unsigned8 Range 0 to 240 CApen for CAN and EtherCAT Drives Reference Manual 43

44 Communication Objects 1200h Server SDO Parameter FLEXI PRO Contains the parameters for the SDOs for which the device is the server. Record Sub- 000 Default Value 2 Range 2 Number of entries Unsigned8 Read Only Sub- 001 COB-ID client to server Unsigned32 Mandatory Read Only Default Value 1536 Range 1536 to CApen for CAN and EtherCAT Drives Reference Manual

45 Communication Objects Sub- 002 COB-ID server to client Unsigned32 Mandatory Read Only Default Value 1408 Range 1408 to h Server SDO Parameter Contains the parameters for the SDOs for which the device is the server. Record Sub- 000 Number of entries Unsigned8 Read Only Default Value 3 Range 2 to 3 CApen for CAN and EtherCAT Drives Reference Manual 45

46 Communication Objects FLEXI PRO Sub- 001 COB-ID client to server Unsigned32 Mandatory Read Only Default Value Range 1 to Sub- 002 COB-ID server to client Unsigned32 Mandatory Read Only Default Value Range 1 to Sub- 002 de ID of the SDO client Unsigned8 Mandatory Read Only Default Value 127 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

47 1400h Receive PDO Communication Parameter 1 Communication Objects 1400 Contains the communication parameters of the current PDO the device is able to receive. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Record Sub- 000 Number of entries Unsigned8 Read Only Default Value 3 Range 2 to 5 Sub- 001 COB-ID used by PDO Unsigned32 Default Value 512 Range 1 to CApen for CAN and EtherCAT Drives Reference Manual 47

48 Communication Objects FLEXI PRO Sub- 002 Transmission type Unsigned8 Default Value 255 Range 0 to 255 Sub- 003 Inhibit time Unsigned16 Range 0 to µs 48 CApen for CAN and EtherCAT Drives Reference Manual

49 1401h Receive PDO Communication Parameter 2 Communication Objects 1401 Contains the communication parameters of the current PDO the device is able to receive. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Record Sub- 000 Number of entries Unsigned8 Read Only Default Value 3 Range 2 to 5 Sub- 001 COB-ID used by PDO Unsigned32 Default Value 768 Range 1 to CApen for CAN and EtherCAT Drives Reference Manual 49

50 Communication Objects FLEXI PRO Sub- 002 Transmission Type Unsigned8 Default Value 255 Range 0 to 255 Sub- 003 Inhibit Time Unsigned16 Range 0 to µs 50 CApen for CAN and EtherCAT Drives Reference Manual

51 1402h Receive PDO Communication Parameter 3 Communication Objects 1402 Contains the communication parameters of the current PDO the device is able to receive. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Record Sub- 000 Number of entries Unsigned8 Read Only Default Value 3 Range 2 to 5 Sub- 001 COB-ID used by PDO Unsigned32 Default Value 1024 Range 1 to CApen for CAN and EtherCAT Drives Reference Manual 51

52 Communication Objects FLEXI PRO Sub- 002 Transmission Type Unsigned8 Default Value 1 Range 0 to 255 Sub- 003 Inhibit Time Unsigned16 Range 0 to µs 52 CApen for CAN and EtherCAT Drives Reference Manual

53 1403h Receive PDO Communication Parameter 4 Communication Objects 1403 Contains the communication parameters of the current PDO the device is able to receive. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Record Sub- 000 Number of entries Unsigned8 Read Only Default Value 3 Range 2 to 5 Sub- 001 COB-ID used by PDO Unsigned32 Default Value 1280 Range 1 to CApen for CAN and EtherCAT Drives Reference Manual 53

54 Communication Objects FLEXI PRO Sub- 002 Transmission Type Unsigned8 Default Value 1 Range 0 to 255 Sub- 003 Inhibit Time Unsigned16 Range 0 to µs 54 CApen for CAN and EtherCAT Drives Reference Manual

55 1600h Receive Parameter 1 Communication Objects 1600 Contains the mapping for the PDOs the device is able to receive. Sub-index 0: Defines the number of valid entries in the mapping record. This number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indices 1 to number of entries: Contain information about the mapped application variables.these entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. Record Sub- 000 Number of entries Unsigned8 Mandatory Default Value 2 Range 0 to 64 Sub- 001 Mapping entry 1 Unsigned32 Default Value Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 55

56 Communication Objects FLEXI PRO Sub- 002 Mapping entry 2 Unsigned32 Default Value Range 0 to Sub- 003 Mapping entry 3 Unsigned32 Range 0 to Sub- 004 Mapping entry 4 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

57 1601h Receive Parameter 2 Communication Objects 1601 Contains the mapping for the PDOs the device is able to receive. Sub-index 0: Defines the number of valid entries in the mapping record. This number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indices 1 to number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. This parameter can be used to verify the overall mapping length. It is mandatory. Record Sub- 000 Number of entries Unsigned8 Mandatory Default Value 2 Range 0 to 64 CApen for CAN and EtherCAT Drives Reference Manual 57

58 Communication Objects FLEXI PRO Sub- 001 Mapping entry 1 Unsigned32 Default Value Range 0 to Sub- 002 Mapping entry 2 Unsigned32 Default Value Range 0 to Sub- 003 Mapping entry 3 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

59 Communication Objects Sub- 004 Mapping entry 4 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 59

60 Communication Objects FLEXI PRO 1602h Receive Parameter Contains the mapping for the PDOs the device is able to receive. Sub-index 0: Defines the number of valid entries in the mapping record. This number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indices 1 to number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. This parameter can be used to verify the overall mapping length. It is mandatory. Record Sub- 000 Number of entries Unsigned8 Mandatory Default Value 1 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

61 Communication Objects Sub- 001 Mapping entry 1 Unsigned32 Default Value Range 0 to Sub- 002 Mapping entry 2 Unsigned32 Range 0 to Sub- 003 Mapping entry 3 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 61

62 Communication Objects FLEXI PRO Sub- 004 Mapping entry 4 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

63 1603h Receive Parameter 4 Communication Objects 1603 Contains the mapping for the PDOs the device is able to receive. Sub-index 0: Defines the number of valid entries in the mapping record. This number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indices 1 to number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. This parameter can be used to verify the overall mapping length. It is mandatory. Record Sub- 000 Number of entries Unsigned8 Mandatory Default Value 2 Range 0 to 64 CApen for CAN and EtherCAT Drives Reference Manual 63

64 Communication Objects FLEXI PRO Sub- 001 Mapping entry 1 Unsigned32 Default Value Range 0 to Sub- 002 Mapping entry 2 Unsigned32 Default Value Range 0 to Sub- 003 Mapping entry 3 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

65 Communication Objects Sub- 004 Mapping entry 4 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 65

66 Communication Objects FLEXI PRO 1800h Transmit PDO Communication Parameter Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Describes the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Sub-index 4: Reserved Sub-index 5: Defines the event time Sub-index 6: Defines the SYNC start value. Start value 0 = SYNC message has no data content. Start value 1 to 240 = SYNC message has 1 byte data. This data byte is considered a counter value. The SYNC message whose counter value equals the SYNC start value is considered the first received SYNC message. Record Sub- 000 Number of entries Unsigned8 Read Only Default Value 5 Range 2 to 6 66 CApen for CAN and EtherCAT Drives Reference Manual

67 Communication Objects Sub- 001 COB-ID used by PDO Unsigned32 Default Value 384 Range 1 to Sub- 002 Transmission type Unsigned8 Default Value 1 Range 0 to 255 Sub- 003 Inhibit time Unsigned16 Range 0 to µs CApen for CAN and EtherCAT Drives Reference Manual 67

68 Communication Objects FLEXI PRO Sub- 004 Compatibility entry Unsigned8 Range 0 to 255 Sub- 005 Event timer Unsigned16 Range 0 to ms 68 CApen for CAN and EtherCAT Drives Reference Manual

69 Communication Objects 1801h Transmit PDO Communication Parameter Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Describes the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Sub-index 4: Reserved Sub-index 5: Defines the event time Sub-index 6: Defines the SYNC start value. Start value 0 = SYNC message has no data content. Start value 1 to 240 = SYNC message has 1 byte data. This data byte is considered a counter value. The SYNC message whose counter value equals the SYNC start value is considered the first received SYNC message. Record Sub- 000 Number of entries Unsigned8 Read Only Default Value 5 Range 2 to 6 CApen for CAN and EtherCAT Drives Reference Manual 69

70 Communication Objects FLEXI PRO Sub- 001 COB-ID used by PDO Unsigned32 Default Value 640 Range 1 to Sub- 002 Transmission Type Unsigned8 Default Value 1 Range 0 to 255 Sub- 003 Inhibit Time Unsigned16 Range 0 to µs 70 CApen for CAN and EtherCAT Drives Reference Manual

71 Communication Objects Sub- 004 Compatibility Entry Unsigned8 Range 0 to 255 Sub- 005 Event Timer Unsigned16 Range 0 to ms CApen for CAN and EtherCAT Drives Reference Manual 71

72 Communication Objects FLEXI PRO 1802h Transmit PDO Communication Parameter Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Describes the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Sub-index 4: Reserved Sub-index 5: Defines the event time Sub-index 6: Defines the SYNC start value. Start value 0 = SYNC message has no data content. Start value 1 to 240 = SYNC message has 1 byte data. This data byte is considered a counter value. The SYNC message whose counter value equals the SYNC start value is considered the first received SYNC message. Record Sub- 000 Number of entries Unsigned8 Read Only Default Value 5 Range 2 to 6 72 CApen for CAN and EtherCAT Drives Reference Manual

73 Communication Objects Sub- 001 COB-ID used by PDO Unsigned32 Default Value 896 Range 1 to Sub- 002 Transmission type Unsigned8 Default Value 1 Range 0 to 255 Sub- 003 Inhibit time Unsigned16 Range 0 to µs CApen for CAN and EtherCAT Drives Reference Manual 73

74 Communication Objects FLEXI PRO Sub- 004 Compatibility entry Unsigned8 Range 0 to 255 Sub- 005 Event Timer Unsigned16 Range 0 to ms 74 CApen for CAN and EtherCAT Drives Reference Manual

75 Communication Objects 1803h Transmit PDO Communication Parameter Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Describes the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Sub-index 4: Reserved Sub-index 5: Defines the event time Sub-index 6: Defines the SYNC start value. Start value 0 = SYNC message has no data content. Start value 1 to 240 = SYNC message has 1 byte data. This data byte is considered a counter value. The SYNC message whose counter value equals the SYNC start value is considered the first received SYNC message. Record Sub- 000 Number of entries Unsigned8 Read Only Default Value 5 Range 2 to 6 CApen for CAN and EtherCAT Drives Reference Manual 75

76 Communication Objects FLEXI PRO Sub- 001 COB-ID used by PDO Unsigned32 Default Value 1152 Range 1 to Sub- 002 Transmission type Unsigned8 Default Value 1 Range 0 to 255 Sub- 003 Inhibit Time Unsigned16 Range 0 to µs 76 CApen for CAN and EtherCAT Drives Reference Manual

77 Communication Objects Sub- 004 Compatibility entry Unsigned8 Range 0 to 255 Sub- 005 Event timer Unsigned16 Range 0 to ms CApen for CAN and EtherCAT Drives Reference Manual 77

78 Communication Objects FLEXI PRO 1A00h Transmit Parameter 1 1A00 Contains the mapping for the PDOs the device is able to transmit. Sub-index 0: Defines the number of valid entries in the mapping record. This number of entries is also the number of the application variables that are transmitted with the corresponding PDO. Sub-indices 1 to number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. This parameter can be used to verify the overall mapping length. It is mandatory. Record Sub- 000 Number of entries Unsigned8 Mandatory Default Value 2 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

79 Communication Objects Sub- 001 Mapping entry 1 Unsigned32 Default Value Range 0 to Sub- 002 Mapping entry 2 Unsigned32 Range 0 to Sub- 003 Mapping entry 3 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 79

80 Communication Objects FLEXI PRO Sub- 004 Mapping entry 4 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

81 1A01h Transmit Parameter 2 Communication Objects 1A01 Contains the mapping for the PDOs the device is able to transmit. Sub-index 0: Defines the number of valid entries in the mapping record. This number of entries is also the number of the application variables that are transmitted with the corresponding PDO. Sub-indices 1 to number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. This parameter can be used to verify the overall mapping length. It is mandatory. Record Sub- 000 Number of entries Unsigned8 Mandatory Default Value 2 Range 0 to 255 CApen for CAN and EtherCAT Drives Reference Manual 81

82 Communication Objects FLEXI PRO Sub- 001 Mapping entry 1 Unsigned32 Default Value Range 0 to Sub- 002 Mapping entry 2 Unsigned32 Default Value Range 0 to Sub- 003 Mapping entry 3 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

83 Communication Objects Sub- 004 Mapping entry 4 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 83

84 Communication Objects FLEXI PRO 1A02h Transmit Parameter 3 1A02 Contains the mapping for the PDOs the device is able to transmit. Sub-index 0: Defines the number of valid entries in the mapping record. This number of entries is also the number of the application variables that are transmitted with the corresponding PDO. Sub-indices 1 to number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. This parameter can be used to verify the overall mapping length. It is mandatory. Record Sub- 000 Number of entries Unsigned8 Mandatory Default Value 4 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

85 Communication Objects Sub- 001 Mapping entry 1 Unsigned32 Default Value Range 0 to Sub- 002 Mapping entry 2 Unsigned32 Default Value Range 0 to Sub- 003 Mapping Entry 3 Unsigned32 Default Value Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 85

86 Communication Objects FLEXI PRO Sub- 004 Mapping entry 4 Unsigned32 Default Value Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

87 1A03h Transmit Parameter 4 Communication Objects 1A03 Contains the mapping for the PDOs the device is able to transmit. Sub-index 0: Defines the number of valid entries in the mapping record. This number of entries is also the number of the application variables that are transmitted with the corresponding PDO. Sub-indices 1 to number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. This parameter can be used to verify the overall mapping length. It is mandatory. Record Sub- 000 Number of entries Unsigned8 Mandatory Default Value 2 Range 0 to 255 CApen for CAN and EtherCAT Drives Reference Manual 87

88 Communication Objects FLEXI PRO Sub- 001 Mapping entry 1 Unsigned32 Default Value Range 0 to Sub- 002 Mapping entry 2 Unsigned32 Default Value Range 0 to Sub- 003 Mapping entry 3 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

89 Communication Objects Sub- 004 Mapping entry 4 Unsigned32 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 89

90 Communication Objects FLEXI PRO 90 CApen for CAN and EtherCAT Drives Reference Manual

91 Manufacturer-Specific Objects 5 Manufacturer-Specific Objects 2002h Configuration Command 2002 Performs a configuration sequence of the drive according to its internal parameters. Writing 01 initiates the configuration command. Unsigned8 CONFIG Range 0 to h CL BEMF Gain 2003 The feedforward BEMF compensation ratio for the current control. Real32 KCBEMF Default Value 1.0 Range 0.0 to 2.0 CApen for CAN and EtherCAT Drives Reference Manual 91

92 Manufacturer-Specific Objects FLEXI PRO 2004h Current DQ Axis Compensation 2004 t intended for user unless instructed by Technical Support. Current DQ axis compensation Real32 KCDQCOMP Default Value 1.0 Range 0.0 to h Current KI Gain 2006 The current controller integrator gain Real32 KCI Default Value 1.0 Range 0.0 to CApen for CAN and EtherCAT Drives Reference Manual

93 2007h Current KP Gain Manufacturer-Specific Objects 2007 The current controller proportional gain. Real32 KCP Default Value 1.0 Range 0.0 to h Current Controller D Integrator 2008 t intended for user unless instructed by Technical Support. The value of the current controller D integrator. Integer32 KCIMEMD Read Only Range to CApen for CAN and EtherCAT Drives Reference Manual 93

94 Manufacturer-Specific Objects FLEXI PRO 2009h Current Controller Q Integrator 2009 t intended for user unless instructed by Technical Support. The value of the current controller Q integrator. Integer32 KCIMEMQ Read Only Range to Ah HD Anti-Vibration Filter 200A t intended for user unless instructed by Technical Support. HD anti-vibration filter Real32 NLANTIVIBGAIN2.0 to Range 0 94 CApen for CAN and EtherCAT Drives Reference Manual

95 200Bh HD Anti-Resonance Sharpness Manufacturer-Specific Objects 200B t intended for user unless instructed by Technical Support. HD anti-resonance sharpness Real32 NLANTIVIBSHARP.5 Range to Ch HD Anti-Vibration Gain 200C t intended for user unless instructed by Technical Support. HD anti-vibration gain Real32 NLANTIVIBGAIN.0 Range 0.0 to Rad 10-3/N CApen for CAN and EtherCAT Drives Reference Manual 95

