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Parameters Reference Firmware release 1.5 Doc. 10460-0-A-M

1. Object varE ncAuxMechHi Feedback tums Modbus IPA 26110 Modbus Data Type Signed32 CANopen COE_ index 3A30h 2h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the auxiliary feedback position in mechanical turns unit The feedback turns is the MSB 32 bit of 64 bit auxiliary encoder position value Object var ncAuxMechLo Feedback angle Modbus IPA 26111 Modbus Data Type Unsigned32 CANopen COE_ index 3A30h 1h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the auxiliary feedback position in mechanical angle unit The feedback angle is the LSB 32 bit of 64 bit auxiliary encoder position value Object var ncAuxMechAbsPosOffsetHi Absolute Position Offset tums Modbus IPA 26112 Modbus Data Type Signed32 CANopen COE_ index 3A31h 2h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the offset from the relative position in mechanical turns unit in order to calculate the absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 34 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG
2. Object parEncAn PoleCounts Poles number per revolution Modbus IPA 26052 Modbus Data Type Unsigned16 CANopen COE index 3840h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit Default value 2 Value range 2 to full scale only even number Encoder poles number for revolution setting Object parEncAn Flags ReverseSignal Reverse count signal Modbus IPA 26053 Modbus Data Type Unsigned16 CANopen COE index 3841h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit Default value 0 Off Value range 0 Off 1 On Reverse the count of the encoder on the same direction of motor rotation e 1 On Angle 360 arctan Sin Cos e O Off Angle arctan Sin Cos Object parEncAn Flags AnalogGain Analog gain Modbus IPA 26054 Modbus Data Type Unsigned16 CANopen COE_ index 3842h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit Default value 1 High Value range O Low 1 High This parameter setup hardware analog gains depending by the encoder type e 1 High for Sincos encoder e 0 Low for Resolver 14 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parEncAn AnalogAlarmThreshold Analog Alarm Threshold Modbus IPA 26057 Modbus Data Type Unsigned16 CANopen COE_ index 3843h 0h CANopen COE Data Type Unsigned16 Attributes rw retain Unit In
3. Object parSyncMgr ReS yncDelta Delta for sync signal Modbus IPA 31001 Modbus Data Type Unsigned32 CANopen COE_ index CANopen COE Data Type Attributes rw retain Unit nsec Default value 110184 Value range Full scale Time shift used to re calculated the centring value of the Sync signal Object parSyncMgr PeakNDiscard Discard number Modbus IPA 31004 Modbus Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes rw retain Unit n a Default value 16 Value range Full scale Maximum number of Sync signal consecutive sample that can be discarded When the number of Sync signal discard is greater than this number a CAN alarm is generated Object parSyncMgr PeakThreshold Peak threshold Modbus IPA 31005 Modbus Data Type Unsigned32 CANopen COE_ index CANopen COE Data Type Attributes rw retain Unit n a Default value 8192 Value range Full scale Threshold for Sync signal peak detection When the actual value of Sync signal is lower than this value a Sync signal estimated is considered a discard sample 8 4 1 Fieldbus gt Sync Manager gt Monitor Object varSyncMgr_ SyncTime Modbus IPA 31010 Modbus Data Type Unsigned32 CANopen COE_ index CANopen COE Data Type Attributes ro Unit nsec Default value
4. Unit 100 mV Default value n a Value range Full scale Dc bus link actual voltage Object varThModelRB rakePower Power dissipated Modbus IPA 28167 Modbus Data Type Signed32 CANopen COE_ index 3207h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 100 mW Default value n a Value range Full scale Actual power dissipated by the brake resistor Object varThModelRB rakeE nergy Energy dissipated Modbus IPA 28179 Modbus Data Type Unsigned32 CANopen COE_ index 320Ah 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Joule Default value n a Value range Full scale Actual energy dissipated by the brake resistor 9 2 System Thermal Model Limit for thermal model functionalities Object parThermalModel CoolingTempOn On cooling temperature Modbus IPA 28104 Modbus Data Type Signed16 CANopen COE_ index 3222h 0h CANopen COE Data Type Signed16 Attributes rw retain pdomap Unit 100 m C Default value 500 Value range Full scale Temperature to turn on the bridge fan e g 50 C A WARNING The value parameter has to be greater parThermalModel CoolingTempOff value otherwise an alarm Parameter value out of range is generated Object parThermalModel CoolingTempOff Off cooling temperature Modbus IPA 28105 Modbus Data Type Signed16 CANopen COE_ index 3223h 0h CANopen COE Data Type Signed16
5. varEncMainDeltaElecAngle varEncMainElecAngle 26 varEncMainMechAbsP osOffsetHi 25 varEncMainMechAbsP osOffsetLo 25 varEncMainMechAccel varEncMainMechHi varEncMainMechLo varEncMainMechSpeed varEncMainStatus varEncMEndatCrcErrors varEncMEndatP ropDelay varEncRelElecAngle varEncRelMechAbsPosOffsetHi varEncRelMechAbsPosOffsetLo varEncRelMechAccel varEncRelMechHi varEncRelMechLo varEncRelMechS peed varEncRelStatus varlLoopAutol LoopKi varlLoopAutol LoopKp varlLoopldFb varlLoopldMax varlLoopldMin varlLoopldRef varlLooplqFb varlLooplqMax varlLooplqMin varlLooplqRef varlLoopluFb varlLooplvFb varlLoopVuOut varlLoopVvOut varlOAnalnputs varlODigInputs varM odeOfOperationDisplay varPosRGDemandAccel varPosRGDemandPosH i varPosRGDemandPosLo varP osR GDemandS peed varPosRGPosError varP StageVdcBus varSSCntriLplqRef varStatusWord varSyncMgr_Correction varS yncMgr_LastSampleP oint varSyncMgr_SyncMax varSyncM gr_SyncMin varSyncMgr_SyncTime varSyncMgr_Valid E a3 100 Doc 10460 0 A M ENG varS ysAlarms varS ysAlarmS ubCode varS ysAvgRTE xecTime varS ysB ootE rrorCode varS ysFirmwarelnfo varS ysLifeTime varSysM axRTE xecTime varSysStat ceeeee varS ysStatAlarmsReset varS ysStatB ooting varSysStatF ault varSysStatF aultReaction varSysS tatFieldbu
6. Object parEncMgr PowerStartU pDelay Delay start up encoder Modbus IPA 26008 Modbus Data Type Unsigned16 CANopen COE_ index 3808h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit msec Default value 300 Value range 1 to 10000 Delay in msec to startup the encoder wait for the steady power before beginning position processing 11 AXM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parEncMgr MainRelSelection Incremental encoder type Modbus IPA 26009 Modbus Data Type Unsigned16 CANopen COE_ index 3809h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit Default value 0000h Value range See table above Selection of the incremental tracks used by the main encoder Option code Description Name 0000h No sensor cstEncTypeNull 0005h Sensorless BackEmf Refer to section 4 2 7 Sensorless cstEncTypeRelBackEMF 0006h Digital Incremental encoder cstE ncTypeRellncremental Digital Incremental relative encoder An incremental rotary encoder also known as a quadrature encoder or a relative rotary encoder has two outputs called quadrature outputs Incremental encoder works differently by providing an A and a B pulse output that provide no usable count information in their own right To provide useful position information the encoder position must be referen
7. Object n a Auxiliary Encoder Position Modbus IPA Modbus Data Type CANopen COE index 3A36 0h CANopen COE Data Type Signed64 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale Auxiliary encoder position on 64 bit range calculated every 125 usec 4 3 Encoder gt Monitor In this sub menu can be read the variables related to the position of the Feedback Encoder the one used by the Control Loops selected by the selection flags For more informations refer to 4 Object var ncFbMechHi Feedback tums Modbus IPA 27020 Modbus Data Type Signed32 CANopen COE_ index 3A40h 2h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the feedback encoder position in mechanical turns unit The feedback turns is the 32 MSB bit of 64 bit feedback encoder position Object var ncFbMechLo Feedback angle Modbus IPA 27021 Modbus Data Type Unsigned32 CANopen COE_ index 3A40h 1h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the feedback encoder position in mechanical angle unit The feedback angle is the 32 LSB bit of 64 bit feedback encoder position Object varE ncFbMechAbsPosOffsetHi F
8. Object var ncAuxMechAbsPosOffsetLo Absolute Position Offset angle Modbus IPA 26113 Modbus Data Type Unsigned32 CANopen COE index 3A31h 1h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the offset from the relative position in mechanical angle unit in order to calculate the absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 Object varE ncAuxMechS peed Mechanical speed Modbus IPA 26114 Modbus Data Type Signed32 CANopen COE_ index 3A32h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Velocity factor unit Default value n a Value range Full scale This object represents the actual value of the auxiliary velocity measurement device The speed is calculated as difference between two consecutive readings of the position auxiliary encoder 1255s Object var ncAuxMechAccel Mechanical acceleration Modbus IPA 26115 Modbus Data Type Signed32 CANopen COE_ index 3A33h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Acceleration factor unit Default value n a Value range Full scale This is the auxiliary mechanical acceleration The acceleration is simply computed as di
9. cstCanOpenNMTSStopped NMT state stopped Unsigned8 04h cstCanOpenNMTSPreoperational NMT state pre operational Unsigned8 7Fh cstCanOpenNMTSOperational NMT state operational Unsigned8 05h For more details refer to 1 This data structure is referred to the CANOpen communication set up Object parCANOpen IEC address MB303 0 LogicLab Type PAR CANOPEN Attributes rw Description CANOpen parameters Structure members Dummyl1 Description Dummy parameter LssNodeld Lss Node ID LssTimingIndex Lss Timing Index Dummy2 Dummy parameter tSyncCOB COB ID used by SYNC COB EmcyCOB COB ID used by Emergency COB EmcylnhibitTime Emergency COB Inhibit Time 100usec GuardTime Guard Time ms HeartbeatTime Heartbeat ms LifeTimeF actor Life Time Factor Dummy3 Dummy parameter CommCycleP eriod Communication Cycle Period usec This variable is used to monitor the state machine of the network management NMT Object varCAN OpenNMTStatus Modbus IPA LogicLab Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes rw Unit n a Default value n a Value range n a NMT state machine actual status To evaluate the NMT state machine actual status the user have use the constant to read NMT state machine 11 11 CAN Group Constants to set and control the CAN physical layer properties Constant name Description Data Type Mask Value cstCanNode0 Number Node 0 Unsign
10. Tolerance of the difference between the calcolated zero position and the index track used for index track checking 17 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parEncMInc FlagsE nablelndexTrack Enable Index Track Modbus IPA 26038 Modbus Data Type Unsigned16 CANopen COE_ index 3826h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On Flag to enable index track Object parEncMInc Flags E nableStepDir Enable Step Dir mode Modbus IPA 26050 Modbus Data Type Unsigned16 CANopen COE_ index 3829h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On Enable step pulse track A and direction track B mode in place of standard quadrature encoder mode Some position encoders provide direction and clock outputs instead of quadrature outputs In such cases direction count mode can be used This mode is sometimes called in a 1X mode a 512 line encoder will generate 512 counts per revolution Pulse direction signals track A Track A pulses track B direction With a falling edge of track B Track B negative direction Figure 2 Direction count mode Track A input will provide the clock for position counter and the track B input will have the direction informati
11. CONFIGURABLE MOTION CONTROL PLATFORM Parameters Reference Firmware release 1 5 Doc 10460 0 A M ENG AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG SUMMARY Me THOU CEO Mii sscacisiessd deccsazvacisedscosGeiaceastesessieasicdenascaacsaneyscteossecescguas itecauvsad E Erara 5 La Data CYP CHEM GOO MN Gaia ncaissmanairesea snug npaanigguninruie mene Diggudsabieusanipt Daaa EEA 5 2 GO re ccsaececarscce ceca vcecaeesees veeusican E stata tausteteemerienaees 6 Ci cesses csc tects CA EEA E A E E AEEA ET A TST ET EE EIA P ESE AE ETEA 8 A e oY e 1 E a E EE R E A E T A E E E E A E EE E E EE T 10 4 1 Encoder Malf nsimenmr aunk E A ES 10 A ENa ea a a E A 13 Ae Endat SMON OE enean a act paniaahatassamaasetanctmsgeanicagentnanaieteancadetan 14 A3 Absolute AM AlO GUE Maces asiansa anea aara Ere 14 4 1 4 Absolute Analogue Traces gt MomitOp ssiiisuncsiniicinnieroinnn eiai eaea 15 ALS alll SAMSON WhACeS alia capceudsacaaatsenabeacasac aichaasanaacatadoudl oanasanonacandicdectiaeans cat hantaskaraes 15 4 1 6 Hall sensor Traces gt Monitor casiisneririeadraia annan aana aani 16 4 1 7 lneremental Trace Sonrasi aana a a E 16 Aie Incremental traces gt MOM iO leascsacziacsdeaatantadantacaadeatananes tinendiedtien sande tenendeccaumaneanins 19 ATD Sensore Sanaa E AEAEE DED 19 APD 5 0 Sensoess MIO MILO arsos E E AEO 22 4L Electrical Field Orientation viicisansdisiueeiadranentenilanceaeritdntoomiicnneanadeadeuseilinga
12. Unit Velocity factor unit Default value 4475 0 05 rad s Value range Full scale Below this speed threshold the motor is considered standstill 6 3 Monitor Variables related to the position and speed loops Object varS SCntriLplqRef Torque reference Modbus IPA 27029 Modbus Data Type Signed32 CANopen COE_ index CANopen COE Data Type Attributes ro Unit 0 1mA Default value n a Value range Full scale It represents the current reference output of the speed position loop Object varPosRGDemandPosHi Demand Position tum Modbus IPA 27122 Modbus Data Type Signed32 CANopen COE_ index 3350h 2h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale Reference position into mechanical turns Represents the 32 MSB bit position input of the space speed control loop as computed by the trajectory generator Object varPosRGDemandPosLo Demand Position angle Modbus IPA 27123 Modbus Data Type Unsigned32 CANopen COE index 3350h 1h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale 46 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Reference position into mechanical angle unit Represent
13. Group Alarm Code Alarm Type Leds Panel 0002 0000h Absolute Analog Encoder Fault SubCode Alarm Subcode Identification Description Suggested Action than the maximum limit set by the parameter 0000 0001h Invalid line Count The drive has detected an incorrect index position Check the encoder connections E1 The voltage ripple of the encoder analogic channels was higher Check the encoder connections E1 Verify also the 0000 0002h Low Tracks Level parameter related to the configuration of threshold alarm parEncAn AnalogAlarmThreshold Group Alarm Code Alarm Type Leds Panel 0004 0000h Main Incremental Encoder fault SubCode Alarm Subcode Identification Description Suggested Action 0000 0001h Invalid line count The AxM II drive has detected an incorrect index position Check the encoder cabling E1 and the shield connection Verify also the parameters related to the index tolerance parEncMInc Flags DisablelndexE rror and parEncMInc IndexE rrorTolerance 91 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Low Tracks level The voltage ripple of the encoder analogic channels was higher Check the encoder cabling E1 and the shield connection Verify also the parameters related to the 0000 000ah than the maximum limit set by the parameter threshold alarm y P i parE ncMI
14. The actual AxM II drive current has got an instant value higher than the maximum value allowed by the AxM II drive Check the current loop gains setting the possible mechanical obstacle and the correct motor size for the use The actual AxM II drive current on the second power bridge has got Check the current loop gains setting the possible 0000 0001h Bridge 2 an instant value higher than the maximum value allowed by the mechanical obstacle and the correct motor size for AxM II drive the use Group Alarm Code Alarm Type Leds Panel 0000 0200h Overvoltage Fault S2 abanaa SubCode Alarm Subcode Identification Description Suggested Action Overvoltage fault too high voltage level on DC bus voltage has been detected Check if the brake resistor is present and connected Group Alarm Code Alarm Type Leds Panel 0000 0400h Undervoltage Fault SubCode Alarm Subcode Identification Description Suggested Action The DC bus voltage is under the threshold when the drive is enabled Verify if the power supply is present Group Alarm Code Alarm Type Leds Panel 0000 8000h Encoder Fault SubCode Alarm Subcode Identification Description Suggested Action Main Encoder Abs Rel Track The difference between absolute and incremental relative position Check the encoder connections E1 and the 0000 0001h
15. This is a unique value assigned to each manufacturer by CIA in this case for Phase Motion Control is 0000 00D9h Object n a Product Code Modbus IPA Modbus Data Type Unsigned32 CANopen COE index 1018h 2h CANopen COE Data Type Unsigned32 Attributes ro Unit n a Default value n a Value range n a This is the product code of the device This parameter is not present in table parameter but it s available using the Target Information service from Cockpit configurator Object n a Revision Number Modbus IPA Modbus Data Type Unsigned32 CANopen COE_ index 1018h 3h CANopen COE Data Type Unsigned32 Attributes ro Unit n a Default value n a Value range n a This is the firmware release number with the subfields structured as follow MSB LSB major 16 bit mid 8 bit minor 8 bit Figure 9 Structure of revision number These parameters are not present in table parameter but they re available using the Target Information service from Cockpit Configurator Object n a Serial number Modbus IPA Modbus Data Type Unsigned32 CANopen COE index 1018h 4h CANopen COE Data Type Unsigned32 Attributes ro Unit n a Default value n a Value range n a This is the serial number of the drive the same appears on the plate of the AxM II drive This parameter is not present in tab
16. 38F1h 0h 38F2h 0h 38F3h 0h 38F4h 0h 38F8h 0h 38F9h 0h 38FAh 0h 3910h 0h 3911h 0h 3918h 0h 3919h 0h 3920h 0h 3922h 0h 3925h 0h 3926h 0h 3928h 0h 3929h 0h 392Ah 0h 392Bh 0h 392Ch 0h 392Dh 0h 3A00h 1h 3A00h 2h 3A01h 1h 3A01h 2h 3A02h 0h 3A03h 0h 3A04h 0h 3A05 0h 3A06 0h 3A07 0h 3A10h 1h 3A10h 2h 3A11h 1h 3A11h 2h 3A12h 0h 3A13h 0h 3A14h 0h 3A15 0h 3A16 0h 3A17 0h 3A20h 1h 3A20h 2h 3A21h 1h 3A21h 2h 3A22h 0h 3A23h 0h 3A24h 0h 3A25 0h 3A26 0h 3A27 0h 3A30h 1h 3A30h 2h 3A31h 1h 3A31h 2h 3A32h 0h Doc 10460 0 A M ENG 3A33h 0h 3A34h 0h 3A35 0h 3A36 0h 3A40h 1h 3A40h 2h 3A41h 1h 3A43h 0h 3A44h 0h 3A45 0h 3A46 0h 3A47 0h 3F00h 0h 3F01h 0h 3F02h 0h 3F03h 0h 3F04h 0h 3F05h 0h 3F06h 0h 3F07h 0h 5209h 0h 5700 0h 5701h 0h 5702 0h 5703h h 5709h 0h 570Ah 0h 5710h 0h 5711h 0h 5720h 0h 5721h 0h 5722h 0h 5723h 0h 5724h 0h 5725h 0h 5726h 0h 5727h 0h 5728h 0h 5729h 0h 5730h 0h 6040h 0h 6041h 0h 605Ah 0h 605Bh 0h 605Ch 0h 605Dh 0h 605Eh 0h 6060h 0h 6061h 0h 6064 0h 6065h 0h 6066h 0h 6067h 0h 6068h 0h 606Bh 0h 606Ch 0h 606Dh 0h 606Eh 0h 606Fh 0h 6070h 0h 607A 0h 6081h 0h 6082h 0h 6083h 0h 6084h 0h 6085h 0h 60C1h 1h 60C2h 1h 60C2h 2h 60F4h 0h 60FFh 0h
17. 8 reserved 9 Remote If set then parameters may be modified via the CAN bus and the drive executes the content of a command message If the bit remote is reset then the drive is in local mode and will not execute the command message 10 Target reached If set then a set point has been reached not used in Torque Mode and Homing Mode The set point is dependent on the operating mode The change of a target value by software alters this bit If quick stop option code is 5 or 6 this bit is set when the quick stop operation is finished and the drive is halted If halt occurred and the drive has halted then this bit is set too 11 Internal limit active It signal that the target position if in Profile Position Mode or the set point if in Interpolated Mode was wrapped between minimum and maximum Software position limit object 607Dh due to exceeding value It is reset with a new target position or set point between the limits not used in Torque Mode 12 01 13 02 14 reserved 15 Homing done The homing is done this bit remain active up to a node reset or a power off Table 1 Structure of the statusword The O1 O2 are operating mode specific bits Bit Position profile Velocity Interpolated Torque mode Homing mode profile profile O1 Set point Zero speed Ip mode active reserved Homing acknowledge attained 02 Following error Max slippage reserved reserved Homing error
18. Attributes rw Unit n a Default value 0 Off Value range 0 Off 1 On Enable EtherCAT software module Object parE CAT Flags ReSyncE nable EtherCAT Enable Sync Modbus IPA 30801 Modbus Data Type Unsigned16 CANopen COE index CANopen COE Data Type Attributes rw Unit n a Default value 1 On Value range 0 Off 1 On Enable the internal machine cycle synchronization with the EtherCAT fieldbus 8 4 Fieldbus Sync Manager The AxM II monitor continuously the time period of the Sync object giving the user the ability to have a feedback on the quality of the Sync object this is given in the form of three parameters the minimum cycle time the maximum cycle time and the average cycle time Those parameters are updated every user specified amount of time default 500 msec giving back the cycle time quality of the past period and letting the user never miss any discontinuity of the Sync e g missing transmission of Sync objects Object parSyncMgr TSFllter Time constant filter Modbus IPA 31000 Modbus Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes rw retain 61 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Unit Value range n a Full scale Default value 64000 Time constant of the filter applied to the Sync signal If the value is set to zero the filter is disabled