96 Manufacturer-Specific Objects 200Dh Absolute Feedback Offset 200D The initial absolute position after power-cycle. Integer32 ABSOFFSET Range to CAN user position units FLEXI PRO 200Fh Field Bus Unit Scaling 200F Field bus unit scaling for internal counts stating how many bits of 32-bit position are for number of revolutions. Unsigned16 FBSCALE Default Value 12 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

97 2010h Velocity Loop Bandwidth Manufacturer-Specific Objects 2010 The velocity control loop bandwidth for the pole placement controller. Unsigned16 BW Default Value 30 Range 10 to 600 Hz 2013h Current CL VD 2013 t intended for user unless instructed by Technical Support. The voltage command to the D component. Integer16 CLVD Read Only Range to CApen for CAN and EtherCAT Drives Reference Manual 97

98 Manufacturer-Specific Objects FLEXI PRO 2014h Current CL VQ 2014 t intended for user unless instructed by Technical Support. The voltage command to the Q component. Integer16 CLVQ Read Only Range to h Drive Name 2015 The name assigned to the drive. Visible_String DRIVENAME Range 98 CApen for CAN and EtherCAT Drives Reference Manual

99 Manufacturer-Specific Objects 2016h Electrical Position 2016 The electrical angle position in 16-bit resolution. Unsigned16 ELECTANGLE Read Only Range 0 to /electrical cycle 2017h HD Derivative Gain 2017 HD derivative gain Real32 KNLD Range 0.0 to hertz (Hz) CApen for CAN and EtherCAT Drives Reference Manual 99

100 Manufacturer-Specific Objects 2018h HD Integral Gain 2018 HD integral gain Real32 KNLI.0 Range 0.0 to hertz (Hz) FLEXI PRO 2019h HD Derivative-Integral Gain 2019 HD derivative-integral gain Real32 KNLIV.0 Range 0.0 to hertz (Hz) 100 CApen for CAN and EtherCAT Drives Reference Manual

101 201Ah HD Proportional Gain 201A HD proportional gain Real32 KNLP.0 Range 0.0 to hertz (Hz) Manufacturer-Specific Objects 201Bh HD Adaptive Gain Scale Factor 201B HD adaptive gain scale factor Real32 KNLUSERGAIN Default Value 1.0 Range to 3.0 CApen for CAN and EtherCAT Drives Reference Manual 101

102 Manufacturer-Specific Objects FLEXI PRO 201Ch Position Acceleration Feedforward to Current 201C The position acceleration feedforward to current loop. Real32 KPAFRC.0 Range to Dh Position Acceleration Feedforward 201D The position acceleration feedforward. Real32 KPAFRV.0 Range to CApen for CAN and EtherCAT Drives Reference Manual

103 201Eh Position Derivative Gain 201E The position derivative gain. Real32 KPD.0 Range 0.0 to Manufacturer-Specific Objects 201Fh Position Proportional Adaptive Gain 201F The position adaptive proportional gain. Real32 KPE.0 Range 0.0 to 4.0 CApen for CAN and EtherCAT Drives Reference Manual 103

104 Manufacturer-Specific Objects 2020h Position Integral Gain 2020 The position integral gain. Real32 KPI.0 Range 0.0 to hertz (Hz) FLEXI PRO 2021h Position Integral Saturation Output 2021 The position integral saturation output. Unsigned32 KPISATOUT Range 0 to CAN user velocity units 104 CApen for CAN and EtherCAT Drives Reference Manual

105 2022h Position Proportional Gain 2022 The position proportional gain. Real32 KPP Default Value 1.0 Range 0.0 to Manufacturer-Specific Objects 2023h Position Velocity Feedforward 2023 The position control velocity feedforward. Real32 KPVFR.0 Range to CApen for CAN and EtherCAT Drives Reference Manual 105

106 Manufacturer-Specific Objects 2024h Motor Type 2024 Motor type Unsigned8 MOTORTYPE Range 0 to 2 FLEXI PRO 2025h Velocity Feedforward Ratio 2025 The velocity feedforward ratio. Real32 KVFR.0 Range 0.0 to CApen for CAN and EtherCAT Drives Reference Manual

107 2026h Velocity Integrator 2026 The velocity integral gain. Real32 KVI.0 Range 0.0 to hertz (Hz) Manufacturer-Specific Objects 2027h Velocity Gain 2027 The velocity proportional gain. Real32 KVP Range 0.0 to CApen for CAN and EtherCAT Drives Reference Manual 107

108 Manufacturer-Specific Objects 2028h Mechanical Angle 2028 The position of the motor in revolutions. Unsigned16 MECHANGLE Read Only Range to /electrical cycle FLEXI PRO 2029h Encoder Type 2029 The type of motor encoder Unsigned16 MENCTYPE Default Value 11 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

109 Manufacturer-Specific Objects 202Ah Motor Encoder Position 202A The motor encoder index position. Unsigned16 MENCZPOS Default Value 120 Range 0 to 359 Electrical degree 202Bh Motor and Feedback Direction 202B The direction and polarity of the motor and feedback. Unsigned16 MFBDIR Range 0 to 7 CApen for CAN and EtherCAT Drives Reference Manual 109

110 Manufacturer-Specific Objects FLEXI PRO 202Ch Point-to-Point Move Low Pass Filter 202C The low pass filter for point-to-point move. Integer16 MOVESMOOTHLPFHZ Default Value 5000 Range 10 to Dh Motor Feedback Mode 202D Motor feedback mode. Enables/disables the resolution enhancement mechanism. Unsigned16 MFBMODE Default Value 1 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

111 202Eh Motor Foldback Status Manufacturer-Specific Objects 202E Motor foldback status. Indicates whether the motor foldback limit has dropped below the application current limits. Unsigned16 MFOLD Read Only Range to Fh Motor Foldback Delay Time 202F Motor foldback delay time. The time delay for motor foldback; foldback is the amount of time the system current can exceed 6075h (MICONT) before the drive enters motor foldback state. Real32 MFOLDD Default Value 5.0 Range 1.0 to seconds (s) CApen for CAN and EtherCAT Drives Reference Manual 111

112 Manufacturer-Specific Objects FLEXI PRO 2030h Motor Foldback Disable 2030 Motor foldback disable. Enables/disables motor foldback protection. Unsigned16 MFOLDDIS Range 0 to h Motor Foldback Recovery Time 2031 The recovery time for motor foldback. Real32 MFOLDR Default Value 70.0 Range 5.0 to seconds (s) 112 CApen for CAN and EtherCAT Drives Reference Manual

113 Manufacturer-Specific Objects 2032h Motor Foldback Time Constant 2032 The time constant for motor foldback. Real32 MFOLDT Default Value 5.0 Range 1.0 to seconds (s) 2033h Motor Foldback Current 2033 The current limit derived from the motor foldback mechanism. Foldback condition occurs when 2033h (MIFOLD) goes below 6072h (ILIM). Unsigned32 MIFOLD Read Only Range 0 to ma CApen for CAN and EtherCAT Drives Reference Manual 113

114 Manufacturer-Specific Objects 2034h Motor Foldback Fault Threshold 2034 The motor foldback fault threshold. Unsigned32 MIFOLDFTHRESH Range 0 to ma FLEXI PRO 2035h Motor Foldback Warning Threshold 2035 The motor foldback fault warning threshold. Unsigned32 MIFOLDWTHRESH Range 0 to ma 114 CApen for CAN and EtherCAT Drives Reference Manual

115 Manufacturer-Specific Objects 2036h Motor Peak Current 2036 The peak rated current of the motor Unsigned32 MIPEAK Range 0 to ma 2037h Rotor Inertia 2037 The rotor inertia for rotary motors Real32 MJ Range 0.0 to kg m CApen for CAN and EtherCAT Drives Reference Manual 115

116 Manufacturer-Specific Objects 2038h Torque Constant for Linear Motors 2038 The motor torque constant for linear motors. Real32 MKF Range to FLEXI PRO 2039h Torque Constant 2039 The motor torque constant. Real32 MKT Range to CApen for CAN and EtherCAT Drives Reference Manual

117 Manufacturer-Specific Objects 203Ah Motor Inductance 203A The motor minimum line-to-line inductance. Real32 ML.0 Range to megahertz (MHz) 203Bh Adaptive Gain Value at Continuous Motor Current 203B The current loop adaptive gain value at continuous motor current. Real32 MLGAINC Default Value 1.0 Range to 1.0 CApen for CAN and EtherCAT Drives Reference Manual 117

118 Manufacturer-Specific Objects FLEXI PRO 203Ch Adaptive Gain Value at Peak Motor Current 203C The current loop adaptive gain value at peak motor current. Real32 MLGAINP Default Value 1.0 Range to Dh Rotor Coil Mass (Linear Motor) 203D The moveable mass of linear motor without payload. Real32 MMASS.0 Range 0.0 to kilogram (kg) 118 CApen for CAN and EtherCAT Drives Reference Manual

119 Manufacturer-Specific Objects 203Eh Motor Commutation Type 203E The type of motor commutation - brushless or brush. Unsigned16 MOTORCOMMTYPE Range 0 to 1 203Fh Motor Name 203F The name assigned to the motor Visible_String MOTORNAME Range CApen for CAN and EtherCAT Drives Reference Manual 119

120 Manufacturer-Specific Objects FLEXI PRO 2040h Phase Disconnect Scan 2040 Enables/disables detection of wire breaks in motor phases. Unsigned16 MOTORPHASESCAN Range 0 to h Motor Setup 2041 Starts an automatic procedure for setting commutation variables. Write 1 to enter this mode. Integer8 MOVESMOOTHLPFHZ Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

121 2042h Motor Setup Status 2042 Manufacturer-Specific Objects The status of the automatic motor setup procedure, 2041h (MOTORSETUP). Unsigned32 MOVESMOOTHLPFHZ Read Only Range 0 to h Commutation Offset 2043 The resolver/encoder phase relative to the standard commutation table. Unsigned16 MPHASE Range 0 to 359 degrees ( ) CApen for CAN and EtherCAT Drives Reference Manual 121

122 Manufacturer-Specific Objects FLEXI PRO 2044h Drive Temperature 2044 The temperature of the drive control and power boards (Celsius degrees). Sub-index 1 = Control board temperature Sub-index 2 = Power board temperature Array Integer16 DRIVETEMP Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range 0 to 2 Sub- 001 Control Temperature Integer16 Read Only Range to Celsius degrees ( C) 122 CApen for CAN and EtherCAT Drives Reference Manual

123 Manufacturer-Specific Objects Sub- 002 Power Temperature Integer16 Read Only Range to Celsius degrees ( C) 2045h Feedback Direction 2045 Feedback positive direction. Unsigned16 DIR Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 123

124 Manufacturer-Specific Objects FLEXI PRO 2046h Disabling Mode 2046 Defines if and how Disabling mode is used for stopping the motor Unsigned16 DISMODE Range 0 to h Capture Input Position Offset 2047 Deceleration distance. The target position offset value, relative to the position captured at a stop triggered by an input (input mode 15). Integer32 DECDIST Range to CAN user position units 124 CApen for CAN and EtherCAT Drives Reference Manual

125 2048h Capture Input Position Offset 2 Manufacturer-Specific Objects 2048 Deceleration distance 2. The target position offset value, relative to the position captured at a stop triggered by an input (input mode 16). Integer32 DECDIST2 Range to CAN user position units 2049h Quick Stop Deceleration Time 2049 The deceleration time for an Active Disabling/emergency stop. Unsigned16 DECSTOPTIME Range 0 to 6500 milliseconds (ms) CApen for CAN and EtherCAT Drives Reference Manual 125

126 Manufacturer-Specific Objects 204Ah Active Disabling Speed Threshold 204A FLEXI PRO The velocity below which the motor is considered stopped by Active Disable. Unsigned32 DISSPEED Range 0 to CAN user velocity units 204Bh Active Disabling Time 204B The time delay after 0204Ah (DISSPEED) is reached until drive is disabled by Active Disabling. Unsigned32 DISTIME Default Value 10 Range 0 to 6500 millisecond (ms) 126 CApen for CAN and EtherCAT Drives Reference Manual

127 204Ch Factory Restore Manufacturer-Specific Objects 204C Restores all configuration variables to factory default settings. Writing 01 initiates the factory restore command. Unsigned8 FACTORYRESTORE Range 0 to Dh Feedback Type 204D The type of motor feedback. Unsigned16 FEEDBACKTYPE Default Value 2 Range 1 to 9 CApen for CAN and EtherCAT Drives Reference Manual 127

128 Manufacturer-Specific Objects 204Eh Velocity Loop Output Filter Parameter 1 204E Velocity loop output filter first parameter. Unsigned16 FILTHZ1 Default Value 200 Range 1 to hertz (Hz) FLEXI PRO 204Fh Velocity Loop Output Filter Parameter 2 204F Velocity loop output filter second parameter. Unsigned16 FILTHZ2 Default Value 200 Range 1 to hertz (Hz) 128 CApen for CAN and EtherCAT Drives Reference Manual

129 Manufacturer-Specific Objects 2050h Velocity Loop Output Filter 2050 Defines the type of velocity loop output filter. Unsigned8 FILTMODE Range 0 to h Foldback Status 2051 Indicates whether the drive foldback limit (IFOLD) has dropped below the applications current limits (ILIM). Unsigned16 FOLD Read Only Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 129

130 Manufacturer-Specific Objects 2052h Friction Compensation Negative Current 2052 The current added to the current command when the commanded velocity is negative. Limited by 207Bh (DIPEAK). Real32 FRICINEG.0 Range to milliampere (ma) FLEXI PRO 2053h Friction Compensation Positive Current 2053 The current added to the current command when the commanded velocity is positive. Limited by 207Bh (DIPEAK). Real32 FRICIPOS.0 Range to milliampere (ma) 130 CApen for CAN and EtherCAT Drives Reference Manual

131 Manufacturer-Specific Objects 2054h Friction Compensation Negative Velocity Hysteresis 2054 The velocity hysteresis in the negative direction for the friction compensation mechanism. Integer32 FRICNVHYST Range to CAN user velocity units 2055h Friction Compensation Positive Velocity Hysteresis 2055 The velocity hysteresis in the positive direction for the friction compensation mechanism Integer32 FRICPVHYST Range to CAN user velocity units CApen for CAN and EtherCAT Drives Reference Manual 131

132 Manufacturer-Specific Objects FLEXI PRO 2056h Halls State 2056 The state of the Hall commutation sensors. Sub-index 1 = Hall U Sub-index 2 = Hall V Sub-index 3 = Hall W Array Unsigned8 HALLS Sub- 000 Number of entries Unsigned8 Read Only Default Value 3 Range 0 to 3 Sub- 001 Hall U Unsigned8 Read Only Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

133 Manufacturer-Specific Objects Sub- 002 Hall V Unsigned8 Read Only Range 0 to 1 Sub- 003 Hall W Unsigned8 Read Only Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 133

134 Manufacturer-Specific Objects FLEXI PRO 2057h Invert Hall Signals 2057 Inverts the polarity of the Hall signals associated with motor phases UVW. Sub-index 1, value 1 = inverts Hall U Sub-index 2, value 1 = inverts Hall V Sub-index 3, value 1 = inverts Hall W Array Unsigned8 HALLSINV Sub- 000 Number of entries Unsigned8 Read Only Default Value 3 Range 0 to 3 Sub- 001 Hall U Unsigned8 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

135 Manufacturer-Specific Objects Sub- 002 Hall V Unsigned8 Range 0 to 1 Sub- 003 Hall W Unsigned8 Range 0 to h Hall Signals Type 2058 Defines the connection of Hall sensors to the drive: single-ended or differential inputs. Unsigned16 HALLSTYPE Range 0 to 2 CApen for CAN and EtherCAT Drives Reference Manual 135

136 Manufacturer-Specific Objects FLEXI PRO 2059h Harmonic Correction Feedback 2059 t intended for user unless instructed by Technical Support. Harmonic correction feedback Integer32 HCFB Read Only Range to CAN user position units 205Ah Harmonic Correction Feedback Parameter1 205A t intended for user unless instructed by Technical Support. Harmonic correction feedback parameter 1. Array Unsigned CApen for CAN and EtherCAT Drives Reference Manual

137 Sub- 000 Number of entries Unsigned8 Read Only Default Value 4 Range 4 Manufacturer-Specific Objects Sub- 001 Configuration Unsigned32 Range 0 to Sub- 002 Argument 1 Unsigned32 Range 0 40 CApen for CAN and EtherCAT Drives Reference Manual 137

138 Manufacturer-Specific Objects FLEXI PRO Sub- 003 Argument 2 Unsigned32 Range 0 to 359 Sub- 004 Argument 3 Unsigned32 Range 0 to CAN user position units 205Bh Harmonic Correction Feedback Parameter 2 205B t intended for user unless instructed by Technical Support. Harmonic correction feedback parameter 2. Array Unsigned CApen for CAN and EtherCAT Drives Reference Manual

139 Sub- 000 Number of entries Unsigned8 Read Only Default Value 4 Range 0 to 4 Manufacturer-Specific Objects Sub- 001 Configuration Unsigned32 Range 0 to Sub- 002 Argument 1 Unsigned32 Range 0 to 40 CApen for CAN and EtherCAT Drives Reference Manual 139

140 Manufacturer-Specific Objects FLEXI PRO Sub- 003 Argument 2 Unsigned32 Range 0 to 359 Sub- 004 Argument 3 Unsigned32 Range 0 to 65535FFFF CAN user position units 140 CApen for CAN and EtherCAT Drives Reference Manual

141 205Ch Harmonic Correction Current Manufacturer-Specific Objects 205C t intended for user unless instructed by Technical Support. Actual Harmonic correction current. Integer16 HCICMD Read Only Range to milliampere (ma) 205Dh Harmonic Current ICMD Parameter 1 205D t intended for user unless instructed by Technical Support. Harmonic correction current command parameter 1. Record Contains 5 fields; see sub-indices. Sub- 000 Number of entries Unsigned8 Read Only Default Value 4 Range 0 to 4 CApen for CAN and EtherCAT Drives Reference Manual 141

142 Manufacturer-Specific Objects FLEXI PRO Sub- 001 Configuration Unsigned8 Range 0 to 255 Sub- 002 Argument 1 Unsigned16 Range 0 to 40 Sub- 003 Argument 2 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

143 Manufacturer-Specific Objects Sub- 004 Argument 3 Real32.0 Range e+038 to e Eh Harmonic Current ICMD Parameter 2 205E t intended for user unless instructed by Technical Support. Harmonic correction current command parameter 2. Record Contains 5 fields; see sub-indices. Sub- 000 Number of entries Unsigned8 Read Only Default Value 4 Range 0 to 4 CApen for CAN and EtherCAT Drives Reference Manual 143

144 Manufacturer-Specific Objects FLEXI PRO Sub- 001 Configuration Unsigned8 Range 0 to 255 Sub- 002 Argument 1 Unsigned16 Range 0 to 40 Sub- 003 Argument 2 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

145 Manufacturer-Specific Objects Sub- 004 Argument 3 Real32.0 Range e+038 to e Fh HD Current LPF Rise Time 205F HD current filter low pass filter rise time. Real32 Default Value 9.0 Range 0.0 to 30.0 milliseconds (ms) CApen for CAN and EtherCAT Drives Reference Manual 145

146 Manufacturer-Specific Objects FLEXI PRO 2060h HD Current Filter Damping 2060 t intended for user unless instructed by Technical Support. HD current filter damping. Integer16 NLFILTDAMPING Range 0 to 100 percentage (%) 2061h Current tch Filter Center 2061 t intended for user unless instructed by Technical Support. HD current filter - notch filter center. Integer16 NLNOTCHCENTER Default Value 100 Range 100 to hertz (Hz) 146 CApen for CAN and EtherCAT Drives Reference Manual

147 2062h HD Current tch Filter Bandwidth Manufacturer-Specific Objects 2062 t intended for user unless instructed by Technical Support. HD current filter - notch filter bandwidth. Integer16 NLNOTCHBW Range 0 to 500 hertz (Hz) 2063h Hold Position Command 2063 Instructs motor whether to maintain its position. 0 = Do not hold position 1 = Hold position Unsigned16 HOLD Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 147

148 Manufacturer-Specific Objects FLEXI PRO 2064h Hardware Position External 2064 The position as measured by an external feedback device. Unsigned16 HWPEXT Read Only Range 0 to counts 2065h Hardware Position 2065 The position (in counts) as measured by the feedback device. UNSIGNED64 HWPOS Read Only Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

149 2066h Current D Axis Manufacturer-Specific Objects 2066 In vector control, indicates the value perpendicular to 2067h (IQ) Integer16 ID Read Only Range to Current units 2067h Current Q Axis 2067 In vector control, indicates the current for the torque. This value is perpendicular to 2066h (ID). Integer16 IQ Read Only Range to Current units CApen for CAN and EtherCAT Drives Reference Manual 149

150 Manufacturer-Specific Objects 2068h Current Feedforward LPF 2068 FLEXI PRO The corner frequency of a first-order filter of the feedforward low pass filter. Integer16 IFFLPFHZ Default Value 80 Range 10 to 1000 hertz (Hz) 2069h Drive Foldback Current Limit 2069 The current limit derived from the foldback mechanism Foldback condition occurs when 2069h (IFOLD) goes below 6072h (ILIM). Integer32 IFOLD Read Only Range to Current units 150 CApen for CAN and EtherCAT Drives Reference Manual

151 Manufacturer-Specific Objects 206Ah Drive Foldback Fault Threshold 206A The current threshold for declaring a fault due to foldback. Unsigned32 IFOLDFTHRESH Range 0 to Current units 206Bh Drive Foldback Warning Threshold 206B The current threshold for declaring a warning due to foldback. Threshold warning is declared when 2069h (IFOLD) goes below 206Ah (IFOLDFTHRESH). Unsigned32 IFOLDWTHRESH Range 0 to Current units CApen for CAN and EtherCAT Drives Reference Manual 151

152 Manufacturer-Specific Objects FLEXI PRO 206Ch Gravity Compensation 206C Value added to the current loop command to compensate for gravity or similar constant interference. Integer32 IGRAV Range to Current units 206Dh Encoder Initialization 206D Detects when the encoder index is crossed and sets 202Ah (MENCZPOS). 0 = not found 1 = found Integer16 INDEXFIND Read Only Range to CApen for CAN and EtherCAT Drives Reference Manual

153 206Eh Encoder Initialization Status Manufacturer-Specific Objects 206E The state of the index search and initialization procedure 206Dh (INDEXFIND). 0 = The index search was not started. 1 = Search for index is running. 2 = capture is done. Integer16 INDEXFINDST Read Only Range to Fh Encoder Position Feedback 206F The position feedback value captured at the encoder index position. Unsigned16 INDEXPFB Read Only Range to CAN user position units CApen for CAN and EtherCAT Drives Reference Manual 153

154 Manufacturer-Specific Objects FLEXI PRO 2070h Input Inversion 2070 The inversion state of each digital input. The index should be written first. Then, writing the value executes the actual input inversion. Array Unsigned16 ININV Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range 2 Sub- 001 Unsigned16 Range 1 to CApen for CAN and EtherCAT Drives Reference Manual

155 Manufacturer-Specific Objects Sub- 002 Value Unsigned16 Range 0 to h Dynamic Brake Current 2071 Maximum current for dynamic braking. Limited by 207Bh (DIPEAK). Real32 ISTOP Range 0 to milliampere (ma) CApen for CAN and EtherCAT Drives Reference Manual 155

156 Manufacturer-Specific Objects 2072h Phase U Actual Current 2072 The actual current at phase U (of UVW). Integer32 IU Read Only Range to milliampere (ma) FLEXI PRO 2073h Phase U Current Offset 2073 The current offset of phase U (of UVW). Integer32 IUOFFSET Read Only Range to milliampere (ma) 156 CApen for CAN and EtherCAT Drives Reference Manual

157 Manufacturer-Specific Objects 2074h Phase V Actual Current 2074 The actual current at phase V (of UVW). Integer32 IV Read Only Range to Current units 2075h Phase V Current Offset 2975 The current offset of phase V (of UVW). Integer32 IVOFFSET Read Only Range to milliampere (ma) CApen for CAN and EtherCAT Drives Reference Manual 157

158 Manufacturer-Specific Objects 2076h Zero Procedure Current 2076 The current for the Zero procedure. Real32 IZERO Default Value 100 Range 0 to milliampere (ma) FLEXI PRO 2077h Position Integral Saturation Input 2077 Position Integral Saturation Input Real32 KPISATIN.0 Range 0.0 to CApen for CAN and EtherCAT Drives Reference Manual

159 2078h Negative Limit Switch Status 2078 Manufacturer-Specific Objects The state of the hardware limit switches as configured by the digital inputs, in the negative direction. Unsigned16 LIMSWITCHNEG Read Only Range 0 to h Positive Limit Switch Status 2079 The state of the hardware limit switches as configured by the digital inputs, in the positive direction. Unsigned16 LIMSWITCHPOS Read Only Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 159

160 Manufacturer-Specific Objects 207Ah Load to Motor Inertia Ratio 207A The ratio of the load inertia to the motor inertia. Real32 LMJR.0 Range 0.0 to FLEXI PRO 207Bh Drive Peak Current 207B The peak rated current of the drive (sinusoidal peak). Real32 DIPEAK Read Only Default Value Range 1 to millampere (ma) 160 CApen for CAN and EtherCAT Drives Reference Manual

161 Manufacturer-Specific Objects 207Ch Drive Continuous Current 207C The continuous rated current for the drive (sinusoidal peak). Real32 DICONT Read Only Default Value 8485 Range 1 to milliampere (ma) 207Dh Motor Pitch 207D The pitch of a linear motor. Unsigned32 MPITCH Default Value 32 Range 1 to millimeters (mm) CApen for CAN and EtherCAT Drives Reference Manual 161

162 Manufacturer-Specific Objects FLEXI PRO 207Eh Motor Poles 207E The number of individual poles (not pairs) in the motor. Integer16 MPOLES Default Value 2 Range 2 to 80 poles 207Fh Motor Resistance 207F The motor resistance. Real32 MR.0 Range 0.0 to 10.0 Ohm (Ω) 162 CApen for CAN and EtherCAT Drives Reference Manual

163 2080h Motor Resolver Poles 2080 Default Value 2 Manufacturer-Specific Objects The number of individual poles in the resolver feedback device. Integer16 MRESPOLES Range 2 to 80 poles 2081h Motor Rated Torque 2081 Motor rated torque Unsigned32 MRT Default Value 2000 Range 1 to millinewton meter (mnm) CApen for CAN and EtherCAT Drives Reference Manual 163

164 Manufacturer-Specific Objects 2082h Current KCFF Gain 2082 The current controller feed-forward gain Real32 KCFF.0 to Range 1.0 FLEXI PRO 2083h Torque Commutation Angle Advance at Motor Continuous Current 2083 The torque-related commutation angle advance at motor continuous current rating. Unsigned16 MTANGLC Range 0 to 45 degrees ( ) 164 CApen for CAN and EtherCAT Drives Reference Manual

165 Manufacturer-Specific Objects 2084h Torque Commutation Angle Advance at Motor Peak Current 2084 The torque-related commutation angle advance at motor peak current. Unsigned16 MTANGLP Range 0 to 45 degrees ( ) 2085h Velocity Commutation Angle Advance at Motor Maximum Speed 2085 The velocity-related commutation angle advance at motor maximum speed. Unsigned16 MVANGLF Range 0 to 90 degrees ( ) CApen for CAN and EtherCAT Drives Reference Manual 165

166 Manufacturer-Specific Objects FLEXI PRO 2086h Velocity Commutation Angle Advance at Motor Maximum Speed/ The velocity-related commutation angle advance at motor maximum speed/2. Unsigned16 MVANGLH Range 0 to 90 degrees ( ) 2087h HD Spring Filter 2087 t intended for user unless instructed by Technical Support. HD spring filter Unsigned16 NLAFFLPFHZ Default Value 7000 Range 10 to 7000 hertz (Hz) 166 CApen for CAN and EtherCAT Drives Reference Manual

167 2088h PFB Backup Manufacturer-Specific Objects 2088 PFB backup. Reads the PFB values from non-volatile memory that were saved by the PFB backup process. Integer 32 PFBBACKUP Read only no Range to CAN user position units 2089h PFB Backup Mode 2089 PFB backup mode. Enables and disables the PFB backup process. In the event of an emergency stop, the PFB backup process saves PFB to non-volatile memory, and restores it at the next power up. Unsigned integer 16 PFBBACKUPMODE Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 167

168 Manufacturer-Specific Objects FLEXI PRO 208Ah HD Maximum Adaptive Gain 208A t intended for user unless instructed by Technical Support. HD maximum adaptive gain. Real32 NLMAXGAIN Default Value 1.0 Range 1.0 to Bh HD Current Filter Second tch Filter Bandwidth 208B t intended for user unless instructed by Technical Support. HD current filter - second notch filter bandwidth Unsigned16 NLNOTCH2BW Range 0 to 500 hertz (Hz) 168 CApen for CAN and EtherCAT Drives Reference Manual

169 Manufacturer-Specific Objects 208Ch HD Current Filter Second tch Filter Center 208C t intended for user unless instructed by Technical Support. HD current filter - second notch filter center Unsigned16 NLNOTCH2CENTER Default Value 100 Range 100 to hertz (Hz) 208Dh Emergency or Controlled Stop Current Limit 208D The current limit during an emergency or controlled stop Real32 MOVESMOOTHLPFHZ Default Value 1.0 Range to 1.0 CApen for CAN and EtherCAT Drives Reference Manual 169

170 Manufacturer-Specific Objects FLEXI PRO 208Eh Position Command 208E Position command Integer32 PCMD Read Only Range to CAN user position units 208Fh HD Flexibility Compensation 208F t intended for user unless instructed by Technical Support. HD spring gain. Real32 NLPEAFF Range 0 to hertz (Hz) 170 CApen for CAN and EtherCAT Drives Reference Manual

171 2090h Home Status Manufacturer-Specific Objects 2090 Homing status Unsigned8 PCMD Read Only Range 0 to h HD Spring Deceleration Ratio 2091 t intended for user unless instructed by Technical Support. HD spring deceleration ratio Real32 NLPEDFFRATIO Default Value 1.0 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 171

172 Manufacturer-Specific Objects FLEXI PRO 2093h HD Autotune Command 2093 t intended for user unless instructed by Technical Support. Starts the HD autotuning procedure. Unsigned16 NLTUNE Range 0 to h HD Autotune Procedure Parameter 2094 t intended for user unless instructed by Technical Support. HD autotuning procedure parameter. Integer32 NLTUNEPARAM Range to CAN user position units 172 CApen for CAN and EtherCAT Drives Reference Manual

173 2095h Position Feedback Offset Manufacturer-Specific Objects 2095 Position feedback offset Integer32 PBFOFFSET Range 2096h HD Anti Vibration Filter 2096 t intended for user unless instructed by Technical Support. HD anti-resonance center frequency. Real32 NLANTIVIBHZ Default Value Range 5.0 to hertz (Hz) CApen for CAN and EtherCAT Drives Reference Manual 173

174 Manufacturer-Specific Objects FLEXI PRO 2097h HD Anti Vibration Filter t intended for user unless instructed by Technical Support. HD position error filter frequency. Real32 NLANTIVIBHZ2 Default Value Range 5.0 to hertz (Hz) 2098h HD Autotune Timeout 2098 t intended for user unless instructed by Technical Support. Timeout of the HD autotuning procedure. Unsigned32 NLTUNETIME Range 0 to millisecond (ms) 174 CApen for CAN and EtherCAT Drives Reference Manual

175 2099h Current Level 1 for Digital Output Definition 2099 Manufacturer-Specific Objects The first current value for a condition that controls a digital output. Real32 OUTILVL1 Range 0 to milliampere (ma) 209Ah Current Level 2 for Digital Output Definition 209A The second current value for a condition that controls a digital output. Real32 OUTILVL2 Range 0 to milliampere (ma) CApen for CAN and EtherCAT Drives Reference Manual 175

176 Manufacturer-Specific Objects FLEXI PRO 209Bh Output Inversion 209B The inversion state of each digital output. The index should be written first. Then, writing the value executes the actual output inversion. Array Unsigned16 OUTINV Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range 2 Sub- 001 Unsigned16 Default Value 1 Range 1 to CApen for CAN and EtherCAT Drives Reference Manual

177 Manufacturer-Specific Objects Sub- 002 Value Unsigned16 Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 177

178 Manufacturer-Specific Objects FLEXI PRO 209Ch Output Mode 209C Defines the function of each digital input. The index should be written first. Then, writing the value assigns the actual function to the corresponding output index. Function codes: 0 = Idle 1 = Active (enabled) 2 = Brake 3 = Fault exists (alarm) 4 = In position 5 = Stopped 6 = Foldback 7 = Current level 8 = Current range 9 = Velocity level 10 = Velocity range 11 = Position level 12 = Position range 13 = Battery low voltage warning Tamagawa 17 bit Encoder 14 = Warning on 15 = Faults or disabled 16 = Battery low voltage fault Tamagawa 17 bit Encoder 17 = Wake Shake succeeded. Array Unsigned16 OUTMODE Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range CApen for CAN and EtherCAT Drives Reference Manual