19. 0 Off Value range 0 Off 1 On Swap physical input tracks A and B to adjust wrong electrical connections 4 1 8 Incremental Traces gt Monitor Status of the incremental encoder Object varE ncIncChannelSin Analog level Sin channel Modbus IPA 26039 Modbus Data Type Signed16 CANopen COE_ index 3830h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit Internal device unit d u Default value n a Value range Full scale Analog level of the encoder Sin channel Object varE ncIncChannelCos Analog level Cos channel Modbus IPA 26040 Modbus Data Type Signed16 CANopen COE_ index 3831h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit Internal device unit d u Default value n a Value range Full scale Analog level of the encoder Cos channel Object varE ncIncChannelLevels Analog level channel Modbus IPA 26041 Modbus Data Type Signed16 CANopen COE_ index 3832h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit Internal device unit d u Default value n a Value range Full scale Calculated level of sin cos For more details refer to parEncMInc AnalogAlarmThreshold parameter 4 1 9 Sensorless This algorithm is based on the estimation of rotor speed and angular position starting from the back electromotive force space vector determination without voltage sensors by using the reference voltages given by the current controllers instead of the actual ones the sensorless al
20. 0080h Value range 001h to 57Fh 680h to 7FFh COB ID used by Sync COB message Object parCANOpen EmgyCOB Emgy COB ID Modbus IPA 30005 Modbus Data Type Unsigned32 CANopen COE_ index 1014h 0h CANopen COE Data Type Unsigned32 Attributes rw retain Unit n a Default value 0080h Node ID Value range n a COB ID used by Emergency COB message Defines the COB ID of the EMCY Bits 0 10 define the COB ID bit 31 defines if the EMCY is enabled equal to 0 or if it is disabled equal to 1 bits 11 30 should be leaved 0 MSB LSB E Unused 20 bit should be 0 COB ID 11 bit Figure 6 Structure of COB ID Emergency Message Object parCANOpen GuardTime Guard Time Modbus IPA 30006 Modbus Data Type Unsigned16 CANopen COE_ index 100Ch 0h CANopen COE Data Type Unsigned16 Attributes rw retain Unit msec Default value 0 Value range 4 to 32000 Node guarding protocol the node guard is used to detect communication errors in the network With node guarding a certain network node NMT master requests the other nodes in the network with a CAN remote frame one after the other at defined intervals guard time to transmit a data telegram with its current communication state stopped operational pre operational together with a toggle bit If the NMT Slave has not been polled during its life time it issues an EMCY object with error code 8130h and then the action indi
21. 30200 Modbus Data Type Unsigned16 CANopen COE_ index 1600h 0h CANopen COE Data Type Unsigned8 Attributes rw Unit n a Default value 0 Value range n a Number of mapped object Object n a PDO Mapping Modbus IPA 30201 30208 Modbus Data Type Unsigned32 CANopen COE index 1600h 1h 1600h 8h CANopen COE Data Type Unsigned32 Attributes rw Unit n a Default value Value range n a These entries describe the PDO contents by their index sub index and length For further information on RxPDO mapping refer to 3 8 1 3 CANOpen TxPDO Communication Parameters The purpose of this data structure is to define the communication parameters for all RPDO for each RPDO exist one object the object index range from 1800h RPDO 1 to 1807h RPDO 8 57 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object n a COB ID used by PDO Modbus IPA 30301 Modbus Data Type Unsigned32 CANopen COE index 1800h 1h CANopen COE Data Type Unsigned32 Attributes rw Unit n a Default value n a Value range n a Define the COB ID and the state enabled disabled of the TPDO Bits 0 10 define the COB ID bit 31 defines if the PDO is enabled equal to 0 or if it is disabled equal to 1 bit 30 defines if RTR is allowed equal to 0 or not equal to 1 on this PDO bits 11 29 should be leaved 0 COB ID have to be defined between 181h and
22. LSB field which describes the device profile that is used and a second 16 bit MSB field which gives additional information about optional functionality of the device In this case the device profile is 402 0192h and the additional information indicate that is a servo drive 0002h MSB LSB Additional information 16 bit Device profile type 16 bit Figure 8 Structure of Device Type Object n a CiA301 Errors register Modbus IPA Modbus Data Type CANopen COE_ index 1001h 0h CANopen COE Data Type Unsigned8 Attributes ro Unit n a Default value n a Value range n a This object is an error register for the AxM II drive It is a part of the EMCY object Every bit in the error register refer to a specific faults of the motion controller more than one bit at time could be set to 1 meaning that more than one fault is active 67 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG communication error overrun error state device profile specific Bit Meaning 0 generic error 1 current 2 voltage 3 temperature 4 5 7 manufacturer specific Table 4 Error register reference Object n a CiA301 Vendor ID Modbus IPA Modbus Data Type CANopen COE_ index 1018h 1h CANopen COE Data Type Unsigned32 Attributes ro Unit n a Default value n a Value range n a
23. Object varT hModelTHeatSink Heatsink temperature Modbus IPA 28168 Modbus Data Type Signed16 CANopen COE_ index 3208h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit 100m C Default value n a Value range Full scale Heatsink temperature measured by the thermal model Object varT hModellqLimMax Iq Limit Max Modbus IPA 28169 Modbus Data Type Signed32 CANopen COE_ index 3203h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale Maximum allowed quadrature current calculated by the thermal model Object varThModellqLimMin Iq Limit Min Modbus IPA 28170 Modbus Data Type Signed32 CANopen COE index 3204h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale Minimum allowed quadrature current calculated by the thermal model Object varThModelldLimMax Id Limit Max Modbus IPA 28171 Modbus Data Type Signed32 CANopen COE index 3205h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale Maximum allowed direct current calculated by the thermal model AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object varThModelldLimMin Id Limit Min Modbus IPA 28172 Modbus Data Type Signed32 CANopen COE_ index 3206h 0h CANopen COE Data Type
24. QuickStopDec Quick stop deceleration PositionE rrorMaxLo Max position error 32 LSB PositionE rrorM axHi Max position error 32 MSB ZeroSpeedThreshold Threshold speed Positioner software module should receive its inputs from Plc program application Plc variables plcPosRG Object plcPosRGQuickStop Modbus IPA LogicLab Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes Unit n a Default value 0 False Value range 0 False 1 True Flag to activate the quick stop functionality 0 False disable the quick stop functionality 1 True enable the quick stop functionality Object plcPosRGVelocity Modbus IPA LogicLab Data Type Unsigned16 CANopen COE index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True Flag to activate the ramp generator 0 False disable the ramp generator functionality 1 True enable the ramp generator functionality Object plcPosRGPosition Modbus IPA LogicLab Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True Flag to activate the positioner module 0 False disable the positioner module 1 True enable the positioner module
25. visible_string Attributes ro Unit n a Default value n a Value range n a Contain the software release number and release date This parameter is a data structure composed by different fields and it s not present in table parameter Its members are avalaible using the Target Information service from Cockpit configurator Description Application type Default Value 1 Major version 1 Minor version 5 Incremental build number version n a Version date YYYYMMDD Version description AxX System Application Object wksS ysSaveParameters Store Parameters Modbus IPA LogicLab Data Type Unsigned16 CANopen COE_ index 1010 0h CANopen COE Data Type Unsigned32 Attributes ro Unit n a Default value n a Value range n a This object let the drive to save all parameters in non volatile memory By read access the device provides information about its saving capabilities 69 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Sub index Oh Large sub index supported Modbus IPA Modbus Data Type CANopen COE index 1010 0h CANopen COE Data Type Unsigned8 Attributes ro Unit n a Default value n a Value range n a The large sub index supported for this object in this case 1 Sub index 1h Store All Modbus IPA Modbus Data Type CANopen
26. 2908h 0h 2909h 0h 290Ah 0h 290Bh 0h 290Ch 0h 3000 0h 3100h 0h 3101h 0h 3102h 0h 3103h 0h 3104h 0h 3105h 0h 3106h 0h 3107h 0h 3108h 0h 3109h 0h 310Ah 0h 310Bh 0h 310Ch 0h 310Dh 0h 310Eh 0h 3120h 0h 3121h 0h 3122h 0h 3123h 0h 3124h 0h 3125h 0h 3126h 0h 3127h 0h 3140h 0h 3141h 0h 3142h 0h 3143h 0h 3144h 0h 3145h 0h 3146h 0h 3200h 0h 3201h 0h 3203h 0h 3204h 0h 3205h 0h 3206h 0h 3207h 0h 3208h 0h 3209h 0h 320Ah 0h 3220h 0h 3221h 0h 3222h 0h 3223h 0h 3224h 0h 3225h 0h 3300h 0h 3301h 0h 3302h 0h 3303h 0h 3304h 0h 3305h 0h 3306h 0h 3307h 0h 3308h 0h 3309h 0h 330Ah 0h 330Bh 0h 3340h 0h 3341h 0h 3350h 1h 3350h 2h 3352h 0h 3801h 0h 3802h 0h 3803h 0h 3804h 0h 3805h 0h 3806h 0h 3807h 0h 3808h 0h 3809h 0h 380Ah 0h 380Bh 0h 380Ch 0h 3810h 0h 3811h 0h 3818h 0h 3819h 0h 3820h 0h 3821h 0h 3822h 0h 3823h 0h 3824h 0h 3825h 0h 3826h 0h 3827h 0h 3828h 0h 3829h 0h 3830h 0h 3831h 0h 3832h 0h 3840h 0h 3841h 0h 3842h 0h 3843h 0h 3848h 0h 3849h 0h 384Ah 0h 3850h 0h 3851h 0h 3852h 0h 3853h 0h 3854h 0h 3855h 0h 101 3856h 0h 3857h 0h 3858h 0h 3859h 0h 385Ah 0h 385Bh 0h 385Ch 0h 385Dh 0h 3861h 0h 3862h 0h 3863h 0h 3864h 0h 3865h 0h 3870h 0h 3871h 0h 3872h 0h 3873h 0h 38F0h 0h
27. 57Fh MSB LSB E R Unused 19 bit should be 0 COB ID 11 bit Figure 7 Structure of TPDO s COB ID Object n a TPDO transmission type Modbus IPA 30302 Modbus Data Type Unsigned16 CANopen COE_ index 1800h 2h CANopen COE Data Type Unsigned8 Attributes rw Unit n a Default value n a Value range n a This field defines the transmission type of TPDO and when the data should be transmitted Transmission type cyclic acyclic synchronous asynchronous RTR only 0 X X 1 240 X X 252 X X 253 X X 254 X 255 X Object n a Inhibit Time Modbus IPA 30303 Modbus Data Type Unsigned16 CANopen COE_ index 1800h 3h CANopen COE Data Type Unsigned16 Attributes rw Unit 100 usec Default value 0 Value range Full scale This defines the minimum time that has to elapse between two consecutive invocations of a transmission service for the TPDO It is possible to set this object only for asynchronous TPDO Object n a Sync Start Value Modbus IPA 30306 Modbus Data Type Unsigned16 CANopen COE_ index 1800h 6h CANopen COE Data Type Unsigned16 Attributes rw Unit n a Default value 0 Value range 0 to 240 Sub index 06h contains the Sync start value The Sync start value of 0 shall indicate that the counter of the Sync message shall not be processed for this PDO The S
28. 82 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object plcPosRGNewTarget Modbus IPA LogicLab Data Type Unsigned16 CANopen COE index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True Flag to know at the positioner module that it s available a new target 0 False no new target to the positioner module 1 True new target to the positioner module Object plcPosRGE nablePositioner Modbus IPA LogicLab Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True Flag to enable the positioner module operation 0O False disable the operation of the positioner module 1 True enable the operation of the positioner module Object plcPosRGE nableinterpolation Modbus IPA LogicLab Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True Flag to activate the interpolated module 0 False disable the interpolated module 1 True enable the interpolated module Object plcPosRGTargetPosLo Modbus IPA LogicLab Data Type Unsigned32 CANopen COE index CANopen COE Data Type Attributes rw
29. 96 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG G AXM I FIRMWARE DIAGRAM AxM II firmware diagram and interaction with Plc program application 7 Application Parameters Real Time Input Output CO Oscilloscope Digital Analog PLC Application nue from PLE AxM II Firmware i Sensor Board Control System 2 Variables Diagnostic System CANOpen A System Parameters Ethercar Fieldbus Fieldbus f ModBus Fieldbus RS 232 Default Configuration Figure 14 AxM II firmware diagram 97 AxM II Configurable Motion Control Platform H IPA PARAMETERS SORTED INDEX 3800 4000 4500 5000 5500 6000 6500 7000 7500 7750 8020 8029 8031 8032 8033 8034 8035 8036 8037 8070 8088 8089 8098 9000 9004 9005 9006 22000 26000 26001 26002 26003 26004 26005 26006 26007 26008 26009 26010 26011 26012 26013 26014 26015 26016 26020 26021 26022 26023 26030 26033 26034 26035 26036 26037 26038 26039 26040 26041 26049 26050 26051 26052 26053 26054 26055 26056 26057 UNUBERERDWADWMDHOWOWNWAYYNYYUMHVWHR EW 98 27004 27005 27006 27007 27008 27009 27012 27013 27020 27021 27022 27023 27024 2
30. Check Failure value is too high configuration of the encoder parameters Check the power supply voltage the encoder 0000 0002h Encoder Supply Voltage Failure The encoder power supply voltage is out of valid range connections E1 and the configuration of the encoder parameters Group Alarm Code Alarm Type Leds Panel 0001 0000h Main Aux Endat Encoder Fault SubCode Alarm Subcode Identification Description Suggested Action Check the encoder connections E1 and the Endat Frequency 8 kHz 0000 0001h Endat Init Fail Error during the initialization procedure of the Endat configuration parameters configuration 0000 0002h Endat Alarm Flag Endat encoder device in alarm condition Check the encoder connections E1 and the Endat parameters configuration 0000 0004h Endat CRC Error Error in Endat communication The CRC control algorithm failed Check the encoder connections E1 and the Endat parameters configuration Error in Endat communication the read position command doesn t A 0000 0008h Endat Data Overtime terminate its procedure within the time period calculated during Check the encoder connections E1 and the Endat A parameters configuration the Endat configuration procedure 0000 0010h Endat Unsupported Clock Unsupported clock frequency The supported values are 2 kHz and Check the encoder connections E1 and the Endat parameter parEncMEndat ClockFreq configuration
31. IPA 26035 Modbus Data Type Unsigned16 CANopen COE_ index 3823h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On Flag to disable the error generated by the analog tracks levels Object parEncMInc AnalogAlarmThreshold Analog Signal Threshold Modbus IPA 26036 Modbus Data Type Unsigned16 CANopen COE_ index 3824h 0h CANopen COE Data Type Unsigned16 Attributes rw retain Unit Internal device unit d u Default value 5000 Value range Full scale Analog tracks level sin cos threshold The calculated value sin cos must be greater then this value otherwise an alarm Main Incremental Encoder Low Tracks Level is generated The signals of the single tracks will not be monitored to their amplitudes separately But from the recalculation of the encoder radius the outcome is that the signal level has to greater to the analog signal threshold The sin cos greater to the threshold means that the amplitude of signal sine and cosine are correct this represents the health of the encoder If the value is set to zero the checking control is disabled Object parEncMInc IndexE rrorTolerance Index Error Tolerance Modbus IPA 26037 Modbus Data Type Unsigned16 CANopen COE_ index 3825h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit count Default value 10 Value range 0 to parEncMInc LineCounts
32. Id reference Modbus IPA 27464 Modbus Data Type Signed32 CANopen COE_ index 3126h 0h CANopen COE Data Type Signed32 Attributes rw pdomap Unit 0 1 mA Default value 0 0 Value range Full scale Direct current target for current loop control The direct current target can be generated from the master host control otherwise this parameter should be configuring by the user using the Cockpit configurator In both cases put the AxM II drive in Torque Mode profile otherwise it is ignored Object wkslqRef User Iq reference Modbus IPA 27465 Modbus Data Type Signed32 CANopen COE_ index 3127h 0h CANopen COE Data Type Signed32 Attributes rw pdomap Unit 0 1 mA Default value 0 0 Value range Full scale Quadrature current target for current loop control The quadrature current target can be generated from the master host control otherwise this parameter should be configuring by the user using the Cockpit configurator In both cases put the AxM II drive in Torque Mode profile otherwise it is ignored 5 1 Torque Loop Monitor Variables related to the torque loop control Object varlLoopldFb Id feedback Modbus IPA 27432 Modbus Data Type Signed32 CANopen COE_ index 3100h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale Feedback direct current generated by the Park s transformation Obj
33. Modbus IPA 26134 Modbus Data Type Unsigned16 CANopen COE_ index 3922h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On Flag to disable the error generated by the index track checking 32 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parEncAlnc Index rrorTolerance Auxiliary Index error Tolerance Modbus IPA 26135 Modbus Data Type Unsigned16 CANopen COE_ index 3925h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit count Default value 10 Value range Full scale Tolerance of the difference between the calcolated zero position and the index track used for index track checking Object parEncAlnc FlagsEnablelndexTrack Auxiliary enable index track Modbus IPA 26136 Modbus Data Type Unsigned16 CANopen COE_ index 3926h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On Flag to enable index track Object parEncAlnc Flags S waptracks Auxiliary swap tracks Modbus IPA 26137 Modbus Data Type Unsigned16 CANopen COE_ index 392Bh 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On Swap physical input tracks A and B to adjust wrong elect
34. Modicon in 1979 It is used to establish master slave client server communication between intelligent devices It is a de facto standard truly open and the most widely used network protocol in the industrial manufacturing environment The Modbus protocol defines how a master device polls one or more slave devices to read and write data in real time by means of RS232 RS422 or RS485 serial data communication Object parSerialZeroBaseAddress Standard use for IPA numbering Modbus IPA 18020 Modbus Data Type Unsigned16 CANopen COE index 5720h 0h CANopen COE Data Type Signed8 Attributes rw retain Unit n a Default value 1 J Bus Value range 0 Modbus 1 J Bus Use e JBUS when the serial link is made by the Cockpit configuration tool MODBUS using a standard Modbus keyboard JBus and Modbus are very similar there is only a slight variance in the addressing scheme J bus registers start at address xxxxl Modbus addressing starts at address xxxx0 They support the same functions as applied by the manufacturer of your slave and the same configuration The serial port default configuration is 38400 8 N 1 Object parSerialAnswerToBCast Answer to broadcast request Modbus IPA 18029 Modbus Data Type Unsigned16 CANopen COE_ index 5721h 0h CANopen COE Data Type Signed8 Attributes rw retain Unit n a Default value 1 Enabled Value range 0 Disabled
35. Olh cstEncStatusRelativeValid Relative angle is valid 02h cstEncStatusElecAngleValid Electrical angle is valid 04h cstEncStatusFatalFaultValid Fatal fault during the calculations position Non fatal fault status Combine status from both encoders absolute and relative status if one is 08h cstEncStatusNonFatalFaultValid faulty but electronic angle is valid and relative angle is valid then result in non fatal fault as there s at least one valid feedback 10h cstEncStatusAbsoluteValid Absolute mechanical turn is valid 30 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG 20h cstEncStatusAbsoluteWaiting Waiting status during the calculations of absolute mechanical position for incremental encoder Object n a Main Relative Encoder Position Modbus IPA Modbus Data Type CANopen COE index 3A26 0h CANopen COE Data Type Signed64 Attributes ro pdomap Unit Poisition Factor Unit Default value n a Value range Full scale Main relative encoder position on 64 bit range calculated every 125 usec Object n a Main Relative Encoder Position Offset Modbus IPA Modbus Data Type CANopen COE_ index 3A27 0h CANopen COE Data Type Signed64 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale Offset value for relative position on 64 bit range This is the offset
36. Physical Digital Analog IMpUt OUtTPUT rracsrinennissiiaenicnroiiiriaeninicsroioeiisenricir taigen 72 Tk PEG Variable Sennor gunna 73 Tiel Globals Group ssswisinntssancanieetmunintstessaantelriessiacas ENEE 13 LEZ PEC GOUD aisecs crea setececntensntns seaceacaseme A E EAEE EE 74 TL3 Encoder Grosero eannan a EEEa bake eee 15 I4 TORQUES LOOP GhOUP iis cin tancsisceeanamacenansaiansiadanineais telqeanqanduauaiaennasiaanbiadataenuaaaainepennubagenns 78 ILS gt Power Stage Group wisi icenactigscaseiasndencaawacadivapnwedtaiwhdadaiaad deneaiaadadtuaiiecdanioidadauastideanaas 80 1 6 Space Speed Control Loop Group 2a2cesehedeas domswasy sadcue es Rese ab uyetadea th foesuus edaee es teauovass 81 TET JPOSIMOMEH GHOUP tewaeatemsae sc ckmreacedi athe stain btatexaunata a E E ramen EA 82 LLB Device Control Group sascenedsaisiieseueseeiesaunad caasecennsaecnadesaacie ae viniain exetaonae E 84 ico herma Model Group saccssuciennccctadahe e e ra EOE R EREC 85 TLO CANOPEN GrOUDu aianoimnaniauautiniaii niuia nE oaa aR EA EEE 85 TALI CAN GIOUP tsitsnesadicncannsiecindeieacaamunnnecitiaabadadmiaaie inaa aa a a 86 ELIZ EMerCAT Gr anomenen n a oe iea 87 11 13 Syne Manager Group wicsicndeccncnasscanaesatanodesina den dcummendscnataendusiauddesent deadaudsenedeaateeutuits 87 A Encoder position format sitisscsccstcescicersnnmscsnminnmcnsksmnnasaci meas 88 B Physical units vs internal device units conversion sssssssssrrssrnsrinennnunnunnsninunnnnnnnn
37. The power section will be locked Contact the PMC Service 0040 0000h Fpga PLL loss of clock Fpga PLL circuit loss the reference clock signal Contact the PMC Service Group Alarm Code Alarm Type Leds Panel 0000 0002h PLC Tasks overtime SubCode Alarm Subcode Identification Description Suggested Action The run time of Slow task is greater than its activation period 1 64 f a user application is active optimize the Slow run period 125 usec 0000 0001h PLC Slow Task overtime msec ime If Base app or SpeedV application is active i hen contact the technical PMC Service 5 i ale f a user application is active optimize the Fast run 0000 0002h PLC Fast Task overtime The run time of Fast task is greater than its programmed activation ime If Base app or SpeedV applications are active hen contact the technical PMC Service Group Alarm Code Alarm Type Leds Panel 0000 0004h Boot Failure SubCode Alarm Subcode Identification Description Suggested Action Error occurred during the boot firmware invalid hardware Try to reload software and parameters table on the more detail refer to 4 0000 0001h Invalid HW Configuration configuration The hardware configuration flash sector is damaged drive Then contact PMC service i Error occurred during the boot firmware invalid Flash Parameters Try to reload software and paramete
38. absolute and relative status if one is 08h cstEncStatusNonFatalFaultValid faulty but electronic angle is valid and relative angle is valid then result in non fatal fault as there s at least one valid feedback 10h cstEncStatusAbsoluteValid Absolute mechanical turn is valid 20h cst ncStatusAbsoluteWaiting Waiting status during the calculations of absolute mechanical position for incremental encoder Object n a Encoder Feedback Position Modbus IPA Modbus Data Type CANopen COE index 3A46 0h CANopen COE Data Type Signed64 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale Encoder feedback position calculated in 64 bit range Object n a Encoder Feedback Position Offset Modbus IPA Modbus Data Type CANopen COE index 3A47 0h CANopen COE Data Type Signed64 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale 37 AXM II Configurable Motion Control Platform Doc 10460 0 A M ENG This is the offset from the relative position in mechanical turns unit in order to calculate the absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 5 TORQUE LOOP The default configuration of the Torque Loop gains is usually enough to control most of the Phase Mot
39. each QEP input channel because both the rising and falling edges of both QEP input channels are counted by the selected timer When used for position the quadrature encoder gives a four fold increase in resolution in default case 2048 counts per revolution For the Direction count mode and for Down Count Mode the encoder line counts is the same value set by the line number counts 1X mode Object parEncMInc Flags E nableAnaloglnterp Analog Interpolation Modbus IPA 26033 Modbus Data Type Unsigned16 CANopen COE_ index 3821h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On Enable the analog sin cos interpolation used to select between analog incremental traces and digital incremental traces 1 On interpolation is activate digital counts plus analog interpolation O Off interpolation is deactivate only used digital counts Object parEncMiInc Flags DisablelndexE rror Disable Index Error Modbus IPA 26034 Modbus Data Type Unsigned16 CANopen COE_ index 3822h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On Flag to disable the error generated by the index track checking Object parEncMInc Flags DisableAnalogE rror Disable Analog Error Modbus
40. error Table 2 Statusword operating mode specific bits 49 AxM II Configurable Motion Control Platform The reserved bit is for future enhancements it has to be ignored Doc 10460 0 A M ENG Object varM odeOfOperationDisplay Mode of Operation Display Modbus IPA 29017 Modbus Data Type Unsigned16 CANopen COE_ index 6061h 0h CANopen COE Data Type Signed8 Attributes ro pdomap Unit n a Default value n a Value range n a The mode of operation display shows the current mode of operation Object wksControlWord Control Word Modbus IPA 29000 Modbus Data Type Unsigned16 CANopen COE_ index 6040h 0h CANopen COE Data Type Unsigned16 Attributes rw pdomap Unit n a Default value n a Value range n a The controlword contains the bits for controlling the state machine and for controlling the specific operating mode MSB LSB fault enable quick enable switch reserved 7 bit halt resek 03 02 O1 oper stop volt o Figure 5 Structure of controlword The 01 02 and O3 are operating mode specific bits Bit Position profile Velocity profile Interpolated Torque mode Homing mode profile O1 new set point reserved enable ip reserved homing mode operation start 02 change set reserved reserved reserved reserved immediately 03 abs rel reserved reserv
41. firmware and not a copy of them These variables should be connected to the same IPA value of the user parameters and of the user working variables Example of Plc variable mapping criteria For the fourth element of user working variables long data type the Plc mapping results usrWorkDInt 3 lt gt IEC address MD111 3 lt gt Modbus IPA 16503 lt gt COE Idx subidx 2909h 04h For more details how to create and to use the user parameters and the user working variables refer to 4 and to 7 89 AxM II Configurable Motion Control Platform D AXM II DRIVE ALARMS LIST Doc 10460 0 A M ENG If more alarms are together active the AxM II drive visualizes through leds status only the more important one E g if the alarm n 16 Endat alarm and n 20 Thermal model fail are active only the Endat alarm is visualized To get a complete list of the active alarms use the function Active Alarms SN of the Cockpit configurator The alarm type messages are referred to the alarm indicated by the Cockpit configurator Group Alarm Code Alarm Type Leds Panel 0000 0001h Software Fault SubCode Alarm Subcode Identification Description Suggested Action 0008 0000h FPGA WDT fail Fpga watchdog mechanism control failure Contact the PMC Service 0010 0000h Fpga Cre fail Fpga CRC checksum algorithm calculation failure Contact the PMC Service 0020 0000h Fpga lockout Fpga locked
42. home offset and polarized with the direction object Object n a Target position 64 bit Modbus IPA Modbus Data Type CANopen COE index 3000 0h CANopen COE Data Type Signed64 Attributes rw pdomap Unit Position factor unit Default value n a Value range Full scale This the 64 bit target position used in positioner mode of operation The target position is the position that the drive should move to in position profile mode using the current settings of motion control parameters such as velocity acceleration deceleration motion profile type etc At start up the content is unforeseeable and then the first positioning should be only absolute Object n a Demand Position Modbus IPA Modbus Data Type CANopen COE index 3356 0h CANopen COE Data Type Signed64 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale Position output from positioner software module this is the reference position for the space speed control loop 10 3 System additional parameter These variables are used to reset the drive and to read alarms and warnings Object wksSysReset System reset Modbus IPA LogicLab Data Type Unsigned16 CANopen COE index CANopen COE Data Type Attributes Unit n a Default value 0 False Value range 0 False 1 True Flag to command sys
43. n a Value range Full scale Period of the Sync signal Object varSyncMgr_SyncMax Modbus IPA 31011 Modbus Data Type Unsigned32 CANopen COE index CANopen COE Data Type Attributes ro Unit nsec Default value n a Value range Full scale Maximum Sync signal period measured Object varSyncMgr_SyncMin Modbus IPA 31012 Modbus Data Type Unsigned32 CANopen COE index CANopen COE Data Type Attributes ro Unit nsec Default value n a Value range Full scale 62 AxM II Configurable Motion Control Platform Minimum Sync signal period measured Doc 10460 0 A M ENG Object varSyncMgr_ Valid Modbus IPA 31013 Modbus Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes ro Unit n a Default value n a Value range o Off 1 On Sync signal is correct and the internal machine cycle is synchronized with the master unit 9 SYSTEM 9 1 System Brake Unit Variables to set brake resistor behaviour and dc bus link voltage limit These parameters are saved into Eeprom chip memory of the AxM II power stage board The AxM II drive can be equipped depending on the model size with an internal or external regeneration resistor The algorithm controlling the duty cycle of the resistor ensures that the power dissipated by the resistor is maintained at the resistor rating provided by the user The recommended rege
44. of motion control parameters such as velocity acceleration deceleration motion profile type etc The target position that is usually generated from the master control anyway the user should be configuring it using the Cockpit configurator and the basic application of the AxM II The Positioner application allows the user to control the AxM II drive as programmable multi position positioner For more details about the format position refer to the appendix Encoder position format or to the manual 4 Object wksTargetPosLo Target position mechanical angle Modbus IPA 29003 Modbus Data Type Unsigned32 CANopen COE_ index CANopen COE Data Type Attributes Rw Unit Position factor unit Default value 0 Value range Full scale User target position in mechanical angle is the LSB 32 bit of 64 bit target position The target position is the position that the drive should move to in position profile mode using the current settings of motion control parameters such as velocity acceleration deceleration motion profile type etc The target position that is usually generated from the master control anyway the user should be configuring it using the Cockpit configurator and the basic application of the AxM II The Positioner application allows the user to control the AxM II drive as programmable multi position positioner For more details about the format position refer to the appendix Encoder positio
45. performance of the position and speed loop Doc 10460 0 A M ENG It s necessary to tune these parameters according to the application and to the desired performance thus with power enabled and moving shaft Be careful as modifying the values of this object with Q WARNING the values of these objects could be written also during the normal drive working cycle power enabled could yield in a loss of axes control 6 1 Space Speed Control Loop Object parSSCntriLp Flags UseDifferentKp Use different speed Kp Modbus IPA 27000 Modbus Data Type Unsigned16 CANopen COE index 3300h 0h CANopen COE Data Type Signed8 Attributes rw retain Unit n a Default value 0 Off Value range 0 Off 1 On Use different coefficient for proportional gain speed reference parSSCntriLp SpdKpRef and for proportional gain speed feedback parSSCntriLp SpdKPFbk O Off use the same proportional gain for speed reference and for speed feedback The value of the two parameters is equal to the parSSCntriLp SpdKpRef parameter value 1 On use different proportional gain for speed reference and for speed feedback For further information refer to section E Object parSSCntriLp PosKp Position Kp gain Modbus IPA 27001 Modbus Data Type Signed16 CANopen COE_ index 3301h 0h CANopen COE Data Type Signed16 Attributes rw retain pdomap Unit n a Default value 0 Value rang
46. stop ramp cstDevCtrlOptCodeQuickStop Object varS tatusWord Status Word Modbus IPA 29001 Modbus Data Type Unsigned16 CANopen COE index 6041h 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit n a Default value Value range n a The statusword indicates the current state of the drive and the current state of the specific operating mode Bit Name Description 0 Ready to switch on The drive functions are disabled the drive is ready to enable power output 1 Switched on The drive functions are disabled the drive has power output enabled and the motor shaft has no torque 2 Operation enabled The drive functions and power output are enabled the torque could be applied on the motor shaft no faults detected and specific selected Mode Of Operation is executed 3 Fault A fault is occurred in the device the drive functions and power output are disabled 4 Voltage enabled Power output is enabled to the drive when this bit is set to 1 5 Quick stop The drive functions and power output are enabled the quick stop function is being executed or finished and the motor stopped depending from object 605Ah 0h 6 Switch on disabled AxM II initialization is complete and then is ready to accept command the power output and the drive functions are disabled 7_ Warning A warning is occurred in the device
47. the connection of the motor PTC to the correct drive terminals and the real motor temperature Group Alarm Code Alarm Type 1000 0000h User Defined Alarm SubCode Alarm Subcode Identification Description Suggested Action Error generated from the customer PLC application Depend on PLC application Set at True the parameters parPlcExeDisable value and Reset the drive If the error disappears the user will be sure that the problem is own Plc program application Note leds meaning A Fault The number inside specifics the weight of the bit error E g BaO means 0x1Bh error code A No fault E drive enable C Modbus communication is working a 1 Hz blinking led means that the AxM II drive is in alarm or in error condition 93 AxM II Configurable Motion Control Platform E AXM II DEFAULT PDO PARAMETERS Those are the default PDO communication and mapping parameters for the AxM II drive Doc 10460 0 A M ENG PDO RPDO 1 COB ID 4000 0200h node ID enabled Type 255 asynchronous COB ID BO Bl Control word 200h node ID 6040h 0h PDO RPDO 2 COB ID 4000 0300h node ID enabled Type 255 asynchronous COB ID BO Bl B2 Mode of Control word 300h node ID operation 6040h 0h 6060h 0h
48. to use variables which can be managed by an external configuration or supervision programs e g Cockpit configurator These variables must be located at defined memory addresses and linked to an index that allow them to be integrated into the system database Some variables can keep their value permanently these particular types of variables are defined application parameters Other variables are not saved in flash and they are used just for data exchange This type of variables are defined application works variable The application parameters and the application works variable can be transferred and modified by the dedicated application The AxM II firmware provides different memory zones data block for the application parameters and works definition different by type 16bit 32bit 8bit bit and write read properties r w Every time the user defines a new parameter by default it allocates a variable in the drive firmware associated variable in the memory zone dedicated to the declared parameter type All the application parameters are grouped in a database format split in different groups and accessible by the Library window and by Global Variables tab of the LogicLab environment 7 The tables resume the application parameters and works data blocks Imaged Object Img IEC addr No Imaged Object No img IEC addr Modbus IPA Modbus Type COE idx subidx COE Type usrParamint MW100 0 127 usrNolmgParamint MW140
49. value if the drive is disabled a warning is generated otherwise an Undervoltage alarm is generated 63 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parPS tage OvervoltageThreshold Overvoltage threshold Modbus IPA 27403 Modbus Data Type Signed16 CANopen COE index 3143h 0h CANopen COE Data Type Signed16 Attributes rw pdomap Unit 100 mV Default value 9500 Value range 0 to max operative limits Over Voltage threshold is the maximum dc bus voltage value that the AxM II drive can reach The user can modify the Over voltage threshold detection but it s possible only to set a value lower than the hardware AxM Il power stage If the dc bus voltage is greater than this value an alarm Overvoltage is generated A WARNING If this value is set to zero then the default hardware drive s overvoltage limit is restored This change takes effect only after the Save parameters command and Reset of the drive Object parThermalM odel B rakeResistorValue Brake resistor value Modbus IPA 28100 Modbus Data Type Unsigned16 CANopen COE_ index 3220h 0h CANopen COE Data Type Unsigned16 Attributes rw retain Unit 100 mQ Default value 0 Value range Full scale The default value matches to the AxM II drive internal resistance This value is used to calculate the brake power consumption WARNING If an external brake resisto
50. variable contains the list of tasks available on the AxM II drive and can be used during pre boot task of Plc program Its purpose is to define the input tasks configuration through the use of the constant Plc variables The input task should be generated from Plc program or from firmware drive Plc program example code 74 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG wksPlcTaskCfg ubMotorHandler cstPlcTaskCfgPlc wksPIcTaskCfg ubMotionController cstPlcTaskCfgAuto task input managed by PLC program task input managed by drive firmware wksPIcTaskCfg ubEncoderM anager cstPlcTaskCfgOff the task is switched off For more details about the AxM II task manager configuration refer to 4 and 7 11 3 Encoder Group Constants to get the encoder Endat status information Constant name Description Data Type Mask value cstEndatSelMain Endat encoder on main C1 connector Unsigned16 0001h cstEndatSelAux Endat encoder on Auxialiry E1 connector Unsigned16 0000h cstEndatE mMaskNoModule Endat encoder communication error Unsigned32 0100 0000h cstEndatE mMaskTimeout Timeout error on Endat protocol Unsigned32 8000 0000h cstEndatEmMaskCRCE ror CRC error on Endat protocol Unsigned32 4000 0000h Constants to enable the field orientation procedure Con
51. 0 127 14000 14127 Signed16 2900h 01 80h Signed16 usrParamDint MD101 0 127 usrNolmgParamDint MD141 0 127 14500 14627 Signed32 2901h 01 80h Signed32 usrParamReal MD102 0 127 usrNolmgParamReal MD142 0 127 15000 15127 Real32 2902h 01 80h Real32 usrParamBool MX103 0 127 usrNolmgParamBool MX143 0 127 15500 15627 Signed16 2903h 01 80h Signed8 usrWorksint MW120 0 127 usrNolmgWorksint MW110 0 127 16000 16127 Signed16 2908h 01 80h Signed16 usrWorksDint MD121 0 127 usrNolmgWorksDint MD111 0 127 16500 16627 Signed32 2909h 01 80h Signed32 usrWorksReal MD122 0 127 usrNolmgWorksReal MD112 0 127 17000 17127 Real32 290Ah 01 80h Real32 usrWorksB ool MX123 0 127 usrNolmgWorksB ool MX113 0 127 17500 17627 Signed16 290Bh 01 80h Signed8 usrWorksSInt MB124 0 63 usrNolmgWorksSInt MB114 0 63 17750 17813 Signed16 290Ch 01 40h Signed8 It must be observed that in most part of the system variables the compiler generates a process image of the variable themselves This means that the application task making use of the imaged system variable it doesn t operate directly on the firmware but on a copy of it Only when the performance task terminates the copy is automatically transferred on the system variable WARNING Only for expert users there are also available parameters and working variables without the image concept named usrNolmgParam and usrNolmgWorks This means that the application task uses directly the data on the
52. 0460 0 A M ENG Object parEncMInc IEC address MB405 0 LogicLab Type PAR INC Attributes rw Description Encoder main incremental traces Structure members LineCounts Description Encoder line counts per turn AnalogAlarmThreshold Analog Tracks Level Alarm Threshold IndexErrorTolerance Index Error tolerance EnableAnaloglnterp Enable incremental analog tracks interpolation DisablelndexError Disable Index Error DisableAnalogE rror Disable Analog Tracks Levels Error EnablelndexTrack Enable Index Track SwapTracks Swap input tracks A and B EnableStepDir Enable step pulse track A and direction track B mode EnableU pDown Enable up pulse track A and down pulse track B mode Object parEncAlnc IEC address MB406 0 LogicLab Type PAR INC Attributes rw Description Encoder auxiliary incremental traces Structure members LineCounts Description Encoder line counts per turn AnalogAlarmThreshold Analog Tracks Level Alarm Threshold IndexErrorTolerance Index Error tolerance EnableAnaloginterp Enable incremental analog tracks interpolation DisablelndexE rror Disable Index Error DisableAnalogE rror Disable Analog Tracks Levels Error EnablelndexTrack Enable Index Track SwapTracks Swap input tracks A and B EnableStepDir Enable step pulse track A and dir
53. 080h CAN Module SW Overrun CAN Module SW Overrun before processing the old one Check parameters configuration of the EMGY 0000 0100h CANOpen EMCY Wrong COB ID The COB ID for the EMCY message is wrong message The COB ID has to be composed by 080h node ID Baud rate mismatch CAN network without proper 0000 0800h CAN Module TX Overrun CAN Transmission Overrun terminating resistor improper CAN network cabling can cause this error A F CANOpen PDO Invalid COB ID The COB ID is not in the range The COB ID value is not valid Check parameters 0001 0000h CANOpen PDO Invalid COB ID value defined by the CiA301 specification configuration and CANOpen master configuration 0002 0000h CANOpen PDO RTR Not Valid CANOpen PDO RTR Not Valid RTR not allowed on this PDO Request for RTR command not valid Check parameters configuration 0004 0000h__ CANOpen PDO Invalid TX Type CANOpen PDO Invalid TX Type Seagal configuration and CANOpen master i A 5 Verify configured index value index value should be CANOpen PDO Invalid Map TE DO or RxP DO should be configured without any objects or the within supported range and with read access Also 0008 0000h firmware is not able to compose the configured TxPDO or RxPDO 3 f s Count corrupt TPDO configuration can cause this error in such case reload the CANOpen master configuration Due to internal handling of PDOs reduce the number of PDO or the number of objects inside them or the 0010 0000h CANOpen PDO Out Of Me