179 Manufacturer-Specific Objects Sub- 001 Output index Unsigned16 Default Value 1 Range 1 Sub- 002 Function code Unsigned16 Range 0 CApen for CAN and EtherCAT Drives Reference Manual 179

180 Manufacturer-Specific Objects 209Dh Position Level 1 for Digital Output Definition 209D FLEXI PRO The first position value for a condition that controls a digital output. Integer32 OUTPLVL1 Range to CAN user position units 209Eh Position Level 2 for Digital Output Definition 209E The second position value for a condition that controls a digital output. Integer32 OUTPLVL2 Range to CAN user position units 180 CApen for CAN and EtherCAT Drives Reference Manual

181 209Fh Velocity Level 1 for Digital Output Definition 209F Manufacturer-Specific Objects The first velocity value for a condition that controls a digital output. Integer32 OUTVLVL1 Range to CAN user velocity units 20A0h Velocity Level 2 for Digital Output Definition 20A0 The second velocity value for a condition that controls a digital output. Integer32 OUTVLVL2 Range to CAN user velocity units CApen for CAN and EtherCAT Drives Reference Manual 181

182 Manufacturer-Specific Objects FLEXI PRO 20A1h Over-Voltage Threshold 20A1 The level for detection of a bus over-voltage condition. Unsigned16 OVTHRESH Read Only Range 0 to volt (V) 20A2h - Software Enable Status 20A2 Software enable status Unsigned8 SWEN Read Only Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

183 20A3h Position Loop Position Error Manufacturer-Specific Objects 20A3 Position error value used by the position loop. Integer32 PELOOP Read Only Range to CAN user position units 20A4h Phase Find Command 20A4 Starts a procedure that initializes commutation for incremental encoder systems. Writing 1 initiates the Phase Find command. Unsigned8 PHASEFIND Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 183

184 Manufacturer-Specific Objects 20A5h Forced Electrical Position 20A5 The position in one revolution. Unsigned16 PHASEFINDANGLE Range 0 to /electrical cycle FLEXI PRO 20A6h Phase Find Gain 20A6 Adjusts the gain of the phase finding mechanism. Real32 PHASEFINDGAIN Default Value 1.0 Range 0.0 to CApen for CAN and EtherCAT Drives Reference Manual

185 20A7h Phase Find Current Manufacturer-Specific Objects 20A7 Adjusts the current of the phase finding mechanism. Limited by 6073h (IMAX). Real32 PHASEFINDI Range milliampere (ma) 20A8h Phase Find Mode 20A8 Defines commutation for phase finding. 0 = Injects test signals and analyzes motor behavior to initialize commutation. 2 = Soft start - increases current at a known commutation angle (wake-no-shake). 11 = Manual commutation offset. Commutation offset is defined by the value of 20A5h (PHASEFINDANGLE). Unsigned16 PHASEFINDMODE Range 0 to 11 CApen for CAN and EtherCAT Drives Reference Manual 185

186 Manufacturer-Specific Objects FLEXI PRO 20A9h Phase Find Status 20A9 The state of the phase finding procedure for incremental encoders. 0 = t started 1 = Running 2 = Succeeded 3 = Failed Unsigned16 PHASEFINDST Read Only Range 0 to AAh Phase Find Duration 20AA Limits the duration of phase finding 20A8h (PHASEFINDMODE) in soft start mode (input 2). Unsigned16 PHASEFINDTIME Default Value 100 Range 0 to milliseconds (ms) 186 CApen for CAN and EtherCAT Drives Reference Manual

187 20ABh Position Loop Controller Mode Manufacturer-Specific Objects 20AB Defines the type of position loop controller. 0 = Standard cascaded position controller. 1 = HD position controller. Unsigned16 POSCONTROLMODE Range 0 to 1 20ACh Software Position Limit Mode 20AC Enables/disables software position limits. Unsigned16 POSLIMMODE Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 187

188 Manufacturer-Specific Objects FLEXI PRO 20ADh PRB Generator Frequency 20AD t intended for user unless instructed by Technical Support. Defines the frequency for PRB excitation. For pseudo binary noise (208Fh sub-index 1 = 0, 1), this object has no effect. For sine and square wave generators (208Fh sub-index 1 = 2 or 208Fh sub-index 1 = 3), this object defines the frequency of the sine and square wave generator, respectively. Real32 PRBFRQ Default Value Range 0.0 to hertz (Hz) 188 CApen for CAN and EtherCAT Drives Reference Manual

189 20AEh PRB Generator Mode Manufacturer-Specific Objects 20AE t intended for user unless instructed by Technical Support. Defines if and how the PRB signal generator is activated: 0 = PRB generator not activated 1 = PRB generator activated only during recording 2 = PRB generator activated continuously Unsigned16 PRBMODE Range 0 to 2 CApen for CAN and EtherCAT Drives Reference Manual 189

190 Manufacturer-Specific Objects FLEXI PRO 20AFh PRB Generator Configuration 20AF t intended for user unless instructed by Technical Support. PRB generator configuration. Signal Type: 0-8 bit random noise 1-10 bit random noise 2 - sine wave 3 - square wave Current Amplitude is limited with the Max Current (6073h). Velocity Amplitude is limited with the Max Profile Velocity (607Fh). Counter Period is relative to current loop update rate. Record PRB_PAR PRBPARAM Sub- 000 Number of entries Unsigned8 Read Only Default Value 5 Range CApen for CAN and EtherCAT Drives Reference Manual

191 Manufacturer-Specific Objects Sub- 001 Signal type Unsigned16 Range 0 to 3 Sub- 002 Current Amplitude Integer32 Range to Amp I Sub- 003 Velocity amplitude Integer32 Range to Amp V CApen for CAN and EtherCAT Drives Reference Manual 191

192 Manufacturer-Specific Objects FLEXI PRO Sub- 004 Counter period Unsigned16 Range 0 to Sub- 005 Configuration Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

193 20B0h PTP Generator Target Error 20B0 Manufacturer-Specific Objects The target error during a motion profile (the distance remaining to the destination in a point-to-point move). Integer32 PTPTE Read Only Range to CAN user position units 20B1h PTP Generator Velocity Command 20B1 The derivative of the position command profile, in velocity units. Integer32 PTPVCMD Read Only Range to CAN user velocity units CApen for CAN and EtherCAT Drives Reference Manual 193

194 Manufacturer-Specific Objects 20B2h PWM Frequency 20B2 The frequency of the PWM signals. Real32 PWMFRQ Read Only.0 Range e+038 to e+038 kilohertz (khz) FLEXI PRO 20B3h Gearmode 20B3 Gear operation mode Unsigned8 GEARMODE Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

195 20B4h PWM Saturation Ratio Manufacturer-Specific Objects 20B4 t intended for user unless instructed by Technical Support. The duration of current saturation within a commutation cycle. Real32 PWMSATRATIO Default Value 1.5 Range 0.5 to B5h Position Error in Position Flag 20B5 Position error in position flag Unsigned16 INPOS Read Only Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 195

196 Manufacturer-Specific Objects FLEXI PRO 20B6h Machine Hardware Position External 20B6 t intended for user unless instructed by Technical Support. Hardware position external (DSP) Integer32 HWPEXTMACHN Read Only Yes Range to B8h Fault Relay Status 20B8 The state of the fault relay. 0 = Relay open 1 = Relay closed Unsigned16 RELAY Read Only Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

197 20B9h Fault Relay Mode Manufacturer-Specific Objects 20B9 Defines how the fault relay operates. 0 = Relay opens upon fault. 1 = Relay opens upon disable. Unsigned16 RELAYMODE Range 0 to 1 20BAh Remote Hardware Enable Status 20BA Indicates the state of the external hardware enable input. 0 = Remote enable input off. 1 = Remote enable input on. Unsigned16 REMOTE Read Only Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 197

198 Manufacturer-Specific Objects 20BBh Resolver Amplitude Range 20BB FLEXI PRO The acceptable range of deviation of resolver sine/cosine signals (as a percentage). Unsigned16 RESAMPLRANGE Default Value 35 Range 0 to 100 percentage (%) 20BCh Resolver Conversion Bandwidth 20BC Resolver conversion bandwidth. Unsigned16 RESBW Default Value 300 Range 200 to 800 hertz (Hz) 198 CApen for CAN and EtherCAT Drives Reference Manual

199 20BDh Save/Load Status 20BD Save/load status Unsigned8 Read Only Range 0 to 255 Manufacturer-Specific Objects 20BEh Sine/Cosine Calibration Command 20BE Activates a procedure that calibrates the resolver sine/cosine signals. Unsigned16 SININIT Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 199

200 Manufacturer-Specific Objects FLEXI PRO 20BFh Sine/Cosine Calibration Mode 20BF Enables/disables automatic calibration of sine/cosine signals. Unsigned16 SININITMODE Range 0 to 1 20C0h Sine/Cosine Calibration Status 20C0 The state of resolver calibration procedure. Unsigned16 SININITST Read Only Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

201 20C1h Sine/Cosine Calibration Parameters Manufacturer-Specific Objects 20C1 Returns the parameters for calibration of the resolver sine and cosine signals. Visible_String SINPARAM Read Only Range 20C2h Synchronization Mode 20C2 Defines the method used to synchronize the drive clock to an external sync signal: 0 = Disabled; no sync 1 = Sync drive clock to controller based on fast digital input 5 2 = Sync drive clock to controller based on fast digital input 6 3 = Sync drive clock based on pulse differential input (Pulse & Direction) Unsigned16 SYNCSOURCE Range 0 to 5 CApen for CAN and EtherCAT Drives Reference Manual 201

202 Manufacturer-Specific Objects FLEXI PRO 20C3h Tracking Factor 20C3 The derivative factor for tracking with PDFF velocity controller. Unsigned16 TF Default Value 100 Range 0 to 200 percentage (%) 20C4h Motor Over-Temperature 20C4 The state of the motor thermostat input that indicates an over-temperature condition: 0 = Thermostat input closed (normal) or ignored, when 20C6h (THERMODE) = 3 1 = Thermostat input open, indicating overheating Unsigned16 THERM Read Only Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

203 Manufacturer-Specific Objects 20C5h Motor Over-Temperature Clear Fault Level 20C5 The level at which a motor over-temperature fault is cleared. Unsigned32 THERMCLEARLEVEL Default Value 100 Range 0 to Ohm (Ω) 20C6h Motor Over-Temperature Mode 20C6 Defines how the drive will respond to an over-temperature fault: 0 = Disable drive immediately. 3 = Ignore thermostat input. 4 = Issue warning only. 5 = Issue warning; if condition persists after 20C8h (THERMTIME), issue fault. Unsigned16 THERMODE Range 0 to 5 CApen for CAN and EtherCAT Drives Reference Manual 203

204 Manufacturer-Specific Objects 20C7h Motor Temperature 20C7 The motor temperature. Integer32 THERMREADOUT Read Only Range to Ohm (Ω) FLEXI PRO 20C8h Motor Over-Temperature Time 20C8 The number of seconds after detection of motor over-temperature until the drive opens the fault relay. Unsigned16 THERMTIME Default Value 30 Range 0 to 300 seconds (s) 204 CApen for CAN and EtherCAT Drives Reference Manual

205 20C9h Motor Over-Temperature Fault Level Manufacturer-Specific Objects 20C9 The motor over-temperature fault level. Unsigned32 THERMTRIPLEVEL Default Value 150 Range 0 to Ohm (Ω) 20CAh Motor Over-Temperature Type 20CA The type of motor temperature sensor: 0 = Positive temperature coefficient (PTC) 1 = Negative temperature coefficient (NTC) Unsigned16 THERMTYPE Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 205

206 Manufacturer-Specific Objects FLEXI PRO 20CBh Tamagawa Multi-Turn Reset 20CB Resets the counter of a Tamagawa multi-turn encoder. Writing 01 initiates the command. Unsigned8 TMTURNRESET Range 0 to 1 20CCh Run Time 20CC The total elapsed run time of the drive since production (cannot be reset). Visible_String TRUN Read Only Range 206 CApen for CAN and EtherCAT Drives Reference Manual

207 20CDh Under-Voltage Mode Manufacturer-Specific Objects 20CD Defines how the drive will respond to an under-voltage fault: 0 = Latches fault immediately. 1 = Shows warning only (when disabled, does not display warning). 2 = Shows warning, then waits 20D0h (UVTIME) before the fault is latched (when disabled, does not display warning). 3 = Fault only if under-voltage exists and drive is enabled. Unsigned16 UVMODE Range 0 to 3 CApen for CAN and EtherCAT Drives Reference Manual 207

208 Manufacturer-Specific Objects FLEXI PRO 20CEh Under-Voltage Recovery Mode 20CE Defines how the drive will recover from an under-voltage fault: 0 = Recovers by toggling drive from disable to enable condition after the under-voltage condition clears. 1 = Automatically recovers when the under-voltage condition clears. Unsigned16 UVRECOVER Range 0 to 1 20CFh Under-Voltage Threshold 20CF The level for detection of an under-voltage condition. Unsigned16 UVTHRESH Range 0 to 1000 volt (V) 208 CApen for CAN and EtherCAT Drives Reference Manual

209 20D0h Under-Voltage Time 20D0 Manufacturer-Specific Objects The length of time an under-voltage warning is displayed before it is latched in 20CDh (UVMODE) = 2. Unsigned16 UVTIME Default Value 30 Range 0 to 300 seconds (s) 20D1h Bus Voltage (DC) 20D1 Drive bus voltage used for current controller design. Unsigned16 VBUS Default Value 320 Range 10 to 850 volt (V) CApen for CAN and EtherCAT Drives Reference Manual 209

210 Manufacturer-Specific Objects 20D3h Velocity Error 20D3 The velocity error of velocity loop. Integer32 VE Read Only Range to CAN user velocity units FLEXI PRO 210 CApen for CAN and EtherCAT Drives Reference Manual

211 20D4h Velocity Loop Controller Manufacturer-Specific Objects 20D4 Defines the type of velocity loop controller: 0 = PI controller: uses 2026h (KVP), 2027h (KVI) 1 = PDFF controller: uses 2025h (KVP), 2026h (KVI), 2027h (KVFR) 2 = Standard pole placement controller: uses 2037h (MJ), 2039h (MKT), 2010h (BW), 207Ah (LMJR), 20C3h (TF) 3 = Extended polynomial controller: uses 20DBh (VR), 20DAh (VH), 20D8h (VF), and VD. Still in development. 4 = High frequency pole placement controller: (uses 2037h (MJ), 2039h (MKT), 2010h (BW), 207Ah (LMJR), 20C3h (TF) 5 = HD velocity control with integrator: 2018h (KNLI), 2019h (KNLIV) 6 = HD velocity control without integrator Unsigned8 VELCONTROLMODE Range 0 to 6 CApen for CAN and EtherCAT Drives Reference Manual 211

212 Manufacturer-Specific Objects FLEXI PRO 20D5h Velocity Design Structure 20D5 t intended for user unless instructed by Technical Support. Velocity design structure. Returns a conversion of the internal velocity controller as set by one of the standard velocity control modes to a general extended polynomial controller structure. Applicable only to standard cascaded position controller: Position Loop Controller Mode (20ABh) = 0. Visible_String VELDESIGN Read Only Range 212 CApen for CAN and EtherCAT Drives Reference Manual

213 20D6h Velocity Filter Mode Manufacturer-Specific Objects 20D6 The type of filter for extracting a velocity signal from the position feedback: 0 = filter 1 = First order filter 2 = Observer type I 3 = Observer type II Unsigned16 VELFILTMODE Default Value 1 Range 0 to 3 20D7h Drive Version 20D7 The firmware version of drive. Visible_String VER Read Only Range CApen for CAN and EtherCAT Drives Reference Manual 213

214 Manufacturer-Specific Objects FLEXI PRO 20D8h Velocity Loop Output Filter 20D8 t intended for user unless instructed by Technical Support. User defined velocity loop output filter. Array Unsigned16 VF Sub- 000 Number of entries Unsigned8 Read Only Default Value 8 Range 0 to Sub- 001 Velocity loop output filter parameter 1 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

215 Manufacturer-Specific Objects Sub- 002 Velocity loop output filter parameter 2 Unsigned16 Range 0 to Sub- 003 Velocity loop output filter parameter 3 Unsigned16 Range 0 to Sub- 004 Velocity loop output filter parameter 4 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 215