54. 1 Enabled With this flag enabled the AxM II drive answer to broadcast request 59 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parSerialBaudrate Serial baudrate Modbus IPA 18031 Modbus Data Type Unsigned32 CANopen COE_ index 5722h 0h CANopen COE Data Type Unsigned32 Attributes rw retain Unit n a Default value 38400 Value range 1200 2400 4800 9600 19200 38400 57600 115200 128000 230400 256000 460800 512000 Baudrate selection Object parSerialDataBits Serial data bits Modbus IPA 18032 Modbus Data Type Unsigned16 CANopen COE index 5723h 0h CANopen COE Data Type Unsigned16 Attributes rw retain Unit n a Default value 8 Value range 7 8 Number data bits selection Object parSerialParity Serial parity Modbus IPA 18033 Modbus Data Type Unsigned16 CANopen COE index 5724h 0h CANopen COE Data Type Unsigned16 Attributes rw retain Unit n a Default value None Value range None 0 Odd 1 Even 2 Parity selection Object parSerialStopBits Serial stop bits Modbus IPA 18034 Modbus Data Type Unsigned16 CANopen COE_ index 5725h 0h CANopen COE Data Type Unsigned16 Attributes rw retain Unit n a Default value 1 Value range 1 2 Number stop bits Object parSerialDuplex Serial duple
55. 5 Figure 7 Structite of TPDO SCOB Direna Guess E AE 58 Figure 8 Structure of Device TYP oI EI I In nn i i ENESENN 67 Figure 9 Structure of revision NUMDET 0 EEE I IE EI EE i i Eanan 68 Figure 10 Structure of COB ID Sync Message 00 i i i i i iii ererirerenes 69 Figure LI Encoder POSi ONda miinaa E Naa a i 88 Figure 12 Speed loop Main SCHEMA sisirain aA ene ENAT 96 Figure 13 Speed loop output SCHEMA 1 EE EE EE EE i i i i i Eanna 96 Figure 14 AXM II firmware diagram 00 I I I nn i ERER 97 TABLES Table 1 Structure of the statUSWOFd ssrin nn nn nn nn nn aaa 49 Table 2 Statusword operating mode specific DItS 0 nn nnn nn nn A A nn A a nn a nonlin 49 Table 3 Controlword operating mode specific DitS 0 nnn nn nn nn nn non nnn lla aloo 50 Table4 Error register reference sie assssdessisetate sanctuais ones cage gata oay dara ade daep age dae A A G 68 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG 1 INTRODUCTION The purpose of this document is to describe all AxM II drive parameters and their features divided by the different functionalities The system parameters are pre defined parameters of the drive used in every application accessible from Cockpit configurator via the file SysApp par organized in hierarchical menus can be subdivided in read write parameters PAR that could be saved in the drive read only variables VAR and working variables WKS used to control drive beh
56. 7025 27026 27028 27029 27100 27101 27102 27103 27104 27105 27106 27118 27122 27123 27124 27125 27126 27400 27401 27402 27403 27404 27407 27408 27409 27410 27411 27412 27416 27432 27433 27434 27435 27438 27439 27440 27443 27444 27464 27465 27480 27481 27482 27483 27484 27485 27490 27803 27804 27805 27806 27809 27812 27814 28100 Doc 10460 0 A M ENG 28101 28104 28105 28106 28107 28154 28166 28167 28168 28169 28170 28171 28172 28174 28179 29000 29001 29002 29003 29016 29017 29020 29021 29022 29023 29024 29025 29026 29027 29028 29029 29030 29031 29032 29033 29034 30000 30001 30002 30003 30004 30005 30006 30007 30008 30009 30010 30011 3010 30102 3020 30301 30302 30303 30306 30400 3040 30800 30801 31000 3100 31004 31005 31010 31011 31012 31013 AxM II Configurable Motion Control Platform I NAME OBJECTS SORTED INDEX cstCanBaudRatel0 000Kbps 55 cstCanBaudRate100Kbps i cstCanBaudRate10Kbps cstCanBaudRate125Kbps cstCanBaudRate20Kbps cstCanBaudRate250Kbps cstCanBaudRate500Kbps cstCanBaudRate50Kbps cstCanBaudRate800Kbps cstCanDrvBusOff cstCanDrvErrPasv cstCanDrvHwoOverrun cstCanDrvRun cstCanNode0 cstCanNodel cstCanOpenN MTCE nterP reoperat
57. 8 Attributes rw reset retain Unit Default value 0 Disabled Value range 0 Disabled 1 IdRamp 2 IdRamp with Position control Procedure type e 0 Disabled the procedure is disabled e 1 IdRamp the procedure start with a ramp applied on the direct current The ramp time and the direct current applied are both parameters At the end of the ramp the current will reach the value set on parEncEFS IldRampCurrent parameter e 2 IdRamp with Position Control the procedure starts performing position short movements in both directions with the final purpose to search the home position zero position For more details refer to 84 Id Id steady time parEncEFS IdSteadyTime Id current value parEncEFS IldRampCurrent t msec Ramp Time parEncEFS IdRampTime Figure 4 Electrical field operation IdRamp 23 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parEncEFS Flags Force Force procedure flag Modbus IPA 26303 Modbus Data Type Unsigned16 CANopen COE_ index 38F1h 0h CANopen COE Data Type Signed8 Attributes rw retain Unit n a Default value 0 Off Value range 0 Off 1 On Flag to enable the electrical field orientation procedure Object parEncEFS SpeedThreshold Speed threshold Modbus IPA 26304 Modbus Data Type Signed32 CANopen COE_ index 38F2h 0h CANopen COE Data Type Signed32 Attr
58. 8008h Simulation Failure The AxM II drive has detected an error on encoder simulation Check the auxiliary encoder connection C connector and the shield connection Group Alarm Code Alarm Type Leds Panel 0008 0000h Hall sensors Encoder Fault SubCode Alarm Subcode Identification Description Suggested Action 0000 0001h Encoder Count Loss Encoder hall sensor invalid line counts Check parameters configuration and the encoder connections E1 connector 0000 0002h Encoder invalid State For 4 Wire configurations invalid hall sensor state Check parameters configuration and the encoder connection E1 connector Group Alarm Code Alarm Type Leds Panel 0010 0000h Thermal Model Fault SubCode Alarm Subcode Identification Description Suggested Action 0000 0001h IGBT NTC Fail The power module has reached an excessive temperature Too heavy work cycle 0000 0002h Junction Overtemperature eas junction temperature reached an excessive Too heavy work cycle 0000 0004h Fan Cooler Blocked The drive reports a bad performance of the cooling system verity possis obstructions of the cooling air flux or 0000 0008h Heatsink Overtemperature The heatsink has reached an excessive temperature Too heavy work cycle Group Alarm Code Alarm Type Leds Panel 0040 0000h Sensorless SubCode Alarm Subcode Identification D
59. ANOpen Data type of the parameter Refer to Data type Encoding section Attributes Read only ro write only wo or read write rw could be limited to read only depending on the state of the drive Reset specify if the change value of the object is affected to the reset command Retain the object will be permanently stored in non volatile memory Pdomap PDO mappable specify if the object could be mapped in a PDO Unit Measure unit of the object or if affected by the factor group position velocity and acceleration Default value The value of the object has with the factory settings Value Range Value range of the parameters Each object is followed by a brief description for own features and characteristics 1 1 Data type encoding Basic data types used for accessing the object are e Signed8 8 bit signed Signed16 16 bit signed Signed32 32 bit signed Unsigned8 8 bit unsigned Unsigned16 16 bit unsigned Unsigned32 32 bit unsigned Signed64 64 bit signed Real32 IEEE 754 floating point The last part of the document deals AxM II topics the control loop schema the faults meaning and the conversion unit for position velocity and acceleration AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG 2 CORE Object parPlcE xeDisable PLC program execution Modbus IPA 13800 Modbus Data Type Unsigned16 CANopen COE_ index 5710h 0h CANopen
60. Attributes rw reatin pdomap Unit 100 m C Default value 450 Value range Full scale Temperature to turn off the bridge fan e g 45 C Object parThermalModel MotorOverTemp Motor overtemperature Modbus IPA 28106 Modbus Data Type Signed16 CANopen COE_ index 3224h 0h CANopen COE Data Type Signed16 Attributes rw retain pdomap Unit 100 m C Default value 1500 Value range Full scale Motor temperature threshold When motor temperature it s greater than this limit a Motor overtemperature alarm is generated 65 AxM Il Configurable M otion Control Platform ry Doc 10460 0 A M ENG 9 2 1 Thermal Model Monitor Object varThModelTNtc Igbt NTC temperature Modbus IPA 28154 Modbus Data Type Signed16 CANopen COE index 3200h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit 100m C Default value n a Value range Full scale Igbt temperature measured by NTC sensor placed into the lgbt power block Object varThM odelTjMax Temperature junction Modbus IPA 28166 Modbus Data Type Signed16 CANopen COE_ index 3201h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit 100m C Default value n a Value range Full scale Igbt maximum temperature junction measured by the thermal model
61. BT control of the main power bridge Reset the drive and check if the error returns If the problem persists contact the PMC Service Fault on the IGBT control of the second power bridge if Reset the drive and check if the error returns 0000 0001h Bridge 2 supported If the problem persists contact the PMC Service Group Alarm Code Alarm Type Leds Panel 0000 0020h Internal Flash Memory Failure 24280 aa SubCode Alarm Subcode Identification Description Suggested Action 0000 0001h Flash SysLog The flash sector is damaged Try to reload firmware and parameters table If the problem persists contact the PMC service 90 AxM II Configurable Motion Control Platform Group Alarm Code Alarm Type Doc 10460 0 A M ENG Leds Panel 0000 0040h Safe Torque Off STO activated S26H808a00 88 SubCode Alarm Subcode Identification Description Suggested Action The Safe torque off mechanism is activated Safe Torque Off performs a safety function such that when the Enable input is not asserted i e open circuit or set at nominally OV the drive will not develop torque in the motor Verify the presence of 24 Vdc power supply for the Safe Torque circuit Group Alarm Code Alarm Type Leds Panel 0000 0100h Overcurrent Fault SubCode Alarm Subcode Identification Description Suggested Action
62. COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On These parameter let users choose if Plc code downloaded in the drive has to be executed at start up or not Such option is to be intended as debugging purpose like having drive frozen by buggy Plc code Object parSysDriveMode Drive mode configuration Modbus IPA 22000 Modbus Data Type Unsigned16 CANopen COE_ index 5711h 0h CANopen COE Data Type Unsigned8 Attributes rw reset retain Unit n a Default value 45 Motor Controller Value range 45 Motor Controller 114 Parallel Bridge Motor Control Drive working mode The Parallel Bridge option is only available on double power bridge hardware and is useful to double power output Refer to specific user manual for more information Object varSysBootErrorCode Boot error code Modbus IPA 18098 Modbus Data Type Unsigned16 CANopen COE index 5701h 0h CANopen COE Data Type Unsigned16 Attributes ro Unit n a Default value 0000h Value range See table above System boot error code Please contact the technical support for all errors code except errors code 0003h 0005h and 0018h that should be solve individually by the user Error code Description 0001h Invalid hardware configuration 0002h Invalid flash param
63. COE Data Type Unsigned8 Attributes ro pdomap Unit n a Default value n a Value range See table above Main absolute encoder status Mask Name Description number Olh cstEncStatusRelativeValid Relative angle is valid 02h cstEncStatusElecAngleValid Electrical angle is valid 04h cstEncStatusFatalFaultValid Fatal fault during the calculations position Non fatal fault status Combine status from both encoders absolute and relative status if one is 08h cstEncStatusNonFatalFaultValid faulty but electronic angle is valid and relative angle is valid then result in non fatal fault as there s at least one valid feedback 10h cstEncStatusAbsoluteValid Absolute mechanical turn is valid 20h cstEncStatusAbsoluteWaiting Waiting status during the calculations of absolute mechanical position for incremental encoder 28 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object n a Main Absolute Encoder Position Modbus IPA Modbus Data Type CANopen COE index 3A16 0h CANopen COE Data Type Signed64 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale Main absolute encoder position on 64 bit range calculated every 125 usec Object n a Main Absolute Encoder Position Offset Modbus IPA Modbus Data Type CANopen COE index 3A17 0h CANopen CO
64. COE_ index 1010 1h CANopen COE Data Type Unsigned32 Attributes rw Unit n a Default value n a Value range n a This command let the drive store all parameters that have the attribute NV storage In order to avoid storage of parameters by mistake storage is only executed when a specific signature is written to the appropriate sub Index The signature is the string save or the 32 bit number 6576 6173h On read the drive provides information about its storage functionality in this case storage is executed only on command not autonomously Object wksSysRestoreParameters Store Parameters Modbus IPA LogicLab Data Type Unsigned16 CANopen COE_ index 1011 0h CANopen COE Data Type Unsigned32 Attributes ro Unit n a Default value n a Value range n a With this object the default values of parameters according to the communication or device profile are restored Sub index Oh Large sub index supported Modbus IPA Modbus Data Type CANopen COE index 1011 0h CANopen COE Data Type Unsigned8 Attributes ro Unit n a Default value n a Value range n a The large sub index supported for this object in this case 1 Sub index 1h Restore all defaults Modbus IPA Modbus Data Type CANopen COE index 1011 1h CANopen COE Data Type Unsigned32 Attributes rw Unit n a Default value n a Value range n a T
65. Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On Flag to disable the reading datas from the electronic plate only for Endat encoders During the start up procedure if the electronic plate is available the firmware reads the electronic plate values and overwrites the user parameters parMotorData The user has the possibility to change them later At following start up if the firmware finds the same electronic plate does not overwrite the parMotorData but it find another electronic plate means that the user has changed the motor and then the parMotorData are overwritten With the below parameter RestoreEPlate user could force reset rewriting parMotorData with the right electronic plate in case of wrong parameters are written Object parEncMgr Flags RestoreE Plate Restore Endat Plate Modbus IPA 26102 Modbus Data Type Unsigned16 CANopen COE_ index 380Ch 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On Flag to restore the data from electronic plate only for Endat encoders This operation permitts to the firmware to restore the data values available on the electronic plate 12 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parMotorData PhaseOffset Phasing value correction Modbus IPA 27812 M
66. Description Data Type Mask Value cstPStageOptDisableB rakeDrive Disable Brake resistor Unsigned16 0001h cstPStageOptBackEMFDataEnable Enable BEMF calculation Unsigned16 0002h cstPStageOptBackEMFATanEnable Calculate Motor BackEMF Unsigned16 0003h In this case the variable points to the same data structure of the Torque Loop Group Object parPStage IEC address MB21 0 LogicLab Type PAR MOTHLR Attributes rw Description Torque loop and power stage control parameters Structure members VBrakeLow Description Dc bus voltage brake low threshold VBrakeHigh Dc bus voltage brake high threshold UnderVoltageThreshold Dc bus Under Voltage threshold OverVoltageThreshold Dc bus Over Voltage threshold OverCurrentThreshold Dc bus Over Current thrsehold LoopKi Modulator Ki ILoopKp Modulator Kp Dummy0 Dummy parameter IqLimit Quadrature current limits IdLimit Direct current limits Dummy1 Dummy parameter Bridgelayout Bridge Layout Assignment The power stage features can be controlled through Plc program Object plcPStagePowerE nable Modbus IPA LogicLab Data Type Unsigned16 CANopen COE index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True Parameter to enable the AxM II power section the power is applied to the motor 0 False disable the AxM II power section 1 True enable the AxM II power section Object plcPStageR eferenceE nable Modbus IPA LogicLab Dat
67. E Data Type Signed64 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale Offset value for absolute position on 64 bit range This is the offset from the relative position in mechanical turns unit in order to calculate the absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 4 1 14 Monitor gt Relative Variables related to the relative position of the Main Encoder In principle incremental encoders transmit relative position values counter starts from zero at switch on These parameters are available if both absolute and relative main encoder type are selected otherwise these values are set to zero Object var ncRelMechHi Relative mechanical tums Modbus IPA 26410 Modbus Data Type Signed32 CANopen COE index 3A20h 2h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the relative mechanical position in turns unit The relative mechanical turns is the 32 MSB bit of 64 bit main encoder relative position value Object varE ncRelMechLo Relative mechanical angle Modbus IPA 26411 Modbus Data Type Unsigned32 CANopen COE_ index 3A20h 1h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit Position factor unit De
68. EncStatusElecAngleValid Electrical angle is valid 04h cstEncStatusFatalFaultValid Fatal fault during the calculations position Non fatal fault status Combine status from both encoders absolute and relative status if one is 08h cstEncStatusNonFatalFaultValid faulty but electronic angle is valid and relative angle is valid then result in non fatal fault as there s at least one valid feedback 10h cstEncStatusAbsoluteValid Absolute mechanical turn is valid 43 Waiting status during the calculations of absolute 20n cstEncStatusAbsoluteWaiting meeer Sen incremental encoder Object n a Main Encoder Position Modbus IPA Modbus Data Type CANopen COE index 3A06 0h CANopen COE Data Type Signed64 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale Main encoder position on 64 bit range calculated every 125 usec Object n a Main Encoder Position Offset Modbus IPA Modbus Data Type CANopen COE index 3A07 0h CANopen COE Data Type Signed64 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale Offset value for absolute position on 64 bit range 26 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG This is the offset from the relative position in mechanical turns unit in order to calculate the absolute position if apply depen
69. Inc IndexErrorTolerance parEncMInc LineCounts parEncSiminc parEncSiminc IndexLineCounts parEncSiminc IndexOffset parEncSimInc MaxPosErrTolerance parlLoop parlLoop IdLimitM ax parlLoop IdLimitMin parlLoop LoopKi parlLoop LoopKp parlLoop IqLimitM ax parlLoop IqLimitMin parM otorData parM otorData CurrentP eak 99 Doc 10460 0 A M ENG parM otorData DirectInductance 00 parM otorData Inductance parMotorData KT parM otorData P haseOffset parM otorData PoleN umbers parM otorData Resistance parM otorData S peedNominal parPlcExeDisable parP ositioner parPositioner EndVelocity parPositioner P ositionE rrorM ax parPositioner ProfileAcc parP ositioner P rofileDec parP ositioner P rofileVel parPositioner QuickStopDec parPositioner ZeroS peedThreshold parP Stage parP Stage BridgeLayout parP Stage OverCurrentThreshold parP Stage OvervoltageThreshold parP Stage UndervoltageThreshold parP Stage VBrakeHigh parP Stage VBrakeLow parP StageEx SoftStart parSerialAnswerToB Cast parSerialBaudrate parSerialDataBits parSerialDuplex parSerialEndDelay parSerialP arity parSerialRxToTxDelay parSerialSlaveAddress parSerialStopBits parSerialZeroB aseAddres parSSCntriLp AccGainShift parSSCntriLp AccKpFbk parSSCntriLp AccKpRef parSSCntriLp F
70. Lab Data Type Unsigned8 CANopen COE index CANopen COE Data Type Attributes rw Unit n a Default value n a Value range Full scale Simulated encoder information status each bit has different meaning as below Mask Name Description number Olh cstEncStatusRelativeValid Relative angle is valid 02h cstEncStatusElecAngleValid Electrical angle is valid 04h cstEncStatusFatalFaultValid Fatal fault during the calculations position Non fatal fault status Combine status from both encoders absolute and relative status if one is 08h cstEncStatusNonFatalFaultValid faulty but electronic angle is valid and relative angle is valid then result in non fatal fault as there s at least one valid feedback 10h cstEncStatusAbsoluteValid Absolute mechanical turn is valid a Waiting status during the calculations of absolute 20h cstEncStatusAbsoluteWaiting pha adition tor incremental encoder 11 4 Torque Loop Group This data structure is referred to the torque loop configuration Object parlLoop IEC address MB21 0 LogicLab Type PAR MOTHLR Attributes w Description Torque loop and power stage control parameters Structure members VBrakeLow Description Dc bus voltage brake low threshold VBrakeH igh Dc bus voltage brake high threshold UnderVoltageThreshold Dc bus Under Voltage threshold OverVoltageThreshold Dc bus Over V
71. M II Configurable Motion Control Platform Doc 10460 0 A M ENG The simulated encoder feature is usually used with speed or current analog references using 10 V interface With encoder Simulation property the current actual position of the motor controlled by the AxM II can be read by a higher level control system The voltage level is a standard TTL signal Object parEncSiminc IndexOffset Simulated encoder Index offset Modbus IPA 26147 Modbus Data Type Unsigned32 CANopen COE_ index 3929h 0h CANopen COE Data Type Unsigned32 Attributes rw reset retain Unit counts Default value 0 Value range 0 to 65536 The variable index offset holds the desired rate for the index pulse Object parEncSiminc MaxPosE nTolerance Simulated encoder Pos Tolerance Modbus IPA 26148 Modbus Data Type Unsigned16 CANopen COE_ index 392Ah 0h CANopen COE Data Type Unsigned16 Attributes rw retain Unit Position conversion factor Default value 0 Value range Full scale This parameter means a maximum tolerance of error between the main position calculated and the position simulated by the drive When the difference between main encoder position and the calculated encoder simulation position is greater then maximun position error tolerance a Simulation Invalid Count alarm is generated 4 2 4 Monitor Variables related to the position of the Auxiliary Encoder