216 Manufacturer-Specific Objects FLEXI PRO Sub- 005 Velocity loop output filter parameter 5 Unsigned16 Range 0 to Sub- 006 Velocity loop output filter parameter 6 Unsigned16 Range 0 to Sub- 007 Velocity loop output filter parameter 7 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

217 Manufacturer-Specific Objects Sub- 008 Configuration Unsigned16 Range 0 to 1 20D9h Velocity Loop Input Filter 20D9 t intended for user unless instructed by Technical Support. User defined velocity loop input filter Array Unsigned16 VFI Sub- 000 Number of entries Unsigned8 Read Only Default Value 8 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 217

218 Manufacturer-Specific Objects FLEXI PRO Sub- 001 User defined velocity loop input filter parameter 1 Unsigned16 Range 0 to Sub- 002 User defined velocity loop input filter parameter 2 Unsigned16 Range 0 to Sub- 003 User defined velocity loop input filter parameter 3 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

219 Manufacturer-Specific Objects Sub- 004 User defined velocity loop input filter parameter 4 Unsigned16 Range 0 to Sub- 005 User defined velocity loop input filter parameter 5 Unsigned16 Range 0 to Sub- 006 User defined velocity loop input filter parameter 6 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 219

220 Manufacturer-Specific Objects FLEXI PRO Sub- 007 User defined velocity loop input filter parameter 7 Unsigned16 Range 0 to Sub- 008 Configuration Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

221 Manufacturer-Specific Objects 20DAh Advanced Pole Placement H Polynomial 20DA t intended for user unless instructed by Technical Support. Advanced Pole Placement H Polynomial Array Unsigned16 VH Sub- 000 Number of entries Unsigned8 Read Only Default Value 13 Range 0 to Sub- 001 Advanced pole placement H polynomial parameter 1 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 221

222 Manufacturer-Specific Objects FLEXI PRO Sub- 002 Advanced pole placement H polynomial parameter 2 Unsigned16 Range 0 to Sub- 003 Advanced pole placement H polynomial parameter 3 Unsigned16 Range 0 to Sub- 004 Advanced pole placement H polynomial parameter 4 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

223 Manufacturer-Specific Objects Sub- 005 Advanced pole placement H polynomial parameter 5 Unsigned16 Range 0 to Sub- 006 Advanced pole placement H polynomial parameter 6 Unsigned16 Range 0 to Sub- 007 Advanced pole placement H polynomial parameter 7 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 223

224 Manufacturer-Specific Objects FLEXI PRO Sub- 008 Advanced pole placement H polynomial parameter 8 Unsigned16 Range 0 to Sub- 009 Advanced pole placement H polynomial parameter 9 Unsigned16 Range 0 to Sub- 010 Advanced pole placement H polynomial parameter 10 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

225 Manufacturer-Specific Objects Sub- 011 Advanced pole placement H polynomial parameter 11 Unsigned16 Range 0 to Sub- 012 Advanced pole placement H polynomial parameter 12 Unsigned16 Range 0 to Sub- 013 Configuration Unsigned16 Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 225

226 Manufacturer-Specific Objects FLEXI PRO 20DBh Advanced Pole Placement R Polynomial 20DB t intended for user unless instructed by Technical Support. Advanced Pole Placement R Polynomial Array Unsigned16 VR Sub- 000 Number of entries Unsigned8 Read Only Default Value 11 Range 0 to Sub- 001 Advanced pole placement R polynomial parameter 1 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

227 Manufacturer-Specific Objects Sub- 002 Advanced pole placement R polynomial parameter 2 Unsigned16 Range 0 to Sub- 003 Advanced pole placement R polynomial parameter 3 Unsigned16 Range 0 to Sub- 004 Advanced pole placement R polynomial parameter 4 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 227

228 Manufacturer-Specific Objects FLEXI PRO Sub- 005 Advanced pole placement R polynomial parameter 5 Unsigned16 Range 0 to Sub- 006 Advanced pole placement R polynomial parameter 6 Unsigned16 Range 0 to Sub- 007 Advanced pole placement R polynomial parameter 7 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

229 Manufacturer-Specific Objects Sub- 008 Advanced pole placement R polynomial parameter 8 Unsigned16 Range 0 to Sub- 009 Advanced pole placement R polynomial parameter 9 Unsigned16 Range 0 to Sub- 010 Advanced pole placement R polynomial parameter 10 Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 229

230 Manufacturer-Specific Objects FLEXI PRO Sub- 011 Configuration Unsigned16 Range 0 to 1 20DCh Wake Shake Status 20DC t intended for user unless instructed by Technical Support. Wake Shake Status. Visible_String WNSERR Read Only Range 230 CApen for CAN and EtherCAT Drives Reference Manual

231 20DDh Display Warnings Range 20DD Manufacturer-Specific Objects Lists all warnings that have occurred since buffer was cleared. Visible_String WRN Read Only 20DEh External Encoder Resolution 20DE The resolution of the external encoder. Integer32 XENCRES Range to CApen for CAN and EtherCAT Drives Reference Manual 231

232 Manufacturer-Specific Objects FLEXI PRO 20DFh Zeroing Command 20DF Enables/disables the resolver/encoder Zeroing mode. Unsigned16 ZERO Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

233 20E0h Input Mode Manufacturer-Specific Objects 20E0 Defines the function of each digital input. The index should be written first. Then, writing the value assigns the actual function to the corresponding input index. Function codes: 0 - Idle 1 - Remote enable 2 - Reset faults 3 - PLL synchronization 4 - Emergency stop 5 - Limit switch positive 6 - Limit switch negative 7 - Reserved 8 - Homing 9 - Script 10 - Script bit Script bit Script bit Script bit Script bit Deceleration by DECDIST On 16 - Deceleration by DECDIST2 On 17 - Pulse signal (input 5 only) 18 - Direction signal (input 6 only) 19 - Script execution upon change in input Array Unsigned16 INMODE Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range 2 CApen for CAN and EtherCAT Drives Reference Manual 233

234 Manufacturer-Specific Objects FLEXI PRO Sub- 001 Input Unsigned16 Default Value 1 Range 1 to 11 Sub- 002 Function Code Unsigned16 Default Value 1 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

235 20E1h Rotary Address Switch Range 20E1 Manufacturer-Specific Objects The rotary switch position that defines the drive communication address Visible_String ADDR Read Only 20E2h Test 7-Segment Display 20E2 Tests the 7-segment display on drive front panel Unsigned16 DISPLAYTEST Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 235

236 Manufacturer-Specific Objects 20E3h Encoder Simulation Mode 20E3 Defines whether encoder simulation is active. Unsigned16 ENCOUTMODE Range 0 to 1 FLEXI PRO 20E4h Encoder Simulation Resolution 20E4 The resolution of the encoder simulation output (in number of lines). Integer32 ENCOUTRES Default Value 2048 Range ±10,000,000, but not 0 number of lines 236 CApen for CAN and EtherCAT Drives Reference Manual

237 Manufacturer-Specific Objects 20E5h Encoder Simulation Position 20E5 The index offset value of the encoder simulation output. Unsigned32 ENCOUTZPOS Range 0 to counts 20E6h Record Done Indicator 20E6 Indicates whether the recording is complete and data is available. Unsigned8 RECDONE Read Only Range 0 to 1 CApen for CAN and EtherCAT Drives Reference Manual 237

238 Manufacturer-Specific Objects 20E7h Get Recorded Data 20E7 Get recorded data Record GET Sub- 000 Number of entries Unsigned8 Default Value 6 Range 0 to 255 FLEXI PRO Sub- 001 PacketSelect Unsigned8 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

239 Manufacturer-Specific Objects Sub- 002 Domain Domain Read Only Range Sub- 003 Data length Integer16 Read Only Range 0 to Sub- 004 Data status Unsigned16 Read Only Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 239

240 Manufacturer-Specific Objects FLEXI PRO Sub- 005 RT Data Ack Unsigned16 Read Only Range 0 to Sub- 006 Number of channels Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

241 20E8h Trigger Recording 20E8 Trigger recording Record RECTRIG Sub- 000 Number of entries Unsigned8 Read Only Default Value 5 Range 0 to 255 Manufacturer-Specific Objects Sub- 001 Visible_String Range CApen for CAN and EtherCAT Drives Reference Manual 241

242 Manufacturer-Specific Objects FLEXI PRO Sub- 002 Domain Domain Range Sub- 003 Pre-trig Unsigned16 Range 0 to Sub- 004 EdgePlr Unsigned8 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

243 Manufacturer-Specific Objects Sub- 005 Activate Unsigned8 Range 0 to E9h Cancel Recording 20E9 Record Off Unsigned8 RECOFF Range 20EAh Record 20EA Record command Record RECORD CApen for CAN and EtherCAT Drives Reference Manual 243

244 Manufacturer-Specific Objects FLEXI PRO Sub- 000 Number of entries Unsigned8 Read Only Default Value 9 Range 0 to 255 Sub- 001 Sample time Unsigned16 Range 0 to Sub- 002 Number of points Unsigned16 Default Value 1 Range 1 to CApen for CAN and EtherCAT Drives Reference Manual

245 Manufacturer-Specific Objects Sub Var1 Var2 Var3 Var4 Var5 - Var6 Visible_String Range Sub- 009 Activate Unsigned8 Range 0 to EBh Recording Status 20EB Recording status Unsigned8 RECING Read Only Range 0 to 255 CApen for CAN and EtherCAT Drives Reference Manual 245

246 Manufacturer-Specific Objects FLEXI PRO 20ECh Ready to Record 20EC Ready to record Integer16 RECRDY Read Only Range to EDh HD Autotune Status 20ED t intended for user unless instructed by Technical Support. HD autotuning status Record NLTUNEST Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

247 Manufacturer-Specific Objects Sub- 001 StatusSelect Unsigned8 Range 0 to 4 Sub- 002 Domain Domain Read Only Range 20EEh Drive and Motor Maximum Velocity 20EE Maximum velocity for a drive and motor Integer32 VMAX Read Only Range to CApen for CAN and EtherCAT Drives Reference Manual 247

248 Manufacturer-Specific Objects FLEXI PRO 20EFh Dead Time Compensation Minimal Level 20EF t intended for user unless instructed by Technical Support. Minimal current level to start compensate dead time effect. Real32 KCD Default Value 1.0 Range 0 to 10 20F0h Drive and Motor Maximum Current 20F0 Maximum current for a drive and motor combination. Integer32 IMAX Read Only Range milliampere (ma) 248 CApen for CAN and EtherCAT Drives Reference Manual

249 20F1h Motor Encoder Resolution 20F1 Manufacturer-Specific Objects The resolution of the motor encoder in number of lines per revolution of the motor. Unsigned32 MENCRES Default Value 2048 Range 16 to Lines per revolution 20F2h Analog Input 1 20F2 The value of analog input 1. Integer16 ANIN1 Read Only Yes Range to volt (V) CApen for CAN and EtherCAT Drives Reference Manual 249

250 Manufacturer-Specific Objects 20F3h Analog Input 1 Deadband 20F3 The deadband range of analog input 1 Unsigned16 ANIN1DB Range to volt (V) FLEXI PRO 20F4h Analog Input 1 Current Scaling 20F4 The scaling value of the analog current command from input 1. Integer32 ANIN1ISCALE Range to volt (V) 250 CApen for CAN and EtherCAT Drives Reference Manual

251 20F5h Analog Input 1 Low Pass Filter 20F5 Manufacturer-Specific Objects The corner frequency of a first order filter that is applied to analog input 1. Integer16 ANIN1LPFHZ Range to hertz (Hz) 20F6h Analog Input 1 Offset 20F6 The offset voltage for analog input 1. Integer16 ANIN1OFFSET Range to volt (V) CApen for CAN and EtherCAT Drives Reference Manual 251

252 Manufacturer-Specific Objects 20F7h Analog Input 1 Velocity Scaling 20F7 The scaling value of the analog velocity command from input 1 Integer32 ANIN1VSCALE Range to volt (V) FLEXI PRO 20F8h Analog Input 1 Zeroing 20F8 Zeroes the value of analog input 1 by modifying the analog offset value. Unsigned16 ANIN1ZERO Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

253 20F9h Analog Input 2 20F9 The value of analog input 2 Integer16 ANIN2 Read Only Yes Range to volt (V) Manufacturer-Specific Objects 20FAh Analog Input 2 Deadband 20FA The deadband range of analog input 2 Unsigned16 ANIN2DB Range to volt (V) CApen for CAN and EtherCAT Drives Reference Manual 253

254 Manufacturer-Specific Objects 20FBh Analog Input 2 Current Scaling 20FB The scaling value of the analog current command from input 2. Integer32 ANIN2ISCALE Range to volt (V) FLEXI PRO 20FCh Analog Input 2 Low Pass Filter 20F The corner frequency of a first order filter that is applied to analog input 1. Integer16 ANIN2LPFHZ Range to hertz (Hz) 254 CApen for CAN and EtherCAT Drives Reference Manual

255 Manufacturer-Specific Objects 20FDh Analog Input 2 Offset 20FD The offset voltage for analog input 2. Integer16 ANIN2OFFSET Range to volt (V) 20FEh Analog Input 2 Velocity Scaling 20FE The scaling value of the analog velocity command from input 2 Integer32 Range to volt (V) CApen for CAN and EtherCAT Drives Reference Manual 255

256 Manufacturer-Specific Objects 20FFh Analog Input 2 Zeroing 20FF FLEXI PRO Zeroes the value of analog input 1 by modifying the analog offset value. Unsigned16 ANIN2ZERO Range 0 to h Analog Input 2 Mode 2100 Analog input 2 mode Integer16 ANIN2MODE Range -1 to CApen for CAN and EtherCAT Drives Reference Manual

257 2101h Motor Winding Estimation Manufacturer-Specific Objects 2101 t intended for user unless instructed by Technical Support. Motor winding estimation Unsigned8 ESTMOTORPARAM Range 2102h Motor Winding Estimation Status 2102 t intended for user unless instructed by Technical Support. Status of the motor winding estimation procedure. ESTMOTORPARAMST Default Value Range null CApen for CAN and EtherCAT Drives Reference Manual 257

258 Manufacturer-Specific Objects 2103h Homing Command 2013 Start homing Unsigned8 HOMECMD Range 0 to 255 FLEXI PRO 2104h Current Level for Homing on Hard Stop 2104 Current level for homing on hardstop Integer32 HOMEIHARDSTOP Range 258 CApen for CAN and EtherCAT Drives Reference Manual

259 2106h Current Loop Compatibility Mode Manufacturer-Specific Objects 2106 Current loop compatibility mode Integer16 KCMODE Range 2108h Point-to-Point Move Average 2108 t intended for user unless instructed by Technical Support. Point-to-point move averaging number Real32 MOVESMOOTHAVG Range CApen for CAN and EtherCAT Drives Reference Manual 259

260 Manufacturer-Specific Objects FLEXI PRO 2109h Point-to-Point Move Smoothing Mode 2109 Point-to-point move smoothing mode Unsigned16 MOVESMOOTHMODE Range 210Ah HD Anti-Vibration Reduced Factor for KNLD 210A t intended for user unless instructed by Technical Support. HD anti-vibration reduced factor for KNLD Real32 NLANTIVIBKNLD Range 260 CApen for CAN and EtherCAT Drives Reference Manual

261 Manufacturer-Specific Objects 210Bh Load to Motor Inertia Ratio for Anti-Vibration Only 210B t intended for user unless instructed by Technical Support. Load to motor inertia ratio for anti-vibration only Real32 NLANTIVIBLMJR Range 210Ch HD Anti-Resonance Filter Divider 210C t intended for user unless instructed by Technical Support. HD anti-resonance filter divider Real32 NLANTIVIBN Range CApen for CAN and EtherCAT Drives Reference Manual 261

262 Manufacturer-Specific Objects FLEXI PRO 210Dh HD Current Filter Low Pass Filter Rise Time 210D t intended for user unless instructed by Technical Support. HD current filter low pass filter rise time Real32 NLFILTT1 Range 2113h Drive Ready 2113 Drive ready Unsigned8 READY Range 262 CApen for CAN and EtherCAT Drives Reference Manual

263 2114h Drive Status 2114 Drive status message Record ST Manufacturer-Specific Objects Sub- 000 Number of entries Unsigned8 Default Value 2 Range 0 to 255 Sub- 001 Status select Unsigned8 Range 0 to 255 CApen for CAN and EtherCAT Drives Reference Manual 263

264 Manufacturer-Specific Objects FLEXI PRO Sub- 002 Domain Range 2115h Step Command 2115 Step command Record Sub- 000 Number of entries Unsigned8 Default Value 6 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

265 Manufacturer-Specific Objects Sub- 001 Duration1 Unsigned16 Range to Sub- 002 Velocity1 Integer32 Range to Sub- 003 Duration2 Integer16 Range to CApen for CAN and EtherCAT Drives Reference Manual 265