72. NG Group Alarm Code Alarm Type Leds Panel 0100 0000h CANOpen Fieldbus Fault SubCode Alarm Subcode Identification Description Suggested Action CAN fieldbus physical layer error Check parameters configuration hardware connections CANOpen master configuration and messages overrun ID identification is already exists 0000 0001h CAN Module HW Overrun CAN module hardware overrun Reduce network load for the slave 0000 0002h CAN Module Passive Mode CAN controller entered error in passive mode Noisy nes Cnvironment gr ineonect bus ermination refer to 4 0000 0004h CAN Module BusOff Recover from CAN controller bus off Extremely noisy network environment There are two types of errors control protocol Node Guarding i 0000 0008h piensa Eror Control Protocol Protocol and Heartbeat protocol Either mechanisms control has Laaer oll aga configuration and CANOpen master generated a fault g The time slot assigned to the synchronous PDOs is CANOpen Error Control Protocol i not enough to process all user defined PDOs reduce 0000 0010h Timeout SYNC PDO processing overtime he number of PDO or the number of objects inside them The length of RPDO does not match with the 0000 0020h CANOpen RX PDO Length Error RxPDO length error internally calculated length refer to 1 The node has received a new instance of one RPDO 0000 0
73. PDO RPDO 3 COB ID 4000 0400h node ID enabled Type 255 asynchronous COB ID BO Bl B2 B3 B4 B5 Controlword Target position ene 6040h 0h 607Ah 0h PDO RPDO 4 COB ID 4000 0500h node ID enabled Type 255 asynchronous COB ID BO Bl B2 B3 B4 B5 Controlword Target velocity oubheooded 6040h 0h 60FFh Oh PDO RPDO 5 COB ID C000 0000h disabled Type 255 asynchronous PDO RPDO 6 COB ID C000 0000h disabled Type 255 asynchronous PDO RPDO 7 COB ID C000 0000h disabled Type 255 asynchronous PDO RPDO 8 COB ID C000 0000h disabled Type 255 asynchronous RPDO from 5 to 8 have no default mapping parameters PDO TPDO 1 COB ID 4000 0180h node ID enabled Type 255 asynchronous Inhibit Time 0 COB ID BO Bl Statusword 180h node ID 6041h 0h 94 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG PDO TPDO 2 COB ID 4000 0280h node ID enabled Type 0 synchronous acyclic Inhibit Time 0 COB ID BO Bl B2 Mode of 280h node ID Panis op display 6061h 0h PDO TPDO 3 COB ID 4000 0380h node ID enabled Type 0 synchronous acyclic Inhibit Time 0 COB ID BO Bl B2 B3 B4 B5 Statusword Position actual value ote 6041h 0h 6064h 0h PDO TPDO 4 COB ID 4000 0480h node ID enabled Type 0 synch
74. Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale Minimum allowed direct current calculated by the thermal model Object varThModelTMotor Motor Temperature Modbus IPA 28174 Modbus Data Type Real32 CANopen COE_ index 3209h 0h CANopen COE Data Type Real32 Attributes ro pdomap Unit C Default value n a Value range Full scale Motor temperature actual value When this value is greater than motor over temperature limit parThermalModel MotorOverTemp a Motor overtemperature alarm is generated A 10 ADDITIONAL PARAMETERS WARNING This parameter can be used only with motor equipped by NTC and KTY sensor type In case of PTC sensor this value doesn t have a reliable value The following objects are not present in the menu selection of the Cockpit configurator but could be used by the user They are collected in CANOpen dictionary and are accessible through CANOpen SDO protocol Moreover some of these objects are also connected to the window Target Information activated by the menu Service of the Cockpit configurator 10 1 CANOpen additional parameters Object n a Identity Device type Modbus IPA Modbus Data Type CANopen COE index 1000h 0h CANopen COE Data Type Unsigned32 Attributes ro Unit n a Default value 0002 0192h Value range n a Describes the type of device and its functionality It is composed of a 16 bit
75. Slow down with slow down ramp and stay in quick stop cstDevCtriOptCodeSlowDownAndS tay 0006h Slow down with quick stop ramp and stay in quick stop cstDevCtriOptCodeQuickStopAndStay Object parDevCtri ShutdownOptCode Shutdown Option code Modbus IPA 29021 Modbus Data Type Signed16 CANopen COE index 605Bh 0h CANopen COE Data Type Signed16 Attributes rw retain Unit n a Default value 0000h Value range See above table This parameter determines what action should be taken if there is a transition from Operation enable to Ready to switch on transition 8 The action could be one of the following Option code Description Name mask 0000h Disable drive function cstDevCtriOptCodePowerOff 0001h Slow down with slow down ramp disable of the drive function cstDevCtriOptCodeSlowDown Object parDevCtrl DisableOptCode Disable Option Code Modbus IPA 29022 Modbus Data Type Signed16 CANopen COE_ index 605Ch 0h CANopen COE Data Type Signed16 Attributes rw retain Unit n a Default value 0001h Value range See above table This parameter determines what action should be taken if there is a transition from Operation enable to Switched on transition 5 The action could be one of the following Option code Description Name mask 0000h Disable drive function cstDevCtriOptCodePowerOff 0001h Slow down with slow down ramp disab
76. SteadyTime Id Steady Time Modbus IPA 26309 Modbus Data Type Unsigned16 CANopen COE_ index 38FAh 0h CANopen COE Data Type Unsigned16 Attributes rw retain pdomap Unit msec Default value 0 Value range Full scale This parameter indicates the time to keep direct current steady after ramp procedure phase 24 AXM II Configurable Motion Control Platform 4 1 12 Monitor Variables related to the position of the Main Encoder Doc 10460 0 A M ENG Object varE ncMainMechHi Feedback tums Modbus IPA 26010 Modbus Data Type Signed32 CANopen COE_ index 3A00h 2h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the relative position value in mechanical turns units The feedback turns is the MSB 32 bit of 64 bit main encoder position value For more details about the format position refer to the appendix Encoder position format or to the manual 4 Object var ncMainMechLo Feedback angle Modbus IPA 26011 Modbus Data Type Unsigned32 CANopen COE_ index 3A00h 1h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the relative position value in mechanical angle unit The feedback angle is the LSB 32 bit of 64 bit main encoder position value For more details a
77. Timeout Following error timeout TargetP osWindowLo Target Postion 32 LSB TargetP osWindowH i Target Position 32 MSB TargetP osTimeout Target Position Timeout VelocityWindow Velocity Window VelocityTimeout Velocity Timeout VelocityThresholdWindow Velocity Threshold Window VelocityThresholdTimeout Velocity Threshold Timeout IPTimeUnits Interpolated Mode Time Units IPTimelndex Interpolated Mode Time Index The CiA402 finite state machine and the position target should be realized through Plc program application Object plcDevCtriControlWord Modbus IPA LogicLab Data Type Unsigned16 CANopen COE index CANopen COE Data Type Attributes rw Unit n a Default value n a Value range n a This variable contains the bits for controlling the state machine and the specific operating mode For more details about Control word refer to 1 or to 3 or to wksControlWord variables 84 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object plcDevCtriTargetPosLo Modbus IPA LogicLab Data Type Unsigned32 CANopen COE index CANopen COE Data Type Attributes rw Unit Position factor unit Default value n a Value range n a User target position in mechanical angle The target position is the position that the drive should move to i
78. Unit Position factor unit Default value n a Value range Full scale Reference position into mechanical angle unit Represents the 32 LSB bit position input of the speed position loop as computed by the Plc program For more details about the format position refer to the manual 4 Object plcPosR GTargetPosHi Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit Position factor unit Default value n a Value range Full scale Reference position into mechanical turns unit Represents the 32 MSB bit position input of the speed position loop as computed by the Plc program For more details about the format position refer to the manual 4 Object plcPosRGTargetS peed Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit Velocity factor unit Default value n a Value range Full scale It corresponds to the target velocity computed by the Plc program 83 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object plcPosRGQuickStopDec Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit Acceleration factor unit Default value n a Value range Full scale The quick stop deceleration is the deceleratio
79. a Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True Parameter to enable the reference of the AxM II the drive function is enabled 0 False disable the reference 1 True enable the reference Object plcPStageDisableB rakeDrive Modbus IPA LogicLab Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True Parameter to define if the break resistor is handling or not by the firmware 0 False disable the break resistor handling 1 True enable the break resistor handling This is possible only on event Power Enabled occurred 80 AxM II Configurable Motion Control Platform 11 6 Space Speed Control Loop Group This data structure is referred to the space speed control loop configuration Doc 10460 0 A M ENG Object parSSCntrLp IEC address MB31 0 LogicLab Type PAR_SSCNTRLP Attributes rw Description Space speed control loop Structure members UseDifferentk p Description Use different speed proportional gain PosKp Position proportional gain SpdKpRef Speed proportional gain reference value SpdKpFbk Speed proportional gain feedback avlue AccK pRef Acceleration proportional gain reference value AccK pFbk Acceleration proportional gain fe
80. arEncBEmf AGlitchSpd parEncBEmf BackOnTheFlySpd parEncBEmf DisableAlarmM ask parEncBEmf Flags DynamicldLimit parEncBEmf Flags DynamiclqLimit parEncBEmf Flags EnabledAGlitchFilt parEncBEmf Flags EnabledDeltaAngle parEncBEmf Flags OpenLoopOnly parEncBEmf dOpenLoop parEncBEmf KtRefreshP eriod parEncBEmf SensorlessSpd parEncBEmf Threshold0Spd parEncBEmf Threshold1Spd parEncEFS ElecAngleF eed parEncEFS Flags Force parEncEFS ldRampCurrent parEncEFS ldRampTime parEncEFS IdSteadyTime parEncEFS ProcedureType parEncEFS SpeedThreshold parEncHall parEncHall Flags Enable4Wire parEncHall PoleCounts parEncMEn parEncMEndat ClockFreq parEncM Endat MTurnStart parEncMgr AuxSelection parEncMgr Flags CntriLoopAccel Main parEncMgr Flags CntrlLoopElecAngleM ain parEncMgr Flags CntrlLoopPosMain parEncMgr Flags CntrlLoopS peedMain parEncMgr Flags DisableEPlate parEncMgr Flags DisablelfRelFail parEncMgr Flags RestoreE Plate parEncMgr MainAbselection parEncMgr MainRelSelection parEncMgr MaxAbsRelDiff parEncM gr PowerStartU pDelay parEncMgr PowerVoltage PAarENCMINC eee parEncMInc AnalogAlarmThreshold parEncMInc Flags DisableAnalogError parEncMInc Flags DisablelndexError parEncMInc Flags EnableAnalogl nterp parEncMInc Flags EnableStepDir parEncMInc Flags EnableU pDown parEncMInc Flags SwapTracks parEncMInc FlagsEnablelndexTrack parEncM
81. auassdeinenlisinneant 23 AL MONTON amarrian a A A AA E A A AARAA 25 AT Monitor SAS OUTS ecient einacainietsrecsintiewis iraa a A ai a A NEE OAA 27 Arleta Monitor gt Relatie is actactaaauidstanis ha nerartraneannactacacrtaateheniambuanes EE EE naeamnnhonsmnstooteke 29 4 2 Encoder AUA sooren re EEEE ETS 31 APA EMG A crataniaRedasuciaaasncandaisnameaimunaeaiaasneddnea E E 3l AP 2 Ema MOn O enaa Ea 32 4 2 3 imeremental Maces iniaiaiai iii aE E ia E EAA 32 A2 A MONIWOT cteceauisscaiiarcinsatractaistcaamaniahanias mane aesideadanamasnonteataeamacaneannseamannenauam ented 34 4 3 Encoder MOM UOlnsesransccsauicansarateatangstacenatasunuaenstenansaamateetetanut ea tesesenetananinieatesteaas 36 9 Morgue Loop sea E a 38 Sel Torgue Loop MOMEON sirsssoeimsnisesnosnanin anena a E E eA ONTA 40 6 Speed Position LOOp reese ceca cscs ces eee ees cde eee 43 6 1 Space Speed Control LOOP sirsenis eaaa 43 6 2 POSiGl OMelrchiszissamnsncaaahnssacusednsctshianabancoonedn menccsaaedtedacoieataounaamaeatonaneamancaaanssheamannccas 45 6 3 MIOMIMOR cats ccnsacoisca cass E A A NEEE N E AE ANAE A P A EE E E 46 Fe D vic Controlan anaiena adane aranira a aA aaa Aa enia Odana erdi 47 TA Profite POSION cnni irecae tronene Dois uaea AR TAEA hedmsonrbateaantagemanncinnmnbant bamecmnaiaainnent 50 72 Profile VelOCIY sisiraan AEE suena EE AEREE 52 7 3 Interpolation MOG Ch omenia ceatmovaatacas Sateen upieiaue a T a O 53 8 FieldDUS icnn a a airaa 54 8 1 Fieldbus CANOPE ieussi nen
82. aviour It s possible to modify the read write parameters and then save them into the drive Cockpit configurator informs when the modifications to some system parameters need a system reset to became active Generally the parameters are structured in hierarchic sub groups that collect all parameters related to different firmware functionalities The sub groups are divided in logic blocks there are some principal sections that collect the more commonly used parameters The default values set by the manufacturer are appropriate in most cases for particular applications it could be necessary to tune the parameters in order to optimize the drive performances The user must be aware that the changes introduced assume a very deep knowledge of the drive firmware and functional control blocks implementation In several sections there is a Monitor sub group that include all diagnostic parameters in order to allow the monitoring the AxM II drive variables The complete AxM II dictionary objects are listed here below For each object there is a set of attributes as follow Object Mnemonic name used for parameter identification and for parameter access in the PLC user applications Modbus IPA Parameter index as defined by the Modbus protocol Modbus Data Type Data type of the parameter Refer to Data type Encoding section CANOpen COE Index This is the object index and sub index of the parameter CANOpen COE Data type C
83. bit give the angular position in one turn giving the relations shown in the conversion factor group unit 4 MSB LSB Position Turn MSB 32 bit Angular position LSB 32 bit Figure 11 Encoder Position Position Turn Signed total number of mechanical turns Angular position The position angle calculated over one turn where 2 means 360 mechanical degrees When the position reach upper or lower boundary the AxM II drive automatically wrap the position to the opposite boundary The position error is calculated as 64 bit difference from the reference and feedback positions then drive chooses fastest direction to reach the target position The speed is calculated as difference between two consecutive reading of the position encoder 125 us and then filtering to improve the quality of the speed loop The acceleration is simply computed as difference of the speed still every 125 us B PHYSICAL UNITS VS INTERNAL DEVICE UNITS CONVERSION Current I d u 1 0 104 I Arms Arms 1 0 10 I du Position e d u 1 193 107 6 6 8 382 108 Odu Velocity old u 8 544 10 rad of A0Z 1 170 10 ofdu Acceleration oldu 4 374 104 afad af ad 2 285 10 du Electrical Angle d u 1 820 10 5 49 10 du 88 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG C PLC MAPPING APPLICATION PARAMETERS Inside a Plc program it is possible
84. bout the format position refer to the appendix Encoder position format or to the manual 4 Object varE ncMainMechAbsPosOffsetHi Absolute position offset tums Modbus IPA 26012 Modbus Data Type Signed32 CANopen COE_ index 3A01h 2h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the offset from the relative position in mechanical turns unit in order to calculate the absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 Object var ncMainMechAbsPosOffsetLo Absolute position offset angle Modbus IPA 26013 Modbus Data Type Unsigned32 CANopen COE_ index 3A01h 1h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the offset from the relative position in mechanical angle unit in order to calculate the absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 Object var ncMainMechSpeed Mechanical Speed Modbus IPA 26014 Modbus Data Type Signed32 CANopen COE_ index 3A02h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Velocity factor unit Default value n a Value range Full s
85. butes rw Unit Position factor unit Default value 0 Value range Full scale Electrical angle Object piciLooplqLimMax Iq Lim Max Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit 0 1 mA Default value n a Value range Full scale Applied upper limit for the quadrature current Object plciLooplqLimMin Iq Lim Min Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit 0 1 mA Default value n a Value range Full scale Applied lower limit for the quadrature current Object plciLoopldLimMax Id Lim Max Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit 0 1 mA Default value n a Value range Full scale Applied upper limit for the direct current Object plciLoopldLimMin Id Lim Min Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit 0 1 mA Default value n a Value range Full scale Applied lower limit for the direct current AxM II Configurable Motion Control Platform 11 5 Power Stage Group Constants to set the power stage configuration Doc 10460 0 A M ENG Constant name
86. cAngle Modbus IPA LogicLab Data Type Unsigned16 CANopen COE index CANopen COE Data Type Attributes rw Unit Position factor unit Default value n a Value range Full scale This is the simulated electrical position of the motor Object plcEncSimSetMechAbsPosOffsetLo Modbus IPA LogicLab Data Type Unsigned32 CANopen COE index CANopen COE Data Type Attributes rw Unit Position factor unit Default value n a Value range Full scale This is the offset from the simulated encoder relative position in mechanical turns unit in order to calculate the simulated encoder absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 Object plcEncSimSetMechAbsPosOffsetHi Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit Position factor unit Default value n a Value range Full scale 77 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG This is the offset from the simulated encoder relative position in mechanical angle unit in order to calculate the simulated encoder absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 Object plcEncSimSetS tatus Modbus IPA Logic
87. cale This is the feedback of mechanical speed The speed is calculated as difference between two consecutive readings of the position encoder 125 us 25 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object var ncMainMechAccel Mechanical Acceleration Modbus IPA 26015 Modbus Data Type Signed32 CANopen COE_ index 3A03h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Acceleration factor unit Default value n a Value range Full scale This is the feedback mechanical acceleration The acceleration is simply computed as difference of the speed every 125us Object varE ncMainElecAngle Electrical angle Modbus IPA 26016 Modbus Data Type Unsigned16 CANopen COE_ index 3A04h 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the feedback electrical position of the motor Object varE ncMainStatus Main Encoder Status Modbus IPA Modbus Data Type CANopen COE index 3A05 0h CANopen COE Data Type Unsigned8 Attributes ro pdomap Unit n a Default value n a Value range See table above Main encoder status each bit has different meaning as below Mask Name soa Description number Olh cstEncStatusRelativeValid Relative angle is valid 02h cst
88. cated in the Abort Connection object 6007h 0h is issued The error is cleared either restarting polling slave or by a reset node reset communication command The value zero disables the guard time features AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parCANOpen HeartbeatTime Hearbeat Time Modbus IPA 30007 Modbus Data Type Unsigned16 CANopen COE index 1017h 0h CANopen COE Data Type Unsigned16 Attributes rw retain Unit msec Default value 0 Value range 4 to 32000 Producer Heartbeat time With node monitoring according to the heartbeat principle a node automatically transmits its communication state at regular intervals as evidence of its communication ability The interval between two heartbeat messages heartbeat interval of a heartbeat producer is configured via this object The value shall be given in multiples of 1 ms The value zero shall disable the producer heartbeat Object parCANOpen LifeTimeFactor Life Time Factor Modbus IPA 30008 Modbus Data Type Unsigned16 CANopen COE_ index 100Dh 0h CANopen COE Data Type Unsigned8 Attributes rw retain Unit n a Default value 0 Value range Full scale Life time factor multiplied with the guard time gives the life time for the Node Guarding Protocol Set it to zero if not used Object parCANOpen CommCyclePeriod Communica
89. ced to the device to which it is attached generally using an index pulse The distinguishing feature of the incremental encoder is that it reports an incremental change in position of the encoder to the counting electronics A variation on the Incremental encoder is the Sinewave Encoder instead of producing two quadrature square waves the outputs are quadrature sine waves a Sine and a Cosine Other model of relative encoder is the sensorless control algorithm Advanced sensorless algorithms use the back EMF generated in the stator winding to determine the rotor position For more details on sensorless algorithm refer to section 4 2 7 Sensorless Object parEncMgr MaxAbsRelDiff Difference between positions Modbus IPA 26100 Modbus Data Type Unsigned16 CANopen COE_ index 380Ah 0h CANopen COE Data Type Unsigned16 Attributes rw retain pdomap Unit Position factor unit Default value 0 Value range 0 to 32768 Max absolute difference admitted between calculated absolute position and incremental position for redundancy control If differences goes above this threshold then drive generate fault status with Main Encoder Abs Rel Track Check Failure alarm If the value is set to zero the checking control is disabled Object parEncMgr Flags DisableE Plate Disable Endat Plate Modbus IPA 26101 Modbus Data Type Unsigned16 CANopen COE_ index 380Bh 0h CANopen COE
90. coder Cos channel Object varE ncAnChannelLevel Analog channel level Modbus IPA 26058 Modbus Data Type Unsigned32 CANopen COE index 384Ah 0h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit Internal device unit d u Default value n a Value range Full scale Calculated level of sin cos 4 1 5 Hall sensor Traces Parameters to set up the feedback system based on Hall effect switches Rotor position sensors are directly mounted on the motor stator and detect the rotor magnetic field generating a voltage signal proportional to the field intensity The voltage signal from the Hall sensors has a periodicity in a mechanical rotation that depends on the number of pole pairs and so the mechanical resolution of the single sensor improves with the number of polar pairs while the electric resolution does not vary The three Hall sensors are separated by 120 phase angles and triggered by the rotor magnet They produce a switching pattern depicted with a new digital state every 60 Object parEncHall PoleCounts Encoder poles number Modbus IPA 26042 Modbus Data Type Unsigned16 CANopen COE_ index 3870h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit Default value 2 Value range 2 to full scale only even number 15 AxM II Configurable Motion Control Platform Encoder poles number for revolution setting If this value is set to zero the
91. coder status Doc 10460 0 A M ENG Object var ncMEndatCrcErrors CRC errors counter Modbus IPA 26021 Modbus Data Type Unsigned16 CANopen COE_ index 3818h 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit Default value n a Value range n a Endat protocol checksum value errors counter could be used as electrical connection diagnostic checking Object varE ncMEndatPropDelay Propagation delay Modbus IPA 26022 Modbus Data Type Unsigned16 CANopen COE_ index 3819h 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit nsec Default value n a Value range n a Data propagation delay the value is calculated during Endat initialization procedure For more information refer to manual Endat VERSION 2 2 Bidirectional Synchronous Serial Interface for Position Encoders from Heidenhain Gmbh 4 1 3 Absolute Analogue Traces These parameters are referred to main type of absolute encoder analogue sin cos encoder or resolver type Resolvers are absolute analog rotary encoders which are ideal for harsh environments Unlike the conventional optical rotary encoder with temperature limiting internal optoelectronics the resolver is similar to a transformer in construction passive and does not incorporate any electronics Parameters to set up the encoder absolute analogues features
92. control loop is caught or from the main encoder or from the auxiliary encoder Object parEncMgr Flags CntriLoopAccelMain Feedback acceleration for the control loop Modbus IPA 26005 Modbus Data Type Unsigned16 CANopen COE_ index 3805h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit Default value 1 Main Value range 0 Aux 1 Main The acceleration feedback to the control loop is caught from the main encoder or from the auxiliary encoder Object parEncMgr Flags CntriLoopElecAngleMain Feedback Electrical Angle for the control loop Modbus IPA 26006 Modbus Data Type Unsigned16 CANopen COE_ index 3806h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit Default value 1 Main Value range 0 Aux 1 Main The motor electrical angle used by current control loops is caught from the main encoder or from the auxiliary encoder 4 1 Encoder gt Main Parameters to handle the Main Encoder features Object parEncMgr PowerVoltage Encoder Supply Voltage Modbus IPA 26000 Modbus Data Type Unsigned16 CANopen COE index 3800h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit 12 5mV Default value 416 5 2V Value range 0 to 1024 0V to 8V Encoder supply voltage e for Endat should be set according to the encoder requested voltage usually 5 2V e for Si
93. d Object parEncBEmf AGlitchSpd Anti glitch filter Modbus IPA 26073 Modbus Data Type Unsigned16 CANopen COE_ index 3857h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit 0 0001 Default value 250 Value range 0 100 0 10000 Threshold to activate an anti glitch filter The filter is applied to the angle value calculated with the sensorless algorithm The filter is useful to decrease the incidental noise from the reading system Object parEncBEmf AGlitchFaultLimit Anti glitch fault limit Modbus IPA 26074 Modbus Data Type Unsigned16 CANopen COE_ index 3858h 0h CANopen COE Data Type Unsigned16 Attributes rw retain pdomap Unit n a Default value 0 Value range Full scale Maximum sampling number at 125 usec with anti glitch filter active When the actual counter of the anti glitch filter is over this threshold otherwise a Sensorless alarm is generated antiglitch filter always active If this parameter is zero the error checking control is disabled Object parEncBEmf Flags E nabledAGlitchFilt Use anti glitch filter Modbus IPA 26075 Modbus Data Type Unsigned16 CANopen COE_ index 3859h 0h CANopen COE Data Type Signed8 Attributes rw retain Unit n a Default value 1 On Value range 0 Off 1 On Parameter to enable the use of anti glitch filter during the sensorless algorithm Object parE
94. d The task execution time is intend as the sum of cycle time machine and the Plc code time that must not exceed an average of 110usec with allowed peak of 124usec for a maximum of 4 consecutive time This parameters should help user to avoid the overtime error writing its own Plc code Object varS ysWrongParCode Wrong code parameter Modbus IPA 19005 Modbus Data Type Unsigned16 CANopen COE_ index 5703h h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit n a Default value 0 no error detected Value range n a This parameter show the wrong IPA value parameter code that has a wrong configuration value Special error codes only 3 number codes are shown in table below Option code Description 1545 Invalid sensorless back on the fly functionality Refer to parameters parEncBEmf BackOnTheFlySpd and parEncBEmf SensoressSpd 1546 Invalid estimated sensorless speed constant Refer to variable varEncB E mfSpeedK Conversion 1700 Invalid cooling threshold Refer to parameters parThermalModel CoolingTempOn and parThermalModel CoolingTempOff Object varS ysAvgRTExecTime Average task real time Modbus IPA 19006 Modbus Data Type Unsigned16 CANopen COE_ index 570Ah 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit 100 nsec Default value n a Value range Full scale Average real time task executio
95. ding from the encoder configuration For more details about the format position refer to the manual 4 Object varE ncMainDeltaElecAngle Angle phase offset Modbus IPA 26307 Modbus Data Type Unsigned16 CANopen COE_ index 38F8h 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale Calculated electrical angle phase offset This is the result of electrical field orientation procedure At the end of the procedure the user have to copy this parameter into parMotorData PhaseOffset then Save parameters command and Reset of the drive are necessary 4 1 13 Monitor gt Absolute Variables related to the absolute position of the Main Encoder The absolute position is the position of the encoder within one revolution These parameters are available if both absolute and relative main encoder type are selected otherwise these values are set to zero Object varE ncAbsMechHi Feedback tums Modbus IPA 26400 Modbus Data Type Signed32 CANopen COE_ index 3A10h 2h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the absolute mechanical position in mechanical turns unit The feedback turns is the MSB 32 bit of 64 bit main encoder absolute position value Obj
96. e Full scale Position loop proportional gain value This gain is applied to the position error i e the difference between the position reference and the position feedback In velocity profile mode it s the integral gain of the speed control loop Object parSSCntriLp SpdK pRef Speed kp reference value Modbus IPA 27002 Modbus Data Type Signed16 CANopen COE_ index 3302h 0h CANopen COE Data Type Signed16 Attributes rw retain pdomap Unit n a Default value 0 Value range Full scale Proportional gain value applied to the speed reference Object parSSCntriLp SpdKPFbk Speed kp feedback value Modbus IPA 27003 Modbus Data Type Signed16 CANopen COE index 3303h 0h CANopen COE Data Type Signed16 Attributes rw retain pdomap Unit n a Default value 0 Value range Full scale Proportional gain value to the feedback speed reference 43 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parSSCntriLp AccKpRef Acceleration kp reference value Modbus IPA 27004 Modbus Data Type Signed16 CANopen COE_ index 3304h 0h CANopen COE Data Type Signed16 Attributes rw retain pdomap Unit n a Default value 0 Value range Full
97. e user should be configuring it using the Cockpit configurator and the base application of the AxM Il The base application allows the user to control motor s current and speed like needed in the usual classic drive control it turns AxM II in a versatile brushless servomotors digital control 52 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG 7 3 Interpolation mode The interpolated position mode is used to control multiple coordinated axes or a single axle with the need for time interpolation of set point data For synchronous operation the interpolation cycle time is defined by the object interpolation time period Time synchronization may be done by networked dependent mechanisms Each synchronization cycle actuates the next data record if a valid data record is available This object shall indicates the configured interpolation cycle time The interpolation time period 60C2 sub index 01h value shall be given in 10interolation time index s second The interpolation time index 60C2 sub index 02h shall be dimensionless time period time units 10fnt Polatontime index The interpolation time period has to be multiple of 250 us For further information s refer to CIA DSP402 V2 0 3 Object n a Interpolation data record Modbus IPA Modbus Data Type CANopen COE index 60C1h 1h CANopen COE Data Type Signed32 Attributes rw Unit Position factor uni
98. eReferenceEnable plcSSCntrlEnablelntegralGain plcSSCntriRefMechAccel plcSSCntriRefMechHi plcSSCntriRefMechLo plcSSCntriRefMechSpeed usrNolmgParamBool usrNolmgParamDIn usrNolmgParamiInt usrNolmgParamReal usrNolmgWorksBool usrNolmgWorksDiInt usrNolmgWorksInt usrNolmgWorksRea usrNolmgWorksS Int usrP aramBoo usrParamDInt usrParamInt usrP aramReal usrWorksBool usrWorksDInt usrWorksInt usrWorksReal usrWorksSInt varCANOpenNMTStatus varEncAbsElecAngle varEncAbsM echAbsP osOffsetHi varEncAbsM echAbsP osOffsetLo varEncAbsM echAccel varEncAbsMechHi varEncAbsMechLo varEncAbsM echS peed varEncAEndat CrcErrors varEncAE ndat P ropDelay varEncAnChannelCos varEncAnChannelLevel varEncAnChannelSin varEncAuxElecAngle varEncAuxM echAbsP osOffsetH varEncAuxM echAbsP osOffsetLo varEncAuxMechAccel varEncAuxMechHi varEncAuxMechLo varEncAuxM echS peed varEncAuxStatus varEncBEmfAglitchCounter varEncBEmfSpeedDelta varEncBEmfSpeedK Conversion varEncBEmfState varEncBEmfValueKt varEncF bElecAngle varEncF bMechAbsP osOffsetHi varEncF bMechAbsP osOffsetLo varEncFbMechAccel varEncFbMechHi varEncFbMechLo varEncFbMechSpeed varEncFbStatus varEncHallChannelCos varEncHallChannelSin varEnclncChannelCos varEnclncChannelLevels varEnclncChannelSin
99. eceleration used to stop the motor if the quick stop ramp is selected as option code Refer to 3 45 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parPositioner E ndVelocity End velocity Modbus IPA 27104 Modbus Data Type Signed32 CANopen COE_ index 6082h 0h CANopen COE Data Type Unsigned32 Attributes rw retain pdomap Unit Velocity factor unit Default value 0 Value range Full scale The end velocity defines the velocity which the drive must have on reaching the target position Normally the drive stops at the target position i e the end velocity near to zero Object parPositioner PositionE rrorMax Max position error allowed Modbus IPA 27105 Modbus Data Type Signed32 CANopen COE_ index 3340h 0h CANopen COE Data Type Signed32 Attributes rw retain pdomap Unit Position factor unit Default value 327680 1800 Value range Full scale This is the maximum following error allowed during the profile mode position or speed working Refer to parameters parDevCtrl FollowingE Window and parDevCtrl FollowingEnTimeout to understand the behaviour of the following error Object parPositioner ZeroS peedThreshold Threshold speed Modbus IPA 27106 Modbus Data Type Signed32 CANopen COE_ index 3341h 0h CANopen COE Data Type Signed32 Attributes rw retain pdomap
100. ect varE ncAbsMechLo Feedback angle Modbus IPA 26401 Modbus Data Type Unsigned32 CANopen COE_ index 3A10h 1h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the absolute mechanical position in mechanical angle unit The feedback angle is the LSB 32 bit of 64 bit main encoder absolute position value Object varE ncAbsMechAbsPosOffsetHi Absolute position offset tums Modbus IPA 26402 Modbus Data Type Signed32 CANopen COE_ index 3A11h 2h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the offset from the relative position in mechanical turns unit in order to calculate the absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 Object var ncAbsMechAbsPosOffsetLo Absolute position offset angle Modbus IPA 26403 Modbus Data Type Unsigned32 CANopen COE_ index 3A11h 1h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale 27 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG This is the offset from the relative position in mechanical turns unit in order to calculate the absolute position if apply depending from the encode
101. ect varlLoop qFb Iq feedback Modbus IPA 27433 Modbus Data Type Signed32 CANopen COE_ index 3101h 0h CANopen COE Data Type Signed32 40 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale Feedback quadrature current generated by the Park s transformation Object varlLoopluFb lu feedback Modbus IPA 27434 Modbus Data Type Signed32 CANopen COE_ index 3102h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale Feedback current phase U read by the drive s current hall sensors Object varlLooplvFb Iv feedback Modbus IPA 27435 Modbus Data Type Signed32 CANopen COE_ index 3103h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale Feedback current phase V read by the drive s current hall sensors Object variLoopVuOut Output Vu Modbus IPA 27438 Modbus Data Type Signed16 CANopen COE_ index 3107h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit 100 mV Default value n a Value range Full scale Actual value of the voltage of the motor phase U Object variLoopVvOut Outp
102. ection track B mode EnableU pDown Enable up pulse track A and down pulse track B mode Object parEncHall IEC address MB404 0 LogicLab Type PAR HALL Attributes rw Description Encoder main hall sensor type Structure members Enable4 Wire Description 4 wire type enable Object parEncSiminc IEC address MB408 0 LogicLab Type PAR_SIMINC Attributes rw Description Encoder auxiliary encoder simulation incremental traces Structure members IndexLineCounts Description Encoder line counts per turn IndexOffset Analog Tracks Level Alarm Threshold Maxpositionerror tolerance Index Error tolerance Plc program application should generate the feedback encoder position Plc name variables plcEncFbSet The meaning of these variables are the same of IPA parameters varEncFb Plc program application should simulate an incremental encoder TTL standard The encoder position the electrical angle position and the other features necessary to the simulated incremental encoder have generated by the Plc program application Plc name variables plcEncSim Object plcEncSimSetMechLo Modbus IPA LogicLab Data Type Unsigned32 CANopen COE_ index CANopen COE Data Type Attributes rw Unit Position factor unit Default value n a Value range Full scale This is the simulated encoder position in mechanical turns unit 1 Symbol denotes parameters have the same in
103. ed reserved reserved Table 3 Controlword operating mode specific bits The reserved bit are for future enhancements should be kept to 0 7 1 Profile Position Parameters defined in CiA DSP402 profile position of the CANOpen specifications For further informations refer to 3 Object parDevCtr FollowingE nWindow Following Error Window Modbus IPA 29025 Modbus Data Type Signed32 CANopen COE_ index 6065h 0h CANopen COE Data Type Unsigned32 Attributes rw retain pdomap Unit Position factor unit Default value 65536 360 Value range n a The following error window defines the maximum tolerance on the following error if the following error actual value is greater than following error window a following error occurs A following error might occur when a drive is blocked unreachable profile velocity occurs or at wrong closed loop coefficients Object parDevCtr FollowingEnTimeout Following Error Timeout Modbus IPA 29026 Modbus Data Type Signed16 CANopen COE_ index 6066h 0h CANopen COE Data Type Unsigned16 Attributes rw retain pdomap Unit ms Default value 10 Value range n a 50 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG When a following error occurs longer than the defined value of the time out the corresponding bit13 of statusword is set to one Object parDevCtrl TargetP osWind
104. ed16 0000h cstCanNode1 Number Node 1 Unsigned16 0001h cstCanDrvRun Driver CAN in run mode Unsigned16 0001h cstCanDrE rrPasv Driver CAN in error passive mode Unsigned16 0002h cstCanDrnB usOff Driver CAN in bus off status Unsigned16 0004h cstCanDrvHwOverrun Driver CAN in hardware over run status Unsigned16 0008h This data structure is referred to the CAN hardware configuration and communication set up Object parCAN IEC address MB301 0 Logic Lab Type PAR_CAN Attributes w Description CAN bus parameters Structure members ReSyncEnable Description Enable pwm synchronization with filedbus CanController CAN controller selection DisableCanAlarmMask CAN alarm disable mask 86 AXM II Configurable Motion Control Platform 11 12 EtherCAT Group Doc 10460 0 A M ENG This data structure is referred to activation of EtherCAT protocol communication module Object parE CAT IEC address MB800 0 LogicLab Type PAR_ECAT Attributes rw Description EtherCAT parameters Structure members ReSyncEnable Description Enable pwm synchronization with filedbus EnableModule Enable EtherCAT module reset required CfgStationAlias Configured station alias For more details about EtherCAT fieldbus please refer to 6 11 13 Sync Manager Group This data structure is referred to the Sync manager sta
105. edback value Ki Integral gain PosGainShift Position gain shift AccGainShift Acceleration gain shift ILimit Maximum and Minimum limit torque For more details about parameters refer to Loop Schema E The Space speed control loop should receive its references demand position demand speed and demand acceleration from a Plc program application instead of AxM II firmware positioner module Plc variables plcSSCntrLp Object picSSCntriRefMechLo Modbus IPA LogicLab Data Type Unsigned32 CANopen COE index CANopen COE Data Type Attributes rw Unit Position factor unit Default value n a Value range Full scale Reference position into mechanical angle unit Represents the 32 LSB bit position input of the speed position loop as computed by the Plc program For more details about the format position refer to the manual 4 Object picSSCntriRefMechHi Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit Position factor unit Default value n a Value range Full scale Reference position into mechanical turns Represents the 32 MSB bit position input of the speed position loop as computed by the Plc program For more details about the format position refer to the manual 4 Object plcSSCntriRe
106. eedback Absolute pos offset tums Modbus IPA 27022 Modbus Data Type Signed32 CANopen COE_ index 3A41h 1h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the offset from the relative position in mechanical turns unit in order to calculate the absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 Object varE ncFbMechAbsPosOffsetLo Feedback Absolute pos offset angle Modbus IPA 27023 Modbus Data Type Unsigned32 CANopen COE_ index 3A41h 1h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the offset from the relative position in mechanical angle unit in order to calculate the absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 Object var ncFbMechSpeed Mechanical speed Modbus IPA 27024 Modbus Data Type Signed32 CANopen COE_ index 606Ch 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Velocity factor unit Default value n a 36 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Value range Full scale This object represents the actual value of the vel
107. escription Suggested Action Check parameters configuration motor phases 0000 0001h KT Value Out of Range The estimate torque constant is out of range 25 of Kt motor i i i connections and drive AC line input 0000 0002h Invalid KT Ratio Invalid estimated sensorless speed constant Check parameters configuration motor phases connections and drive AC line input 0000 0008h Sync Lost Synchronization lost between the electrical excitation and the rotor Check parameters configuration and the working position cycle 0000 0010h Antiglitch Fault The anti glitch filter is active for more than 4 cycles Check parameters configuration and the working cycle Group Alarm Code Alarm Type Leds Panel 0080 0000h Brake Fault SubCode Alarm Subcode Identification Description Suggested Action The supply voltage is too high or the clamp activation 0000 0001h Brake Drive Always On The braking circuit is always active voltage is too low Verify the parameters parP Stage VBrakeLow and parPStage VBrakeHigh 0000 0002h Brake Resistor Overpower The power dissipated in the braking resistor is higher than the Connect an external resistor of higher power rating maximum allowed 0000 0004h Brake IGBT desaturation Brake circuit failure Braking resistor too low value or shorted or braking IGBT failure 92 AxM II Configurable Motion Control Platform Doc 10460 0 A M E