266 Manufacturer-Specific Objects FLEXI PRO Sub- 004 Velocity2 Integer32 Range to Sub- 005 Activate Unsigned8 Range 0 to 1 Sub- 006 Select Unsigned8 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

267 2116h Position Motion Ended 2116 Position Motion Ended Unsigned8 STOPPED Range Manufacturer-Specific Objects 2117h Linear Acc/Dec 2117 Linear Acc/Dec Unsigned16 UNITSLINACC Range CApen for CAN and EtherCAT Drives Reference Manual 267

268 Manufacturer-Specific Objects 2118h Linear Position 2118 Linear Position Unsigned16 UNITSLINPOS Range FLEXI PRO 2119h Linear Velocity 2119 Linear Velocity Unsigned16 UNITSLINVEL Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

269 211Ah Rotary Acc/Dec 211A Rotary Acc/Dec Unsigned16 UNITSROTACC Range 0 to Manufacturer-Specific Objects 211Bh Rotary Position 211B Rotary Position Unsigned16 UNITSROTPOS Range CApen for CAN and EtherCAT Drives Reference Manual 269

270 Manufacturer-Specific Objects 211Ch Rotary Velocity 211C Rotary Velocity Unsigned16 UNITSROTVEL Range 0 to FLEXI PRO 211Dh Velocity Filter Pole Frequency 211D Velocity filter pole frequency Unsigned16 VELFILTFRQ Range 270 CApen for CAN and EtherCAT Drives Reference Manual

271 211Eh Gear 211E Engages and disengages gearing Unsigned8 GEAR Range Manufacturer-Specific Objects 2120h Gear Acceleration Threshold 2120 Maximum acceleration for gearing Integer32 GEARACCTHRESH Range CApen for CAN and EtherCAT Drives Reference Manual 271

272 Manufacturer-Specific Objects 2121h Gear Filter Acceleration Feedforward 2121 Gear filter acceleration feedforward Real32 GEARFILTAFF Range FLEXI PRO 2122h Gear Filter Mode 2122 Defines whether gear filter is activated Unsigned8 GEARFILTMODE Range 272 CApen for CAN and EtherCAT Drives Reference Manual

273 Manufacturer-Specific Objects 2123h Gear Filter Depth 2123 Gear filter depth (in 0.25 ms quanta) Real32 GEARFILTT1 Range 2124h Gear Filter Velocity and Acceleration Depth 2124 Range Gear filter velocity and acceleration filter depth (in 0.25 ms quanta) Real32 GEARFILTT2 CApen for CAN and EtherCAT Drives Reference Manual 273

274 Manufacturer-Specific Objects 2125h Gear Filter Velocity Feedforward 2125 Gear filter velocity feedforward Real32 GEARFILTVELFF Range FLEXI PRO 2126h Gear Ratio Multiplier 2126 Gear command multiplier value Integer16 GEARIN Default Value 1 Range to CApen for CAN and EtherCAT Drives Reference Manual

275 Manufacturer-Specific Objects 2127h Gearing Input Interpolation Mode 2127 Defines the type of limits for gear following Unsigned8 GEARINMODE Range 2128h Gear Following Limits Mode 2128 Defines the type of limits for gear following Unsigned8 GEARLIMITSMODE Range CApen for CAN and EtherCAT Drives Reference Manual 275

276 Manufacturer-Specific Objects 2129h Gear Ratio Divider 2129 Gear command divider value Integer16 GEAROUT Default Value 1 Range 1 to FLEXI PRO 212Ah Drive Info 212A Returns information about the drive Record INFO Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

277 Manufacturer-Specific Objects Sub- 001 Status Select Unsigned8 Default Value 2 Range 0 to 255 Sub- 002 Domain Read Only Range 212Bh Torque Window 212B Torque window Unsigned32 Default Value 254 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 277

278 Manufacturer-Specific Objects FLEXI PRO 212Ch Block Control Word 212C Blocks bit 4 (enable) in the control word (6040h). 0 = bit 4 in control word can be written in operational state only. 0x1234 = bit 4 in control word can be written in all communication states. Unsigned16 Range 0 to Dh HD Anti-Vibration Sharpness2 212D t intended for user unless instructed by Technical Support. HD position error filter sharpness Real32 NLANTIVIBSHARP2.5 Range to CApen for CAN and EtherCAT Drives Reference Manual

279 212Eh HD Derivative Gain 212E HD derivative gain Real32 KNLIDV.0 Range 0.0 to 1.0 Manufacturer-Specific Objects 212Fh HD Integral Gain Factor 212F HD integral gain factor Real32 KNLIINT.0 Range 0.0 to hertz (Hz) CApen for CAN and EtherCAT Drives Reference Manual 279

280 Standard Servo Drive Objects FLEXI PRO 6 Standard Servo Drive Objects The following standard device profile objects are implemented in the FLEXI PRO. For more information, refer to the relevant CAN documentation. 603Fh - Error Code 6040h - Controlword 6041h Statusword 605Dh Halt Option Code 6060h - Modes of Operation 6061h - Modes of Operation Display 6062h Position Demand Value 6064h - Position Actual Value 6065h - Following Error Window 6066h Following Error Time Out 6067h Position Window 6068h Position Window Time 606Ch - Velocity Actual Value 606Dh - Velocity Window 606Eh - Velocity Window Time 606Fh - Velocity Threshold 6070h - Velocity Threshold Time 6071h - Target Torque 6073h - Maximum Current 6074h Torque Demand Value 6075h - Motor Rated Current 6078h - Current Actual Value 6079h - DC Link Circuit Voltage 607Ah - Target Position 607Ch - Home Offset 607Dh - Software Position Limit 607Eh Polarity 607Fh - Max Profile Velocity 6080h - Max Motor Speed 6081h - Profile Velocity 6083h - Profile Acceleration 6084h - Profile Deceleration 6085h - Quick Stop Deceleration 608Fh - Position Encoder Resolution 6091h - Gear Ratio 6092h - Feed Constant 6098h - Homing Mode 6099h - Homing Speeds 609Ah - Homing Acceleration 60B0h Position Offset 60C0h Interpolation Sub Mode 60C2h - Interpolation Time Period 60C5h Max Acceleration 60C6h Max Deceleration 60F2h Position Option Code 60F4h Following Error Actual Value 60FDh - Digital Inputs 60FEh - Digital Outputs 60FFh - Target Velocity 6502h Supported Drive Modes 280 CApen for CAN and EtherCAT Drives Reference Manual

281 603Fh Error Code Standard Servo Drive Objects 603F Indicates the error code of the last error that occurred in the drive device. Unsigned16 FLT Read Only Range 0 to h Controlword 6040 Defines the CiA-402 FSA, CiA-402 modes and manufacturer-specific entities. This object is organized bit-wise. The bits have the following meaning: Bit 0 = switch on 1 = enable voltage 2 = quick stop 3 = enable operation 4-6 = mode-specific 7 = fault reset 8 = halt 9 = mode-specific 10 = reserved = manufacturer-specific Unsigned16 CApen for CAN and EtherCAT Drives Reference Manual 281

282 Standard Servo Drive Objects FLEXI PRO Yes Range 0 to h Statusword 6041 Indicates the current state of the FSA, the operation mode and manufacturer-specific entities. This object is organized bit-wise. The bits have the following meaning: Bit 0 = ready to switch on 1 = switched on 2 = operation enabled 3 = fault 4 = voltage enabled 5 = quick stop 6 = switch on disabled 7 = warning 8 = manufacturer-specific 9 = remote 10 = target reached 11 = internal limit active = mode-specific = manufacturer-specific Unsigned16 Read Only Yes Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

283 605Dh Halt Option Code 605D Standard Servo Drive Objects Indicates what action is performed when the halt function is executed. The slow down ramp is the deceleration value of the mode of operations. Integer16 Range to CApen for CAN and EtherCAT Drives Reference Manual 283

284 Standard Servo Drive Objects FLEXI PRO 6060h Modes of Operation 6060 The requested operational mode. The following values are valid: 0 = no mode change / no mode assigned 1 = profile position mode 3 = profile velocity mode 4 = profile torque mode 5 = reserved 6 = homing mode 7 = interpolated position mode 8 = cyclic synchronous position mode 9 = cyclic synchronous velocity mode 10 = cyclic synchronous torque mode -x = manufacturer-specific -1= gear mode The actual operation mode is reflected in the Modes of Operation Display object. Integer8 Write Yes Range -128 to CApen for CAN and EtherCAT Drives Reference Manual

285 6061h Modes of Operation Display Standard Servo Drive Objects 6061 Indicates the actual operation mode. The following values are valid: 0 = no mode change / no mode assigned 1 = profile Position mode 2 = velocity mode 3 = profile velocity mode 4 = profile torque mode 5 = reserved 6 = homing mode 7 = interpolated position mode 8 = cyclic synchronous position mode 9 = cyclic synchronous velocity mode 10 = cyclic synchronous torque mode -x = manufacturer-specific -1= gear mode Integer8 Read Only Yes Range -128 to 10 CApen for CAN and EtherCAT Drives Reference Manual 285

286 Standard Servo Drive Objects 6062h Position Demand Value 6062 Indicates the demanded position value Integer32 Read Only Range to CAN user position units FLEXI PRO 6064h Position Actual Value 6064 Indicates the actual value of the position measurement device. Integer32 PFB Read Only Yes Range to CAN user position units 286 CApen for CAN and EtherCAT Drives Reference Manual

287 6065h Following Error Window Standard Servo Drive Objects 6065 Maximum allowed position error without producing a fault. This object defines the range of tolerated position values symmetrical to the target position. If the position actual value is outside the following error window, a following error occurs. A following error may occur when a drive is blocked, an unreachable profile velocity occurs, or if closed-loop coefficients are wrong. If the value of the following error window is , the following control is disabled. Unsigned32 PEMAX (Maximum Position Error) Default Value 1 Range 0 to CAN user position units CApen for CAN and EtherCAT Drives Reference Manual 287

288 Standard Servo Drive Objects FLEXI PRO 6066h Following Error Time Out 6066 The time for a following error condition, after which bit 13 of the statusword is set to 1 in the profile position mode and in the cyclic synchronous position mode. The reaction of the drive when a following error occurs is manufacturer-specific. Unsigned16 Range 0 to millisecond (ms) 6067h Position Window 6067 The symmetrical range of accepted positions relative to the target_position. If the actual value of the position encoder is within the position window, this target position is considered to reached. If the value of the position_window is , the position_window control is switched off. Unsigned32 PEINPOS Range 0 to CAN user position units 288 CApen for CAN and EtherCAT Drives Reference Manual

289 6068h Position Window Time 6068 Standard Servo Drive Objects Indicates the time, during which the actual position within the position_window is measured. Unsigned16 PEINPOSTIME Default Value 10 Range 0 to millisecond (ms) 606Bh Velocity Demand Value 606B The output value of the trajectory generator Integer32 VCMD Read Only Range to CAN user velocity units CApen for CAN and EtherCAT Drives Reference Manual 289

290 Standard Servo Drive Objects 606Ch Velocity Actual Value 606C FLEXI PRO The actual velocity value derived either from the velocity sensor or the position sensor. Integer32 V Read Only Yes Range to CAN user velocity units 606Dh Velocity Window 606D The velocity window. Unsigned16 Range 0 to CAN user velocity units 290 CApen for CAN and EtherCAT Drives Reference Manual

291 606Eh Velocity Window Time 606E The velocity window time. Unsigned16 Range 0 to milliseconds (ms) Standard Servo Drive Objects 606Fh Velocity Threshold 606F The velocity threshold. Unsigned16 Range 0 to CAN user velocity units CApen for CAN and EtherCAT Drives Reference Manual 291

292 Standard Servo Drive Objects 6070h Velocity Threshold Time 6070 The velocity threshold time. Unsigned16 Range 0 to millisecond (ms) FLEXI PRO 6071h Target Torque 6071 The input value for the torque controller in profile torque mode. Integer16 T (Current Command) Yes Range to percentage 292 CApen for CAN and EtherCAT Drives Reference Manual

293 6073h Maximum Current 6073 Standard Servo Drive Objects The configured maximum permissible torque creating current in the motor. Unsigned16 ILIM Range 0 to milliampere (ma) CApen for CAN and EtherCAT Drives Reference Manual 293

294 Standard Servo Drive Objects 6074h Torque Demand Value 6074 The output value of torque limit function. Integer16 ICMD Read Only Yes Range to millinewton meter (mnm) FLEXI PRO 6075h Motor Rated Current 6075 The motor rated current. It is taken from the motor nameplate. Depending on the motor and drive technology this current is DC, peak or rms (root-mean-square) current. All relative current data refers to this value. Unsigned32 MICONT Range 0 to ma 294 CApen for CAN and EtherCAT Drives Reference Manual

295 6078h Current Actual Value Standard Servo Drive Objects 6078 Indicates the actual value of the current. It corresponds to thecurrent in the motor. Integer16 I (Motor Current) Read Only Yes Range to milliampere (ma) 6079h DC Link Circuit Voltage 6079 The bus voltage measured by sensors on the power module. Indicates the instantaneous DC link current voltage at the drive device. Unsigned32 VBUSREADOUT (Bus Voltage Measured) Read Only Range 0 to millivolt (mv) CApen for CAN and EtherCAT Drives Reference Manual 295

296 Standard Servo Drive Objects 607Ah Target Position Range 607A FLEXI PRO The commanded position the drive will move to in position profile mode or cyclic synchronous position mode. The value of this object can be interpreted as absolute or relative depending on bit 6 of the Controlword. Integer32 Yes h to 7FFFFFFFh CAN user position units 296 CApen for CAN and EtherCAT Drives Reference Manual

297 607Ch Home Offset Standard Servo Drive Objects 607C The configured difference between the zero position for the application and the machine home position (found during homing). During homing the machine home position is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position. All subsequent absolute moves are taken relative to this new zero position. If this object is not implemented then the home offset is regarded as zero. The value of this object is in CAN position user units. Negative values indicate the opposite direction. Integer32 HOMEOFFSET Range to CAN user position units CApen for CAN and EtherCAT Drives Reference Manual 297

298 Standard Servo Drive Objects FLEXI PRO 607Dh Software Position Limit 607D The configured maximal and minimal software position limits. These parameters define the absolute position limits for the position demand value and the position actual value. Every new target position is checked against these limits. The limit positions is always relative to the machine home position. Before being compared with the target position they are corrected internally by the home offset as follows: Corrected min position limit = min position limit - home offset Corrected max position limit = max position limit - home offset Array Integer32 Sub-index 1: POSLIMPOS Sub-index 2: POSLIMNEG Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range CApen for CAN and EtherCAT Drives Reference Manual

299 Standard Servo Drive Objects Sub- 001 Minimum software position limit Integer32 Range to CAN user position units Sub- 002 Maximum software position limit Integer32 Range to CAN user position units CApen for CAN and EtherCAT Drives Reference Manual 299

300 Standard Servo Drive Objects FLEXI PRO 607Eh Polarity 607E Determines the sign of the position demand value or the velocity demandvalue. This object is organized bit-wise. The bits have the following meaning: 7 = position polarity is affected 6 = velocity polarity is affected The bit values have the following meaning: 0 = multiply the demand value by 1 1 = multiply the demand value by -1 Unsigned8 Range 0 to Fh Max Profile Velocity 6007F The maximum velocity allowed in either direction during a profiled motion. Unsigned32 VLIM (User Velocity Limit) Range 0 to CAN user velocity units 300 CApen for CAN and EtherCAT Drives Reference Manual

301 6080h Max Motor Speed Standard Servo Drive Objects 6080 The maximum speed allowed for the motor in either direction. It is used to protect the motor and is taken from the motor data sheet. Unsigned32 MSPEED Range 0 to rpm 6081h Profile Velocity 6081 The configured velocity normally attained at the end of the acceleration ramp during a profiled motion. It is valid for both directions of motion. This object is used in the profile position mode and interpolated position mode. Unsigned32 Yes Range 0 to CAN user velocity units CApen for CAN and EtherCAT Drives Reference Manual 301

302 Standard Servo Drive Objects FLEXI PRO 6083h Profile Acceleration 6083 The configured acceleration. Unsigned32 ACC Range 0 to CAN user acceleration/deleration units 6084h Profile Deceleration 6084 The configured deceleration value. This object is used in the profile position mode, profile velocity mode, and interpolated position mode. Unsigned32 DEC Range 0 to CAN user acceleration/deceleration units 302 CApen for CAN and EtherCAT Drives Reference Manual