108. eters Start with power failed The auxiliary power supply voltage is under 24 Vdc voltage AxM II 0003h i drive can t enable the power stage 0004h Watchdog task install failed Parameters error Please check the parameters varSysWrongParCode This parameter shows 0005h the IPA parameter value responsible for the wrong value configuration 0010h Fpga program failed Fpga program is incompatible with the DSP firmware Try to load firmware in the drive if 0018h 4 error persist contact the technical support 0019h Fpga test failed 0100h NT Init task configuration failed composed by default number 0100h plus task number that failed own configuration Object varSysLifeTime Life Time Modbus IPA 19000 Modbus Data Type Unsigned32 CANopen COE_ index 5209h 0h CANopen COE Data Type Unsigned32 Attributes ro Unit sec Default value n a Value range Full scale Overall AxM II drive life production department time in seconds unit from the first configuration done in Phase Motion Control Object varSysMaxR TE xecTime Real Time Task execution Modbus IPA 19004 Modbus Data Type Unsigned16 CANopen COE_ index 5709h 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit 100 nsec Default value n a Value range Full scale AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG This is the maximum value of real time task execution time from the last reset comman
109. fMechSpeed Modbus IPA LogicLab Data Type Signed32 CANopen COE_ index CANopen COE Data Type Attributes rw Unit Velocity factor unit Default value n a Value range Full scale Input velocity reference in the speed position loop Object picSSCntriRefMechAccel Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit Acceleration factor unit Default value n a Value range Full scale Input acceleration reference in the speed position loop 81 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object plcSSCntrE nableintegralGain Modbus IPA LogicLab Data Type Unsigned16 CANopen COE index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True 0 False disable the integral gain use of the space speed control loop 1 True enable the integral gain use of the space speed control loop 11 7 Positioner Group This data structure is referred to the configuration and set up of the positioner module Object parPositioner IEC address MB41 0 LogicLab Type PAR POSITIONER Attributes rw Description Positioner and ramp generator Structure members EndVelocity Description End Velocity ProfileVel Profile velocity ProfileAcc Profile acceleration ProfileDec Profile deceleration
110. fault value n a Value range Full scale This is the relative mechanical position in angle unit The relative mechanical angle is the 32 LSB bit of 64 bit main encoder relative position value Object varE ncRelMechAbsPosOffsetHi Absolute position offset tums Modbus IPA 26412 Modbus Data Type Signed32 CANopen COE_ index 3A21h 2h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the offset from the relative position in mechanical turns unit in order to calculate the absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 29 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object var ncRelMechAbsPosOffsetLo Absolute position offset angle Modbus IPA 26413 Modbus Data Type Unsigned32 CANopen COE index 3A21h 1h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the offset from the relative position in mechanical angle unit in order to calculate the absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 Object var ncRelMechSpeed Mechanical speed Modbus IPA 26414 Modbus Data Type Si
111. fference of the auxiliary speed still every 125us Object varE ncAuxE lecAngle Auxiliary Electrical angle Modbus IPA 26116 Modbus Data Type Unsigned16 CANopen COE_ index 3A34h 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the auxiliary feedback electrical position of the motor Object var ncAuxS tatus Auxiliary Encoder Status Modbus IPA Modbus Data Type CANopen COE index 3A35 0h CANopen COE Data Type Unsigned8 Attributes ro pdomap Unit n a Default value n a Value range See table above Auxiliary encoder status Mask number Name Description Olh cstEncStatusRelativeValid Relative angle is valid 02h cstEncStatusElecAngleValid Electrical angle is valid 04h cstEncStatusFatalFaultValid Fatal fault during the calculations position Non fatal fault status Combine status from both encoders absolute and relative status if one is 08h cstEncStatusNonFatalFaultValid faulty but electronic angle is valid and relative angle is valid then result in non fatal fault as there s at least one valid feedback 10h cstEncStatusAbsoluteValid Absolute mechanical turn is valid rE Waiting status during the calculations of absolute sa cstEncStatusAbsoluteWaiting i se seater incremental encoder 35 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG
112. from the relative position in mechanical turns unit in order to calculate the absolute position if apply depending from the encoder configuration For more details about the format position refer to the manual 4 4 2 Encoder gt Auxiliary Parameters to set up the Auxiliary Encoder physically connected to the AxM II C1 connector Object parEncMgr AuxS election Encoder type Auxiliary Selection Modbus IPA 26002 Modbus Data Type Unsigned16 CANopen COE_ index 3802h 0h CANopen COE Data Type Unsigned16 Attributes rw Unit n a Default value 0000h Value range See specification above Select the Auxiliary encoder type to use Option code Description Name 0000h No sensor cstEncTypeNull 0004h Absolute encoder Endat Heidenhain encoder cstEncTypeB 1AbsEndat 0006h Digital Incremental encoder cstEncTypeRellncremental 0008h Simulation of digital incremental encoder TTL standard cstEncTypeRellncrSimulation For more details on digital incremental encoder or on Endat encoder please refer to parEncMgr MainAbselection and to parEncMgr MainRelselection 4 2 1 Endat Parameters to manage the Auxiliary Encoder Endat configuration Object parEncAE ndat ClockFreq Auxiliary Endat frequency protocol Modbus IPA 26120 Modbus Data Type Unsigned16 CANopen COE_ index 3910h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Un
113. gSlowOut Slow task to copy image data output is running 19 varSysStatPiclmgBackgroundIn Background task to copy image data input is running AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG 20 varSysS tatPlclmgBackgroundOut Background task to copy image data output is running 1 varSysS tatAlarmsReset Alarms reset reset system alarm for one real time cycle 24 varSysS tatPIcRunSlow Pic run slow task 25 varSysS tatPlcRunBackground Pic run background task Object varS ysWamings System Wamings Modbus IPA 18088 Modbus Data Type Unsigned32 CANopen COE_ index 5702 0h CANopen COE Data Type Unsigned32 Attributes ro Unit n a Default value 0000 0000h Value range See table above This parameter shows the system active warnings flag Each bit refers to a specific warning as shown in the following table Bit mask Description 0000 0001h Locked by boot error 0000 0004h_ Access to forbidden area write access memory not valid Safe mode start up requested The AxM II enters in this status by pressing simultaneously the 0000 0008h command push buttons Symbol Arrow IN and Symbol Arrow OUT on the drive In this status AxM II has limited functionality and it s not possible enable the power stage This status is useful since allow the user to startup the drive by ignoring all the parameter
114. gned32 CANopen COE_ index 3A22h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Velocity factor unit Default value n a Value range Full scale This is the relative mechanical speed The speed is calculated as difference between two consecutive readings of the relative position encoder 125s Object var ncRelMechAccel Mech acceleration Modbus IPA 26415 Modbus Data Type Signed32 CANopen COE_ index 3A23h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Acceleration factor unit Default value n a Value range Full scale This is the relative mechanical acceleration The acceleration is simply computed as difference of the speed every 125us Object varE ncRelElecAngle Relative absolute electrical angle Modbus IPA 26416 Modbus Data Type Unsigned16 CANopen COE_ index 3A24h 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the relative feedback electrical angle Object varE ncRelStatus Main Relative Encoder Status Modbus IPA Modbus Data Type CANopen COE index 3A25 0h CANopen COE Data Type Unsigned8 Attributes ro pdomap Unit n a Default value n a Value range See table above Main relative encoder status Mask Name Description number
115. gorithm or should be useful to check the system during start up operation Be WARNING Only expert users have to use these parameters These parameters should used to set up careful as modifying the values of this object with power enabled could yield in a loss of axle control Parameters to handle sensorless control algorithm Object parEncBEmf Flags OpenLoopOnly Open loop only Modbus IPA 26066 Modbus Data Type Unsigned16 CANopen COE_ index 3850h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On 19 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG With this flag the user controls the drive in Open Loop without any contributes of the estimated back electromotive force value Acceleration speed and position of Open loop modality are calculated using reference speed as applied speed without any feedback information Object parEncBEmf Flags DynamiclqLimit Iq Limit Modbus IPA 26067 Modbus Data Type Unsigned16 CANopen COE_ index 3851h 0h CANopen COE Data Type Signed8 Attributes rw retain Unit n a Default value 0 Off Value range 0 Off 1 On e 1 On dynamic limit applied to the quadrature current during the sensorless start up operations e O Off limit applied to the quadrature current depending only by the drive limits and by the Sensor
116. he Sync object 56 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG 8 1 1 CANOpen RxPDO Communication Parameters The purpose of this data structure is to define the communication parameters for all RPDO for each RPDO exist one object the object index range from 1400h RPDO 1 to 1407h RPDO 8 Object n a COB ID used by PDO Modbus IPA 30101 Modbus Data Type Unsigned32 CANopen COE index 1400h 1h CANopen COE Data Type Unsigned32 Attributes rw Unit n a Default value NODEID 40000200h Value range n a Define the COB ID and the state enabled disabled of the RPDO Object n a RPDO transmission type Modbus IPA 30102 Modbus Data Type Unsigned16 CANopen COE_ index 1400h 2h CANopen COE Data Type Unsigned8 Attributes rw Unit n a Default value n a Value range n a This field defines the transmission type of RPDO and when received data should be used Transmission type cyclic acyclic synchronous asynchronous 0 X X 1 240 X X 255 X For further information on RPDOs refer to 3 8 1 2 CANOpen RxPDO Mapping Parameters The purpose of this data structure is to define the data mapping for all RPDO for each RPDO exist one object the object index range from 1600h RPDO 1 to 1607h RPDO 8 Object n a Number of object mapped Modbus IPA
117. his command let the drive restore all parameters to the factory settings In order to avoid restore of parameters by mistake restore is only executed when a specific signature is written to the appropriate sub Index The signature is the string load or the 32 bit number 6461 6F6Ch This command has to be completed by issuing a reset command 70 AxM II Configurable Motion Control Platform 10 2 Position additional parameters Doc 10460 0 A M ENG Object n a Target Position Modbus IPA Modbus Data Type CANopen COE_ index 607A 0h CANopen COE Data Type Signed32 Attributes rw pdomap Unit Position factor unit Default value n a Value range Full scale This the 32 bit target position used in positioner mode of operation The target position is the position that the drive should move to in position profile mode using the current settings of motion control parameters such as velocity acceleration deceleration motion profile type etc At start up the content is unforeseeable and then the first positioning should be only absolute Object n a Position actual value Modbus IPA Modbus Data Type CANopen COE index 6064 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This object represents the actual value of the position measurement device normalized with
118. ibutes rw retain pdomap Unit Position factor unit Default value 447375 5 24 rad s Value range Full scale Before to start the procedure wait for speed goes below this threshold value Object parEncEFS IdRampTime Direct current ramp time Modbus IPA 26305 Modbus Data Type Unsigned16 CANopen COE_ index 38F3h 0h CANopen COE Data Type Unsigned16 Attributes rw retain pdomap Unit msec Default value 500 Value range Full scale Time ramp procedure to direct the motor rotor Object parEncEFS IdRampCurrent Direct current value Modbus IPA 26306 Modbus Data Type Unsigned16 CANopen COE_ index 38F4h 0h CANopen COE Data Type Unsigned16 Attributes rw retain pdomap Unit 0 001 Default value 300 Value range 0 100 0 parM otorData CurrentP eak Current to direct the motor rotor percentage of motor peak current Object parEncEFS ElecAngleFeed Electrical Angle Feed Modbus IPA 26308 Modbus Data Type Signed32 CANopen COE_ index 38F9h 0h CANopen COE Data Type Signed32 Attributes rw retain pdomap Unit 0 000015 Default value 1000 Value range 0 100 0 65535 Electrical angle feed ratio from space control loop output This parameter refers to the procedute type IdRamp with Position Control For more details refer to 4 Object parEncEFS Id
119. internal software value of the encoder poles number became equals to motor poles number Doc 10460 0 A M ENG Object parEncHall Flags Enable4 Wire Enable 4 wire Modbus IPA 26043 Modbus Data Type Unsigned16 CANopen COE_ index 3871h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On The 4 Wire Kelvin method is used in cases when very high accuracy is required The method is immune to the influence of lead resistance and is limited by the quality of the constant current source and voltage measurement 0 Off the 4 Wire method is disabled 1 On the 4 Wire method is enabled 4 1 6 Hall sensor Traces gt Monitor Status of the Hall sensor traces Object varE ncHallChannelSin Analog level Sin channel Modbus IPA 26044 Modbus Data Type Signed16 CANopen COE_ index 3872h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit Internal device unit d u Default value n a Value range Full scale Analog level of the encoder Sin channel Object varE ncHallChannelCos Analog level Cos channel Modbus IPA 26045 Modbus Data Type Signed16 CANopen COE_ index 3873h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit Internal device unit d u Default value n a Value range Full scale Analog level of the encoder Cos chan
120. ion Control motors To get the best performances it s necessary to tune the torque loop using the following parameters Object parPS tage OverCurrentThreshold Over Current Threshold Modbus IPA 27404 Modbus Data Type Signed32 CANopen COE_ index 3144h 0h CANopen COE Data Type Signed32 Attributes rw retain pdomap Unit 0 1mA Default value 103000 Value range See above Over Current threshold is the maximum current value that the AxM II drive can provide The user can modify the Over Current threshold detection but it s possible only to set a value lower than the hardware AxM I power stage When the actual current has achieved an instant value higher than the maximum allowed by the drive an Over Current alarm is generated restored This change takes effect only after the Save parameters command and Reset of the A WARNING If this value is set to zero then the default hardware drive s overcurrent limit is drive Object parlLoop ILoopKi Modulator Ki Modbus IPA 27407 Modbus Data Type Real32 CANopen COE index 3120h 0h CANopen COE Data Type Real32 Attributes rw retain pdomap Unit Default value 0 Value range Full scale Current Loop Integral Gain If set to zero it s used the Ki automatically calculated by the firmware looking motor data parameters refer to section 3 Object pariLoop ILoopKp Modulator K
121. ional aie cstCanOpenNMTCResetCommunication cstCanOpenNMTCResetNode cstCanOpenNMTCStart cstCanOpenNMTCStop cstCanOpenNMTSBootup cstCanOpenNMTS Operational cstCanOpenNMTSPreoperational cstCanOpenNMTSStopped cstDevCtrlM odeOfOpP rofileP osition cstDevCtrlM odeOfOpP rofileVelocity cstDevCtrIM odeOfOpTorqueMode cstDevCtrlOptCodeP owerOff cstDevCtrlOptCodeQuickStop cstDevCtrlOptCodeQuickStopAndStay 48 84 cstDevCtrlOptCodeSlowDown 48 84 cstDevCtrlOptCodeSlowDownAndStay 48 84 cstEncEfsTypeDisabled cstEncEfsTypeldRamp cstEncEfsTypeldRampPosition cstEncStatusAbsoluteValid cstEncStatusAbsoluteWaiting cstEncStatusElecAngleValid cstEncStatusF atalF aultValid cstEncStatusN onFatalF aultValid cstEncStatusRelativeValid cstEncTypeAbsAnalog cstEncTypeAbsE ndat cstEncTypeAbsHall cstEncTypeB 1AbsEndat cstEncTypeNull cstEncTypeRelBackEMF cstEncTypeRellncremental cstEncTypeRellncrSimulation cstEndatErrM askCRCE rror cstEndatErrM askNoModule cstEndatErrM askTimeout cstEndatSelAux cstEndatSelMain cstPIlcTaskCfgAuto cstPIlcTaskCfgOff cstPlcTaskCfgPlc cstP StageBridgeLayoutU WW cstP StageBridgeLayoutUWV cstP StageBridgeLayoutVUW cstP StageBridgeLayoutVWU cstP StageBridgeLayoutWUV cstP StageBridgeLayoutWVU cstP StageOptBackEM FATanEnable cstP StageOptB ackEMFDataEnable cstP StageOptDisableBrakeDrive parCAN wo eee pa
122. it kHz Default value 2000 Value range 100 max value depending by Endat protocol type Clock frequency selection for Endat protocol e Max Value Endat 2 1 2000 kHz Max Value Endat 2 2 8000 kHz 31 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parEncAE ndat MTumStartP os Auxiliary set point position at reset Modbus IPA 26123 Modbus Data Type Unsigned32 CANopen COE_ index 3911h 0h CANopen COE Data Type Unsigned32 Attributes rw reset retain Unit Position factor unit Default value 4294967295 Value range 0 to 4294967295 Set point position at start up This parameters is utilized only with Endat multiturn encoder For more details refer to parEencMEndat MTumStartPos parameter 4 2 2 Endat gt Monitor Status of the of the Auxiliary Encoder Endat Object varE ncAEndat CrcE rrors Auxiliary CRC error counters Modbus IPA 26121 Modbus Data Type Unsigned16 CANopen COE_ index 3918h 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit n a Default value 0 Value range n a Auxiliary Endat protocol checking checksum value errors counter could be used as electrical connection diagnostic Object varE ncAEndat PropDelay Auxiliary Propagation delay Modbus IPA 26122 Modbus Data Type Unsigned16 CANopen COE_ index 3919h 0h CANopen COE Data Type Unsigned16 Attrib
123. itial truncation name e g plcEncFbSetMechSpeed varEncFbMechSpeed 76 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG The simulated turns is the 32 MSB bit of 64 bit simulated encoder position For more details about the format position refer to the manual 4 Object plcEncSimSetMechHi Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit Position factor unit Default value n a Value range Full scale This is the simulated encoder position in mechanical angle unit The simulated turns is the 32 LSB bit of 64 bit simulated encoder position For more details about the format position refer to the manual 4 Object plcEncSimSetMechSpeed Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit Velocity factor unit Default value n a Value range Full scale This object represents the actual value of the velocity measurement device Object plcEncSimSetMechAccel Modbus IPA LogicLab Data Type Signed32 CANopen COE_ index CANopen COE Data Type Attributes rw Unit Acceleration factor unit Default value n a Value range Full scale This object represents the actual value of the acceleration Object plcEncSimSetEle
124. l32 CANopen COE_ index 3F07h 0h CANopen COE Data Type Real32 Attributes rw retain Unit H Default value 0 0 Value range Full scale The direct axis current controls the flux of the motor and it s usually to set to zero with permanent magnet machine This parameter sets the stator direct axis inductance of the motor used during the field weakening algorithm execution If this parameter is set to zero the value of the direct axis inductance is set equal to the motor winding inductance value AxM II Configurable Motion Control Platform 4 ENCODER The feedback source for the control loop is configured through these four flags Doc 10460 0 A M ENG Object parEncMgr Flags CntrLoopPosMain Feedback position for the control loop Modbus IPA 26003 Modbus Data Type Unsigned16 CANopen COE_ index 3803h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit Default value 1 Main Value range 0 Aux 1 Main The position feedback to the control loop is caught or from the main encoder or from the auxiliary encoder Object parEncMgr Flags CntriLoopS peedMain Feedback speed for the control loop Modbus IPA 26004 Modbus Data Type Unsigned16 CANopen COE_ index 3804h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit Default value 1 Main Value range 0 Aux 1 Main The speed feedback to the