303 6085h Quick Stop Deceleration Standard Servo Drive Objects 6085 The deceleration rate for an Active Disable/emergency stop. The configured deceleration used to stop the motor when the quick stop function is activated. This object indicates the deceleration used to stop the motor when the quick stop function is activated and the quick stop option code is set to 2 or 6. The quick stop deceleration is also used if the fault reaction option code is 2 and the halt option code is 2. Unsigned32 DECSTOP Range 0 to CAN user acceleration/deceleration units CApen for CAN and EtherCAT Drives Reference Manual 303

304 Standard Servo Drive Objects FLEXI PRO 608Fh Position Encoder Resolution 608F The resolution of the motor encoder in number of lines per revolution of the motor. The position encoder resolution is calculated by the following: position encoder resolution = encoder increments motor revolutions The drive must be configured whenever this object is modified. Array Unsigned32 Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range 2 Sub- 001 Encoder increments Unsigned32 Default Value 2048 Range 1 to CApen for CAN and EtherCAT Drives Reference Manual

305 Standard Servo Drive Objects Sub- 002 Motor revolutions Unsigned32 Default Value 1 Range 1 to h Gear Ratio 6091 The configured number of motor shaft revolutions and number of driving shaft revolutions. The gear ratio is calculated by the following: gear ratio = motor shaft revolutions driving shaft revolutions Array Unsigned32 Sub-index 1: FBGMS Sub-index 2: FBGDS Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range 2 CApen for CAN and EtherCAT Drives Reference Manual 305

306 Standard Servo Drive Objects FLEXI PRO Sub- 001 Motor revolutions Unsigned32 Default Value 1 Range 1 to Sub- 002 Shaft revolutions Unsigned32 Default Value 1 Range 1 to CApen for CAN and EtherCAT Drives Reference Manual

307 6092h Feed Constant Standard Servo Drive Objects 6092 The configured feed constant, which is the measurement distance per one revolution of the output shaft of the gearbox. The feed constant is calculated by the following: feed constant = feed driving shaft revolutions Array Unsigned32 Sub-index 1: PNUM Sub-index 2: PDEN Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range 2 Sub- 001 Feed Unsigned32 Default Value 1 Range 1 to CApen for CAN and EtherCAT Drives Reference Manual 307

308 Standard Servo Drive Objects FLEXI PRO Sub- 002 Shaft revolutions Unsigned32 Default Value 1 Range 1 to h Homing Mode 6098 The homing method to be used. The following value definition is valid: 0 = no homing method assigned 1 = homing method 1 to be used.. 36 = homing method 36 to be used -x = manufacturer-specific Refer to the CiA-402 standard for the detailed description of each homing method. Integer8 HOMETYPE Default Value 1 Range -192 to CApen for CAN and EtherCAT Drives Reference Manual

309 6099h Homing Speeds Standard Servo Drive Objects 6099 The commanded speeds used during homing procedure. Array Unsigned32 Sub-index 1: HOMESPEED1 Sub-index 2: HOMESPEED2 Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range 2 Sub- 001 Fast homing speed. Switch search. Unsigned32 Range 0 to CAN user velocity units CApen for CAN and EtherCAT Drives Reference Manual 309

310 Standard Servo Drive Objects FLEXI PRO Sub- 002 Slow homing speed. search. Unsigned32 Range 0 to CAN user velocity units 609Ah Homing Acceleration 609A The acceleration and deceleration to be used during homing operation. Unsigned32 HOMEACC Range 0 to CAN user acceleration/deceleration units 310 CApen for CAN and EtherCAT Drives Reference Manual

311 60B0h Position Offset Standard Servo Drive Objects 60B0 The offset of the target position. The value itself is absolute and thus independent of how often it is transmitted over the communication system; for example, transmitting twice does not double the value. Since the additive position value represents an offset to the target position, it can be also used to control the drive with relative values in regard to the target position. This object is used in the cyclic synchronous position mode. Integer32 PFBOFFSET Range to CAN user position units CApen for CAN and EtherCAT Drives Reference Manual 311

312 Standard Servo Drive Objects FLEXI PRO 60C0h Interpolation Submode The selected interpolation mode. The bit values have the following meaning: 0 = Linear interpolation 1= Cubic interpolation with position and velocity 2= Cubic interpolation with position only strict. Forces the interpolated path to pass via the original position commands sent by the controller. This may cause an abrupt velocity profile when velocity changes. 3= Cubic interpolation with position only soft. Does not force the interpolated path to pass via the original position commands sent by the controller, thus resulting in a smoother velocity profile. If linear interpolation is the only algorithm available, then it is not necessary to implement this object. If the linear interpolation mode is selected, the interpolation data given in the interpolation data record is used. If a manufacturer-specific interpolation mode is selected, the corresponding interpolation data record must be implemented in the manufacturer-specific profile area of the object dictionary. Integer16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual

313 60C2h Interpolation Time Period Standard Servo Drive Objects 60C2 The configured interpolation cycle time. This object includes the following sub-indices: sub-index 1: value of the time sub-index 2: dimension index of the time value in sub-index 1 Record Interpolation time period record (0080) Sub-index 1: FBITPRD Sub-index 2: FBITIDX Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range 2 Sub- 001 Interpolation time period value. Unsigned8 Default Value 1 Range 1 to (interpolation time index) s(econd) CApen for CAN and EtherCAT Drives Reference Manual 313

314 Standard Servo Drive Objects FLEXI PRO Sub- 002 Interpolation time index Integer8 Default Value -3 Range -128 to 63 60C5h Max Acceleration 60C5 The maximum acceleration. It is used to limit the acceleration to an acceptable value in order to prevent the motor and the moved mechanics from being damaged. Unsigned32 Default Value Range 0 to CAN user acceleration/deceleration units 314 CApen for CAN and EtherCAT Drives Reference Manual

315 60C6h Max Deceleration 60C6 Standard Servo Drive Objects The maximum deceleration. It is used to limit the deceleration to an acceptable value in order to prevent the motor and the moved mechanics from being damaged. Unsigned32 Default Value Range 0 to CAN user acceleration/deceleration units 60F2h Position Option Code 60F2 The configured positioning behavior, as described by the profile positioning mode or the interpolated positioning mode. Unsigned16 Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 315

316 Standard Servo Drive Objects 60F4h Following Error Actual Value 60F4 The actual value of the following error. Integer32 PE Read Only Range to CAN user position units FLEXI PRO 60FCh Position Demand Internal Value 60FC The output of the trajectory generator in profile position mode. Integer32 Read Only Range to increments 316 CApen for CAN and EtherCAT Drives Reference Manual

317 60FDh Digital Inputs Standard Servo Drive Objects 60FD Indicates the state of the digital inputs. This object is organized bit-wise. The bits have the following meaning: 0 = negative limit switch 1 = positive limit switch 2 = home switch 3 = interlock = manufacturer-specific The bit values have the following meaning: 0 = switch is off 1 = switch is on Unsigned32 IN Read Only Yes Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 317

318 Standard Servo Drive Objects FLEXI PRO 60FEh Digital Outputs 60Fr Indicates the state of the digital outputs. This object is organized bit-wise. The bits have the following meaning: 0 = set brake = manufacturer-specific This object includes the following sub-indices: Sub-index 1: for the physical output value Sub-index 2: mask for the physical outputs The bit values for sub-index 1 have the following meaning: 0 = output is off, brake is not set 1 = output is on, brake is set The bit values for sub-index 2 have the following meaning: 0 = disable output; output will not change 1 = enable output; output will not change Unsigned32 Array OUT Sub- 000 Number of entries Unsigned8 Read Only Default Value 2 Range CApen for CAN and EtherCAT Drives Reference Manual

319 Standard Servo Drive Objects Sub- 001 Physical outputs The CApen standard specifies a bit in the digital outputs that allows the master to control the brake (bit 0 in object 60FEh sub-index 1). FLEXI PRO does not support this bit. Therefore, even if a master defines one of the digital outputs as brake, via object 209Ch, the master cannot write to this output and the FLEXI PRO will control the brake. For a master to write to the bit and thus control the brake, the designated output must be defined as idle mode (OUTMODE 0). Unsigned32 Yes Range 0 to Sub- 002 Output mask Unsigned32 Yes Range 0 to CApen for CAN and EtherCAT Drives Reference Manual 319

320 Standard Servo Drive Objects 60FFh Target Velocity 60FF FLEXI PRO The configured target velocity and is used as input for the trajectory generator. Integer32 Yes Range to CAN user velocity units 320 CApen for CAN and EtherCAT Drives Reference Manual

321 6502h Supported Drive Modes Standard Servo Drive Objects 6502 This object is organized bit-wise. The bits have the following meaning: Bit 0 = profile position mode 1 = velocity mode 2 = profile velocity mode 3 = profile torque mode 4 = reserved 5 = homing mode 6 = interpolated position mode 7 = cyclic synchronous position mode 8 = cyclic synchronous velocity mode 9 = cyclic synchronous torque mode = reserved = manufacturer-specific The bit values have the following meaning: 0 = mode is not supported 1 = mode is supported Unsigned32 Read Only Default Value 477 Range 477 CApen for CAN and EtherCAT Drives Reference Manual 321

322 CAN Operation FLEXI PRO 7 CAN Operation 7.1 Device Control and State Machine The power drive system finite-state automaton (PDS FSA) is a mathematical model that defines the behavior of the power drive system. Because a power drive system is required to provide local control even when the communication network is not functioning properly, the communication FSA and the PDS FSA are only loosely coupled.figure 7-1 shows how the power drive system operates remotely via the network, or locally. Figure 7-1. Remote and Local Control The power drive system is operated by the Controlword sent by the control device via the network. The state of the power drive system is reported by the Statusword produced by the drive device. The FSA is also controlled by error detection signals. The PDS FSA defines the power drive system status and the possible control sequence of the power drive system. A single state represents a special internal or external behavior. The state of the power drive system also determines which commands are accepted. For example, it is only possible to start a point-to-point move when the drive is in the operation enabled state. 7.2 Indicating the Operating State After switching on, and when an operating mode is started, the power drive system goes through a number of operating states. The operating states are internally monitored and influenced by monitoring functions Figure 7-2illustrates the PDS FSA behavior. It takes into consideration the control of the power electronics, in accordance with user commands and internal drive faults. 322 CApen for CAN and EtherCAT Drives Reference Manual

323 CAN Operation Figure 7-2. Power Drive System State Diagram tes: t Ready to Switch On Switch On Disabled Ready to Switch On Operation Enabled Quick Stop Active Fault Reaction Active Fault t ready to operate received from the controller. Ready to operate. Can read and write parameters. Motion functionality cannot be executed. Ready to operate. Can read and write parameters. Motion functionality cannot be executed. Bus voltage must be switched on. Drive power stage is enabled. fault is present. Motion functionality can be executed. Drive was stopped using controlled stop. Power stage is enabled. Motion functionality cannot be executed. A fault has occurred. Drive is in the process of ramping down to 0 velocity (Active Disable process). A fault has occurred. Power stage is disabled. CApen for CAN and EtherCAT Drives Reference Manual 323

324 CAN Operation FLEXI PRO Bits 0, 1, 2, 3, 5 and 6 of the parameter Statusword provide information on the operating state. Operating State Bit 6: Bit 5: Bit 3: Bit 2: Bit 1: Bit 0: Switch On Disabled Quick Stop Fault Operation Enabled Switch On Ready to Switch On 2 t Ready To Switch On 0 X Switch On Disabled 1 X Ready To Switch On Switched On Operation Enabled Quick Stop Active Fault Reaction Active 0 X Fault 0 X Parameter Name Statusword tes: Bit Assignments Bits 0 3 = Status bits Bit 4 = Voltage enabled Bits 5 6 = Status bits Bit 7 = Warning Bit 8 = Reserved Bit 9 = Remote Bit 10 = Target reached Bit 11 = Internal limit is active Bit 12 = Operating mode-specific Bit 13 = Operating mode-specific Bit 14 = Manufacturer-specific Bit 15 = Manufacturer-specific R/W Unsigned16 Read Only Bit 4 Bit 7 Bit 9 Bit 10 Bit 12 Bit 13 Bit 4=1 indicates whether the DC bus voltage is correct. If the voltage is missing or is too low, the device does not transition from operating state 3 to operating state 4. If bit 7 (warning) of the statusword is 1, it indicates the presence of a warning condition. Warning is not an error or fault (e.g., temperature limit exceeded, job refused). The status of the PDS FSA does not change. The cause of the warning may be given in the fault code parameter object (603Fh). If bit 9 is set, the device carries out commands via the fieldbus. If Bit 9 is reset, the device is controlled via a different interface. In such a case, it is still possible to read or write parameters via the fieldbus. Bit 10 is used for monitoring the current operating mode. Bit 12 is used for monitoring the current operating mode. Bit 13 only becomes 1 if an error needs to be resolved prior to further processing. 324 CApen for CAN and EtherCAT Drives Reference Manual

325 7.3 Changing the Operating State CAN Operation The parameter Controlword can be used to switch between operating states. Parameter Name Bit Assignments R/W Controlword Bit 0 = Switch On Bit 1 = Enable Voltage Bit 2 = Quick Stop Bit 3 = Enable Operation Bits 4 6 = Operating Mode specific Bit 7 = Fault Reset Bit 8 = Halt Bit 9 = Reserved Bits = Reserved (must be 0) Changed settings become active immediately. Unsigned16 Read Only Bits 0, 1, 2, 3 and 7 of the parameter Controlword allow you to switch between the operating states. Fieldbus Command State Transitions State Transition To Bit 7: Fault Reset Bit 3: Enable Operat Bit 2: Quick Stop Bit 1: Enable Voltage Bit 0: Switch On Shutdown T2, T6, T8 4 Ready To Switch On Switch On T3 5 Switched On X X X X Disable Voltage T7, T9, T10, T12 3 Switch On Disabled X X X 0 X Quick Stop T7, T10 T11 3 Switch On Disabled 7 Quick Stop Active X X 0 1 X Disable Operation Enable Operation Fault Reset T5 5 Switched On T4, T16 6 Operation Enabled T15 3 Switch On Disabled X X » 1 X X X X tes: Bit 4 6 Bits 4 to 6 are used for the operating mode-specific settings. Bit 8 A Halt can be triggered with bit 8=1. Bit 9 15 Reserved. CApen for CAN and EtherCAT Drives Reference Manual 325

326 CAN Operation FLEXI PRO 7.4 Starting and Changing an Operating Mode The parameter Mode of operation (6060h) is used to set the desired operating mode. Parameter Name Data Type R/W Mode of Operating mode operation 1 Profile Position 3 Profile Velocity 4 Profile Torque 6 Homing 7 Interpolated Position* 8 Cyclic Synchronous Position 9 Cyclic Synchronous Position 10 Cyclic Synchronous Position Changed settings become active immediately. * te: t supported Integer8 The parameter Mode of operation display (6061h) can be used to read the current operating mode. Parameter Name Data Type R/W Mode of Operating mode operation 1 Profile Position 3 Profile Velocity 4 Profile Torque 6 Homing 7 Interpolated Position* 8 Cyclic Synchronous Position 9 Cyclic Synchronous Position 10 Cyclic Synchronous Position Changed settings become active immediately. * te: t supported Integer8 326 CApen for CAN and EtherCAT Drives Reference Manual

327 CAN Operation 7.5 Operating Mode Profile Position Procedure In the operating mode Profile Position, a movement to a desired target position is performed. Set [Mode of operation (6060h)] to operating mode Profile position (1). Set [Target position (607Ah)] to the target position (unit = pulse). Set [Profile velocity (6081h)] to profile velocity (unit = pulses per second). Set [Controlword (6040h)] to start the movement. Query [Position actual value (6064h)] to get the actual position of the motor. Query [Statusword (6041h)] to get the current status of following error, setpoint acknowledge and target reached. Additional information on the operating mode Profile Position: Query [Position demand value (6062h)] to get the internal reference value (unit = pulse). Query [Position actual value (6063h)] to get the actual position value (unit = increments). Following error: Set [Following error window (6065h)] to the permissible following error (unit = pulse). Query [Following error actual value (60F4h)] to get the current following error (unit = pulse). Standstill window: Set [Position window (6067h)] to the value for the standstill window. If the difference between the target position and the current motor position remains in the standstill window for the time Position window time (6065h), the target position is considered to have been reached (unit = pulse). Set [Position window time (6068h)] to the value for the standstill window. If the difference between the target position and the current motor position remains in the standstill window for the time Position window time (6065h), the target position is considered to have been reached (unit = pulse). CApen for CAN and EtherCAT Drives Reference Manual 327

328 CAN Operation Associated Objects FLEXI PRO Subindex Object PDO Data Type Takes Effect 6040h 0 Controlword R_PDO Unsigned16 Immediately 6041h 0 Statusword T_PDO Unsigned h 0 Modes of operation Integer8 Immediately 6061h 0 Modes of operation display Integer8-6062h 0 Position demand value Integer h 0 Position actual value Integer h 0 Position actual value T_PDO Integer h 0 Following error window Unsigned h 0 Position window Unsigned h 0 Position window time Unsigned16 Immediately 6081h 0 Profile velocity R_PDO Unsigned32 Next movement 6091h 6092h 6091h 6092h 1 Numerator (Position factor) 2 Speed constant (Position factor) R_PDO R_PDO Unsigned32 Immediately Unsigned32 Immediately 60F2h 0 Position option code Unsigned16 Next movement 60F4h 0 Following error actual value Integer32-60FCh 0 Position demand value Integer CApen for CAN and EtherCAT Drives Reference Manual

329 Example: Profile Position CAN Operation Starting the Operating Mode Controlword The operating mode must be set in the parameter Mode of operation (6060h). Writing the parameter value activates the operating mode. The movement is started via the Controlword. Bits 4 6 and bit 8 in the parameter Controlword (6040h) start a movement. Bit 5: Change Setpoint Immediately Bit 4: New Target Value Meaning 0 0» 1 Starts a movement to a target position. Target values transmitted during a movement become immediately effective and are executed at the target. The movement is stopped at the current target position.* 1 0» 1 Starts a movement to a target position. Target values transmitted during a movement become immediately effective and are executed at the target. The movement is not stopped at the current target position.* * te: Target values include target position, target velocity, acceleration and deceleration. Parameter Value Bit 6 = Absolute / relative Bit 8 = Halt Meaning 0: Absolute movement 1: Relative movement Stop movement with Halt Terminating the Operating Mode The operating mode is terminated when the motor is at a standstill and one of the following conditions is met: Target position reached Stop caused by Halt or Quick Stop Stop caused by an error CApen for CAN and EtherCAT Drives Reference Manual 329

330 CAN Operation FLEXI PRO Statusword Information on the current movement is available via bits 10 and in the parameter Statusword (6041h). Parameter Value Bit 10 = Target reached Meaning 0 = Target position not reached 1 = Target position reached Bit 12 = Target value acknowledge 0 = New position possible 1 = New target position accepted Bit 13 = Following error bit 0 = following error 1 = Following error Bit 14 = Manufacturer-specific Bit 15 = Manufacturer-specific Example de Address 1 Work Step COB ID / Data» Set target velocity to / 23 7A A0 0F «581 / 60 7A » NMT Start remote node 0 / «T_PDO2 with Statusword 281 / » Enable power stage with R_PDO1 201 / / / 0F «T_PDO1 (operating state: 6 Operation Enabled) 181 / » Starting the operating mode 601 / 2F / » Check operating mode* 601 / «Operating mode active 581 / 4F » Issue a move command 601 / F «581 / * te: The operating mode must be checked until the device has activated the specified operating mode. 330 CApen for CAN and EtherCAT Drives Reference Manual

331 7.6 Operating Mode Homing CAN Operation Procedure In the operating mode Homing, a movement is performed to a defined position. This position is defined as the reference point. Set [Mode of operation (6060h)] to operating mode Homing (6). Set [Home offset (607Ch)]. Set [Home method (6098h)], the value range is 1 to 35 and specifies the different homing methods. Set [Home speeds (6099h sub-index 1)] to the value for velocity for the search for the limit switches (unit = min -1 ). Set [Home speeds (6099h sub-index 2)] to the value for velocity for the search for the index pulse (unit = min -1 ). Set [Home acceleration (6099h sub-index 2)] to the value for the acceleration ramp (unit = milliseconds form 0 to 3000 min -1 ). Set [Controlword (6040h)] to start the operating mode. Start Homing. Query [Statusword (6041h)] to get the device status. Associated Objects Subindex Object PDO Data Type Takes Effect 6040h 0 Controlword R_PDO Unsigned16 Immediately 6041h 0 Statusword T_PDO Unsigned h 0 Modes of operation Integer8 Immediately 6061h 0 Modes of operation display Integer8-607Ch 0 Home offset Integer32 Next movement 6098h 0 Homing method Integer8 Next movement 6099h h 2 609Ah 0 Speed during search for switch Speed during search for zero Homing acceleration Unsigned32 Next movement Unsigned32 Next movement Unsigned32 Next movement CApen for CAN and EtherCAT Drives Reference Manual 331

332 CAN Operation FLEXI PRO Example: Homing Starting the Operating Mode Controlword The operating mode must be set in the parameter Mode of operation (6060h). Writing the parameter value activates the operating mode. The movement is started via the Controlword. Bits 4 in the parameter Controlword (6040h) starts a movement, bit 8 terminates the movement. Parameter Value Meaning Bit 4 = Homing operation start Start Homing Bit 5 = Reserved Bit 6 = Reserved Bit 8 = Halt t relevant for this operating mode t relevant for this operating mode Stop movement with Halt Terminating the Operating Mode Statusword The operating mode is terminated when the motor is at a standstill and one of the following conditions is met: Homing successful Stop caused by Halt or Quick Stop Stop caused by an error Information on the current movement is available via bits 10 and in the parameter Statusword (6041h). Parameter Value Bit 10 = Target reached Bit 12 = Homing attained Bit 13 = Homing error Meaning 0 = Homing not completed 1 = Homing completed 1 = Homing successfully completed 1 = Homing error Bit 14 = Manufacturer-specific Bit 15 = Manufacturer-specific 332 CApen for CAN and EtherCAT Drives Reference Manual

333 Example de Address 1 CAN Operation Work Step COB ID / Data» Velocity for searching the limit switch to / «581 / » Velocity for moving away from switch to / A «581 / » NMT Start remote node 0 / «T_PDO1 with Statusword 181 / 31 62» Enable power stage with R_PDO1 201 / / / 0F 00 «T_PDO1 (operating state: 6 operation enabled) 181 / 37 42» Starting the operating mode 601 / 2F «581 / » Check operating mode * 601 / «Operating mode active 581 / 4F » Select method / 2F «581 / » Start reference movement (Homing operation start) 201 / 1F 00 «T_PDO1 reference movement active 181 / «T_PDO1 reference movement terminated 181 / 37 D6 * te: The operating mode must be checked until the device has activated the specified operating mode. CApen for CAN and EtherCAT Drives Reference Manual 333

334 CAN Operation FLEXI PRO 7.7 Operating Mode Profile Velocity Procedure In the operating mode Profile Velocity, a movement is made with a desired target velocity. Set [Mode of operation (6060 )] to operating mode Profile Velocity (3). Set [Controlword (6040h)] to start the operating mode. Set [Target velocity (60FFh)] to the target velocity. If the power stage is enabled, the new target velocity will become active immediately and the movement will start. The value is reset to zero if the operating mode is changed, the power stage is disabled or a Quick Stop is triggered. Query [Statusword (6041h)] to get the device status. Query [Velocity demand value (606Bh)] to get the reference velocity. Query [Velocity actual value (60C3h)] to get the actual velocity. Set [Velocity window (606Dh)] to the value of the velocity window. Set [Velocity window time (606Eh)] to the duration in the velocity window required to consider the velocity to have been reached unit = milliseconds). Query [Velocity threshold (60F4h)] to set the standstill window. Associated Objects Subindex Object PDO Data Type Takes Effect 6040h 0 Controlword R_PDO Unsigned16 Immediately 6041h 0 Statusword T_PDO Unsigned h 0 Modes of Operation Integer8 Immediately 6061h 0 606Bh 0 Modes of Operation Display Velocity Demand Value Integer8 - Integer32-606Ch 0 Velocity Actual Value Integer32-606Dh 0 Velocity Window Unsigned16 Immediately 606Eh 0 Velocity Window Time Unsigned16 Immediately 606Fh 0 Velocity Threshold Unsigned16 Immediately 60FFh 0 Target Velocity Integer32 Immediately 334 CApen for CAN and EtherCAT Drives Reference Manual

335 CAN Operation Example: Profile Velocity Starting the Operating Mode The operating mode must be set in the parameter Mode of operation (6060h). Writing the parameter value activates the operating mode. The parameter Target velocity (60FFh) starts the movement. Parameter Name Target Velocity Target velocity for operating mode Profile Velocity Changed settings become active immediately. R/W Integer32 Controlword Bit 8 in parameter Controlword (6040h) is used to stop a movement with Halt. Parameter Value Bit 4 = Reserved Bit 5 = Reserved Bit 6 = Reserved Bit 8 = Halt Bit 9 = Change on setpoint Meaning t relevant for this operating mode t relevant for this operating mode t relevant for this operating mode Stop movement with Halt t relevant for this operating mode Terminating the Operating Mode Statusword The operating mode is terminated when the motor is at a standstill and one of the following conditions is met: Stop caused by Halt or Quick Stop Stop caused by an error Information on the current movement is available via bits 10 and 12 in the parameter Statusword (6041h). Parameter Value Bit 10 = Target reached Meaning 0 = Target velocity not reached 1 = Target velocity reached Bit 12 = Velocity 0 = Velocity > 0 1 = Velocity = 0 Bit 14 = Manufacturer-specific Bit 15 = Manufacturer-specific CApen for CAN and EtherCAT Drives Reference Manual 335

336 CAN Operation FLEXI PRO Example de Address 1 Work Step COB ID / Data» NMT Start remote node 0 / «T_PDO3 with Statusword 381 / » Enable power stage with R_PDO3 201 / / / 0F «T_PDO3 (operating state: 6 Operation Enabled) 181 / » Starting the operating mode 601 / 2F «581 / » Check operating mode * 601 / «Operating mode active 581 / 4F » R_PDO3: Specification of target velocity / E «T_PDO2 with Statusword and velocity actual value 381 / «Target velocity reached 381 / E » Terminate operating mode with Quick Stop with R_PDO3 401 / 0B «T_PDO3 with Statusword 381 / » Clear Quick Stop with R_PDO3 401 / 0F «T_PDO3 with Statusword 381 / * te: The operating mode must be checked until the device has activated the specified operating mode. 336 CApen for CAN and EtherCAT Drives Reference Manual

337 CAN Operation 7.8 Operating Mode Profile Torque Procedure In the operating mode Profile Torque, a movement is made with a desired target torque. Set [Mode of operation (6060 )] to operating mode Profile Torque (4). Set [Controlword (6040h)] to start the operating mode. When the operating mode is started, the target torque is set to zero. Set [Motor rated current (6075)] to a value according to motor specifications (unit = ma). Set [Target torque (6071h)] to the value for the target torque (unit = 0.1% of nominal torque. The value is reset to zero if the operating mode is changed, the power stage is disabled or a Quick Stop is triggered. Query [Torque rated current (6075h)] to get the nominal current depending on the motor and the drive (unit = multiples of ma). Query [Current actual value (6078h)] to get the actual current (unit = increments of 0.1 % of the nominal current). Associated Objects Subindex Object PDO Data Type Takes Effect 6040h 0 Controlword R_PDO Unsigned16 Immediately 6041h 0 Statusword T_PDO Unsigned h 0 Modes of Operation Integer8 Immediately 6061h 0 Modes of Operation Display Integer8-6071h 0 Target Torque R_PDO Integer16 Immediately 6074h 0 Torque demand value Integer h 0 Motor rated current Unsigned h 0 Torque slope R_PDO Unsigned32 Immediately CApen for CAN and EtherCAT Drives Reference Manual 337

338 CAN Operation FLEXI PRO Example: Profile Torque Starting the Operating Mode The operating mode must be set in the parameter Mode of operation (6060h). Writing the parameter value activates the operating mode. The parameter Target torque (6071h) starts the movement. Parameter Name Target Torque Target torque for operating mode Profile Torque % corresponds to the continuous stall. In increments of 0.1%. Changed settings become active immediately. R/W Integer16 Controlword Bit 8 in parameter Controlword (6040h) is used to stop a movement with Halt. Parameter Value Bit 4 = Reserved Bit 5 = Reserved Bit 6 = Reserved Bit 8 = Halt Meaning t relevant for this operating mode t relevant for this operating mode t relevant for this operating mode Stop movement with Halt Bit 9 = Change on setpoint t relevant for this operating mode Terminating the Operating Mode Statusword The operating mode is terminated when the motor is at a standstill and one of the following conditions is met: Stop caused by Halt or Quick Stop Stop caused by an error Information on the movement is available via bit 10 in the parameter Statusword (6041h). Parameter Value Bit 10 = Target reached Meaning 0 = Target torque not reached 1 = Target torque reached 338 CApen for CAN and EtherCAT Drives Reference Manual

339 CAN Operation Example de Address 1 Work Step COB ID / Data» NMT Start remote node 0 / «T_PDO1 with Statusword 181 / 31 62» Enable power stage with R_PDO1 201 / / / 0F 00 «T_PDO1 (operating state: 6 Operation Enabled) 181 / 37 62» Starting the operating mode 601 / 2F «581 / » Check operating mode* 601 / «Operating mode active 581 / 4F » Target torque set to 100 (10.0%) 601 / 2B «581 / «Target torque reached 181 / 37 06» Terminate operating mode with Quick Stop with R_PDO1 201 / 0B 00 «T_PDO1 with Statusword 181 / 17 66» Clear Quick Stop with R_PDO1 201 / 0F 00 «T_PDO1 with Statusword 181 / * te: The operating mode must be checked until the device has activated the specified operating mode. CApen for CAN and EtherCAT Drives Reference Manual 339

340 Defining Gear Ratio and Feed Constant Parameters FLEXI PRO 8 Defining Gear Ratio and Feed Constant Parameters 8.1 Overview Configuration of the FLEXI PRO parameters is best performed using the ServoStudio software, which requires serial communication. te: The instructions in this document assume that you are familiar with the ServoStudio software. This application note describes how to define the values of the feed constant and gear ratio parameters in ServoStudio, so that they will be correctly converted into values recognized by a drive operating in a CApen network with the following profiles: CApen Profiles Profile Position Synchronized Position Profile Velocity Synchronized Position Profile Torque Synchronized Torque See example below Same as Profile Velocity See example below Same as Profile Position CApen has two objects for setting the gear ratio and the feed constant conversion factors, each of which has two sub-indices. These objects have four equivalent FLEXI PRO () variables, as shown in the following table. CAN Object Feed Constant 6092h, sub-index h, sub-index 2 PNUM Feed Constant (Unit Conversion) Numerator PDEN Feed Constant (Unit Conversion) Denominator Conversion factors of the user-defined unit. Used to multiply the motor revolution (rotary motors) or the motor pitch (linear motors), according to the type of motor ( MOTORTYPE). Gear Ratio 6091h, sub-index h, sub-index 2 FBGMS Fieldbus Gear Ratio - Motor Shaft Scaling FBGDS Fieldbus Gear Ratio - Drive Shaft Scaling The conversion factor of the fieldbus device s motor shaft revolution. The conversion factor of the fieldbus device s drive shaft revolution. In general, you can modify the values of the sub-indices of both objects. 340 CApen for CAN and EtherCAT Drives Reference Manual

341 Defining Gear Ratio and Feed Constant Parameters It is usually sufficient, however, to modify only the PNUM value, as shown in the examples in this application note. Resolution = PNUM PDEN FBGMS FBGDS Resolution = 6092h 6091h To modify the gear ratio and feed constant values in ServoStudio, use the CApen pane in the Motion screen. PNUM - Feed Constant (Unit Conversion) Numerator PDEN - Feed Constant (Unit Conversion) Denominator FBGMS - Fieldbus Gear Ratio - Motor Shaft Scaling FBGDS - Fieldbus Gear Ratio - Drive Shaft Scaling 8.2 Simple Rotary Motor Setting CApen to Represent Revolutions Position = rev Velocity = rev/sec Acceleration = rev/sec 2 PNUM - Feed Constant (Unit Conversion) Numerator 1 PDEN - Feed Constant (Unit Conversion) Denominator 1 FBGMS - Fieldbus Gear Ratio - Motor Shaft Scaling 1 FBGDS - Fieldbus Gear Ratio - Drive Shaft Scaling 1 Operating Mode: Profile Position Set Mode of Operation (6060h) to Profile Position mode (1). Set the Target Position (607Ah) value (unit = revolutions). If object 607Ah is 1, the motor shaft will rotate one revolution. Set the Profile Velocity (6081h) value (unit = revolutions per second). If object 6081h is 1, the motor shaft speed will be 1 rev/sec. Set Controlword (6040h) to start the movement. Operating Mode: Profile Velocity Set Mode of Operation (6060 ) to Profile Velocity mode (3). Set Controlword (6040h) to start the operating mode. Set the Target Velocity (60FFh) value. CApen for CAN and EtherCAT Drives Reference Manual 341