125. lags UseDifferentK p parSSCntriLp GlobalGainShift parSSCntriLp limitM ax parSSCntriLp limitMin parSSCntriLp Ki parSSCntriLp PosGainShift parSSCntriLp PosKp parSSCntriLp SpdKPFbk parSSCntriLp SpdK pRef parSSCntrLp parSyncMgr parS yncMgr PeakN Discard parSyncMgr PeakThreshold parS yncMgr ReSyncDelta parSyncMgr TSFilter parS ysDriveM ode parThermalM odel parThermalM odel BrakeResistorE nergy parThermalM odel BrakeResistorP ower parThermalModel BrakeResistorValue parThermalM odel Coolingl empOff parThermalModel CoolingfempOn parThermalModel MotorOverTemp plcDevCtrlControlWord cDevCtrlTargetP osHi cDevCtriTargetPosLo cEncFbSet cEncSimSetElecAngle cEncSimSetM echAbsP osOffsetHi cEncSimSetM echAbsP osOffsetLo cEncSimSetMechAccel cEncSimSetMechHi cEncSimSetMechLo cEncSimSetM echS peed cEncSimSetStatus clLoopElecAngle clLoopldLimMax clLoopldLimMin clLoopIdRef clLooplqLimMax clLooplqLimMin clLooplqRef cPosRGEnablelnterpolation cPosRGEnablePositioner cPosRGNewTarget cPosRGPosition cPosRGQuickStop cPosRGQuickStopDec cPosRGTargetP osHi cPosRGTargetPosLo cPosRGTargetS peed cPosRGVelocity cPStageDisableBrakeDrive nomomomomomeomomomomomomomomomeomeomomomomomomomomeomemomomeome AxM II Configurable Motion Control Platform plcP StageP owerEnal plcPStag
126. le of the drive function cstDevCtrOptCodeQuickStop Object parDevCtrl HaltOptCode Halt Option Code Modbus IPA 29023 Modbus Data Type Signed16 CANopen COE_ index 605Dh 0h CANopen COE Data Type Signed16 Attributes rw retain Unit n a Default value 0001h Value range See above table This determines what action should be taken if the bit 8 halt in the controlword is active The action could be one of the following Option code Description Name Mask 0000h Disable drive motor is free to rotate cstDevCtrl OptCodeP owerOff 0001h Slow down with slow down ramp cstDevCtrOptCodeS lowDown 0002h Slow down with quick stop ramp cstDevCtrlOptCodeQuickStop Object parDevCtrl FaultReactionOptCode Fault Reaction Option Code Modbus IPA 29024 Modbus Data Type Signed16 CANopen COE_ index 605Eh 0h CANopen COE Data Type Signed16 Attributes rw retain 48 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Unit Value range n a See above table Default value 0002h The parameter fault reaction option code determines what action should be taken if a fault occurs in the drive The action could be one of the following Option code Description Name Mask 0000h Disable drive motor is free to rotate cstDevCtrl OptCodeP owerOff 0001h Slow down with slow down ramp cstDevCtriOptCodeSlowDown 0002h Slow down with quick
127. le parameter but it s available using the Target Information service from Cockpit configurator AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object n a Manufacturer Status Register Modbus IPA Modbus Data Type CANopen COE index 1002 0h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit n a Default value n a Value range n a This is the common status register specific for the manufacturer It is a part of the EMCY object Object n a COB ID Sync Message Modbus IPA Modbus Data Type CANopen COE_ index 1005 0h CANopen COE Data Type Unsigned32 Attributes rw retain Unit n a Default value 0000 0080h Value range n a Defines the COB ID of the Synchronization Object Bits 0 10 define the COB ID bits 11 31 should be leaved 0 MSB LSB Unused 21 bit should be 0 COB ID 11 bit Figure 10 Structure of COB ID Sync Message Object n a Manufacturer Device Name Modbus IPA Modbus Data Type CANopen COE index 1008 0h CANopen COE Data Type string Attributes ro Unit n a Default value n a Value range n a Contain the application name of the code currently using by the AxM II drive Object varSysFirmwarelnfo Manufacturer Software version Modbus IPA Modbus Data Type CANopen COE index 100A 0h CANopen COE Data Type
128. less Algorithm Status Object parEncBEmf Flags DynamicldLimit Id Limit Modbus IPA 26068 Modbus Data Type Unsigned16 CANopen COE_ index 3852h 0h CANopen COE Data Type Signed8 Attributes rw retain Unit n a Default value o off Value range 0 Off 1 On e 1 On dynamic limit applied to the direct current during the sensorless start up operations e O Off limit applied to the quadrature current depending only by the drive limits and by the Sensorless Algorithm Status Object parEncBEmf BackOnTheFlyS pd Back on the fly speed Modbus IPA 26069 Modbus Data Type Unsigned16 CANopen COE_ index 3853h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit 0 0001 Default value 9000 Value range 0 100 0 10000 Defines the speed expressed percentage of the nominal motor speed parMotorData SpeedNominal used to try to enable the motor control while it still turning This value has to be greater than the sum of the sensorless speed parEncBEmf SensorlessSpd and of a delta value about 10 otherwise a Sensorless alarm is generated parEncBEmf BackOnThe FlySpd gt parEncBEmf SensorlessSpd 10 Object parEncBEmf SensorlessSpd Sensorless speed Modbus IPA 26070 Modbus Data Type Unsigned16 CANopen COE_ index 3854h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit 0 0001 Default
129. lt value 170891 2 09 rad s Value range Full scale As soon as the velocity actual value exceeds the velocity threshold than the velocity threshold time bit 12 is reset in the statusword Below this threshold the bit is set and indicates that the axle is stationary Object parDevCtrl VelocityThresholdTimeout Velocity threshold timeout Modbus IPA 29032 Modbus Data Type Signed16 CANopen COE_ index 6070h 0h CANopen COE Data Type Unsigned16 Attributes rw pdomap Unit msec Default value 80 Value range Full scale The velocity threshold time For further information refer to the Profile Velocity Mode specification CiA DSP402 V2 0 3 Object wksTargetS peed Target velocity Modbus IPA 27118 Modbus Data Type Signed32 CANopen COE index 60FFh 0h CANopen COE Data Type Signed32 Attributes rw pdomap Unit Velocity factor unit Default value 0 Value range Full scale User target velocity the value from this object is used only if the drive is set in velocity mode The target velocity is the input for the internal ramp generator e when the AxM II drive works in profile position mode the target velocity is automatically calculate by the internal ramp generator on the basis of the positioning parameters e when the AxM II drive works in velocity profile the target velocity is generated from the master control that should write this object Anyway th
130. lt value 17895700 209 4395 rad s Value range Full scale The profile velocity is the velocity obtained at the end of the acceleration ramp during the profile move and is valid for both directions of motion Object parPositioner ProfileAcc Profile acceleration Modbus IPA 27101 Modbus Data Type Signed32 CANopen COE_ index 6083h 0h CANopen COE Data Type Unsigned32 Attributes rw retain pdomap Unit Acceleration factor unit Default value ar 22 8581 rad s Value range Full scale The profile acceleration is given in user defined acceleration unit and is used to plan the acceleration slope Object parPositioner P rofileDec Profile deceleration Modbus IPA 27102 Modbus Data Type Signed32 CANopen COE_ index 6084h 0h CANopen COE Data Type Unsigned32 Attributes rw retain pdomap Unit Acceleration factor unit Default value oe 22 8581 rad s Value range Full scale The profile deceleration is given in user defined acceleration unit and is used to plan the deceleration slope Object parPositioner QuickStopDec Quick stop deceleration Modbus IPA 27103 Modbus Data Type Signed32 CANopen COE_ index 6085h 0h CANopen COE Data Type Unsigned32 Attributes rw retain pdomap Unit Acceleration factor unit Default value ae 228 5809 rad s Value range Full scale The quick stop deceleration is the d
131. lue 15 Value range 1 to 32767 Time to refresh motor constant torque estimation value Object parEncBEmf IdOpenLoop Id value in open loop Modbus IPA 26079 Modbus Data Type Unsigned16 CANopen COE index 385Dh 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit 0 001 Default value 100 Value range 0 1000 0 parMotorData CurrentPeak Max direct current value used in open loop mode Value is a percentage of the motor maximum current peak To avoid current discontinuities at start up this value should be equal to parEncEFS IdRampCurrent 4 1 10 Sensorless gt Monitor Sensorless variables and algorithm status Object var ncBEmfState Sensorless status Modbus IPA 26083 Modbus Data Type Unsigned16 CANopen COE_ index 3861h 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit n a Default value 0000h Value range See table above Sensorless algorithm status Option code Description 0000h Sensorless disabled 0001 0003h Sensorless initialization procedure 0004h Sensorless full The sensorless algorithm works at full capacity Object varE ncBEmfAglitchCounter Anti glitch counter Modbus IPA 26084 Modbus Data Type Signed16 CANopen COE_ index 3862h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit nr Default value 0 Value range 0 to 32768 Actual counter of the anti glitch fil
132. mit when in Torque Mode profile It s clipped to zero if the user sets a negative value Object pariLoop IqLimitMin Quadrature Current Limit Min Modbus IPA 27411 Modbus Data Type Signed32 CANopen COE_ index 3124h 0h CANopen COE Data Type Signed32 Attributes rw retain pdomap Unit 0 1mA Default value 0 0 Value range 0 to 214748 3647 Quadrature current negative minimum limit when in Torque Mode profile It s clipped to zero if the user sets a positive value Object parlLoop IqLimitMax Quadrature Current Limit Max Modbus IPA 27412 Modbus Data Type Signed32 CANopen COE_ index 3125h 0h CANopen COE Data Type Signed32 Attributes rw retain pdomap Unit 0 1mA Default value 0 0 Value range 0 to 214748 3647 Quadrature current positive maximum limit when in Torque Mode profile It s clipped to zero if the user sets a negative value Object parP StageE x SoftStart Soft Start period Modbus IPA 27416 Modbus Data Type Unsigned16 CANopen COE_ index 3145h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit n a Default value 0004h 310 msec Value range See table above Soft start is used to limit the inrush current to the dc bus capacitor bank on application of ac mains power This is intended to prevent nuisance tripping of circuit breakers or blowing of line fuses on power up Time
133. mory PDO out of memory order of these objects all PDOs are not created thus unavailable CANOpen PDO Invalid Sync Check the COB ID value for Sync object type The 0020 Q000 Start Value invalid data for Syne stant value COB ID has to set to the value 80h 0040 0000h CANOpen PDO Intemal Error CANOpen PDO Internal Error The TxPDO or RxPDO configuration Check parameters configuration and CANOpen master is wrong configuration 0080 0000h CANOpen PDO Length Exceed TxPDO length error The length of TxPDO does not match with the Check parameters configuration and CANOpen master internally calculated length configuration 0100 0000h CANOpen PDO Hook Internal CANOpen internal software error Check parameters configuration and CANOpen master Error configuration 0200 0000h CANOpen PDO Duplicated COB CANOpen PDO duplicated COB ID identification The COB ID Check parameters configuration and CANOpen master configuration Group Alarm Code Alarm Type Leds Panel 0200 0000h EtherCAT Failure SubCode Alarm Subcode Alarm Description Suggested Action EtherCAT fieldbus physical layer error Check Ethernet cables connections check EtherCAT master running status Group Alarm Code Alarm Type Leds Panel 0080 0000h Motor Overtemperature SubCode Alarm Subcode Identification Description Suggested Action The PTC sensor has detected a too high motor temperature Check
134. n format or to the manual 4 51 AXM Il Configurable Motion Control Platform 7 2 Profile Velocity Parameters defined in CiA DSP402 Profile Velocity mode of the CANOpen specifications For further information refer to 3 Doc 10460 0 A M ENG Object parDevCtrl VelocityWindow Velocity window Modbus IPA 29029 Modbus Data Type Signed32 CANopen COE_ index 606Dh 0h CANopen COE Data Type Unsigned32 Attributes rw pdomap Unit Velocity factor unit Default value 894616 10 47 rad s Value range Full scale The velocity window monitors whether the required process velocity has been achieved after an eventual acceleration or deceleration braking Object parDevCtr VelocityTimeout Velocity timeout Modbus IPA 29030 Modbus Data Type Signed16 CANopen COE_ index 606Eh 0h CANopen COE Data Type Unsigned16 Attributes rw pdomap Unit msec Default value 30 Value range Full scale The corresponding bit 10 target reached is set in the statusword when the difference between the target velocity and the velocity actual value is within the velocity window longer than the velocity window time Object parDevCtrl VelocityThresholdWindow Velocity threshold window Modbus IPA 29031 Modbus Data Type Signed32 CANopen COE index 606Fh 0h CANopen COE Data Type Unsigned32 Attributes rw pdomap Unit Velocity factor unit Defau
135. n position profile mode using the current settings of motion control parameters such as velocity acceleration deceleration motion profile type etc The target position that is usually generated from the master control anyway the user should be configuring it using the Cockpit configurator and the basic application of the AxM II The Positioner application allows the user to control the AxM II drive as programmable multi position positioner Object plcDevCtriTargetP osHi Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit Position factor unit Default value n a Value range n a User target position in mechanical turns The target position is the position that the drive should move to in position profile mode using the current settings of motion control parameters such as velocity acceleration deceleration motion profile type etc The target position that is usually generated from the master control anyway the user should be configuring it using the Cockpit configurator and the basic application of the AxM II The Positioner application allows the user to control the AxM II drive as programmable multi position positioner 11 9 Thermal Model Group This data structure is referred to the thermal model configuration Object parThermalModel IEC address MB72 0 LogicLab Type PAR THERMALMODEL Att
136. n time from the last reset command Average is executed on 1024 samples Object varSysS tat System Status Modbus IPA 18089 Modbus Data Type Unsigned32 CANopen COE_ index 5700 0h CANopen COE Data Type Unsigned32 Attributes ro Unit n a Default value 0 Value range See table above This parameter shows the system status flags The table below details all code When the user write its own PLC program the knowledge of the system status flags should be more useful Bit number Name Description 0 varSysS tatB ooting Booting 1 varSysS tatR esetting Resetting 2 varSysS tatP owerS oftStarting Power Ready AxM II is ready to execute operation 3 varSysStatPowerZeroEIFldSeek Research electrical field orientation procedure is active 4 varSysS tatP owerE nabled Power Enabled voltage enabled on bridge output 5 varS ysS tatF ault Fault 6 varSysS tatF aultR eaction Fault reaction 7 varSysStatProgramFlashWriting Program flash writing 8 varSysS tatP arametersSaving Parameters saving 10 varSysS tatL oc kecB yB ootE rror Locked by boot error Refer to varSysBootErrorCode parameter varSysS tatFieldbusSyncing When the Sync message is received trough CANOpen 13 or EtherCAT protocol this bit is set for one real time cycle 125 usec 16 varSysS tatPIcRunning Plc running 17 varSysS tatPiclmgSlowIn Slow task to copy image data input is running 18 varSysS tatP cl m
137. n used to stop the motor if the quick stop ramp is selected as option code 11 8 Device Control Group Constants to set the option code to determine what action should be taken by the AxM II drive to move itself to power disable fault or quick stop states Constant name Description Data Type Mask Value cstDevCtrOptCodeP owerOff Disable drive function Unsigned16 0000h cstDevCtrlOptCodeSlowDown et with slow down ramp disable of the drive Unsigned16 0001h cstDevCtrOptCodeQuickStop Sune with quick stop ramp disable of the drive Unsigned16 0002h cstDevCtdOptCodeSlowDownAndStay Slow down with slow down ramp and stay in quick stop Unsigned16 0005h cstDevCtdOptCodeQuickStopAndStay Slow down with quick stop ramp and stay in quick stop Unsigned16 0006h In this case the par variables should be used to set and control the CiA402 device control Object parDevCtri IEC address MB51 0 LogicLab Type PAR DEVCTRL Attributes w Description CiA402 device control Structure members ModeOfOperation Description CiA402 mode of operation Dummy Dummy QuickStopOptCode Quick Stop Option Code ShutdownOptCode ShutDown Option Code DisableOperationOptCode Disable Operation Code FaultR eactionOptCode Fault reaction Option Code FollowingErrWindowLo Following error window 32 LSB FollowingE rrWindowHi Following error window 32 MSB FollowingErr
138. nc Flags DisableAnalogE rror and parE ncMInc AnalogAlarmThreshold 0000 0004h Invalid Digital Decoding Invalid transition state in digital decoding algorithm ieee encodar cabling E1 and the shield 0000 0010h Invalid Analog Digital Decoding Incremental encoder fault in conversion analog digital algorithm Check the encoder cabling E1 and the shield connection Group Alarm Code Alarm Type Leds Panel 0004 0000h Aux Incremental Encoder SubCode Alarm Subcode Identification Description Suggested Action When the difference between main encoder position and the calculated encoder simulation position is greater than maximum Check the encoder connection C1 connector and the shield connection Verify also the parameters related stage 0000 0008h Simulation Invalid Count ve Pa A A position error tolerance an auxiliary incremental encoder fault is to the simulated encoder generated parE ncSiminc MaxPosEnTolerance Check the auxiliary encoder connection C1 connector and the shield connection Verify also the 0000 8001h Invalid Line Count The AxM II drive has detected an incorrect index position parameters related to the index tolerance parE ncAlnc Flags Disablelndex rror and parE ncAlnc IndexE rrorTolerance 0000 8004h Invalid Digital Decoding Invalid transition state in digital decoding algorithm Check the encoder connection C1 connector and the shield connection 0000
139. ncBEmf Flags E nabledDeltaAngle Use speed delta angle Modbus IPA 26076 Modbus Data Type Unsigned16 CANopen COE_ index 385Ah 0h CANopen COE Data Type Signed8 Attributes rw retain Unit n a Default value 0 Off Value range 0 Off 1 On This parameter works only in full sensorless status It s possible to use the delta angle position as feedback instead of Back EMF algorithm speed calculated The speed delta angle is calculated us difference of mechanical angle still every 125 usec 21 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parEncBEmf DisableAlarmMask Disable alarm Modbus IPA 26077 Modbus Data Type Unsigned16 CANopen COE_ index 385Bh 0h CANopen COE Data Type Unsigned32 Attributes rw retain Unit n a Default value 0000 0000h Value range 0000 0000h 0000 0001h Mask to disable alarms or warnings of sensorless algorithm Currently only one bit is available This bit is a warning system and it informs the user that the drive is in Open Loop mode without any contributes of the estimated back electromotive force value For more details refer to varSysWamings Object parEncBEmf KtRefreshPeriod Kt refresh period Modbus IPA 26078 Modbus Data Type Unsigned16 CANopen COE_ index 385Ch 0h CANopen COE Data Type Unsigned16 Attributes rw retain pdomap Unit n a Default va
140. ncos or Digital normally it is 5 2V e for other kind please refer to the encoder manufacturer datasheet 10 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parEncMgr MainAbselection Absolute encoder type selection Modbus IPA 26001 Modbus Data Type Unsigned16 CANopen COE_ index 3801h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit Default value 0004h Value range See table above Selection of the absolute tracks for the main encoder Option code Description Name 0000h No sensor Null 0001h Hall sensor cstEncTypeAbsHall 0003h Analog sin cos encoder cstEncTypeAbsAnalog 0004h Absolute encoder Endat Heidenhain encoder cstEncTypeAbsE ndat Absolute encoder The distinguishing feature of the absolute encoder is that it reports the absolute position of the encoder to the electronics immediately upon power up with no need for indexing In single turn encoders the absolute position information repeats itself with every revolution Multiturn encoders can also distinguish between revolutions The Endat interface from Heidenhain is a digital bidirectional interface for encoders it is capable both of transmitting position values from incremental and absolute encoders as well as transmitting or updating information stored in the encoder or saving new information The data are transmitted in synchronism with
141. ncy selection for Endat protocol e Max Value Endat 2 1 2000 kHz e Max Value Endat 2 2 8000 kHz Object parEncME ndat MTumStartP os Set point position Modbus IPA 26023 Modbus Data Type Unsigned32 CANopen COE_ index 3811h 0h CANopen COE Data Type Unsigned32 Attributes rw reset retain Unit Number of turns Default value 4294967295 Value range 0 to 4294967295 Set point position at start up condition for multiturn Endat encoder This parameter avoid numerical issues with startup absolute multiturn position in which the bit resolution of the turns fraction of the position typically 12bit is less than 32bit the maximum that drive can handle properly setup of this parameter let user choose the threshold by which startup position e g at reset is considered positive or negative During the initiliazation procedure if the revolution number reached by the multiturn encoder is greater then this value the absolute position offset became a negative number as show figure below Absolute position at start up is greater than the turn position start value e g 4100 Multi turn revolution j MTurnStartPos value e g 4096 This is parameter is the number of multiturn revolution encoder i e EQN1325 4096 turns Absolute position offset e g 4092 Figure 1 Multi tum encoder set point position 13 AxM II Configurable Motion Control Platform 4 1 2 Endat gt Monitor Data related to the Endat Main En
142. nding inductance value AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parMotorData KT Motor torque constant Modbus IPA 27805 Modbus Data Type Real32 CANopen COE_ index 3F02h 0h CANopen COE Data Type Real32 Attributes rw reset retain Unit Nm A Default value 1 5 Value range 0 0001 to 10450 Motor torque constant Kt value Object parMotorData CurrentP eak Motor current peak Modbus IPA 27808 Modbus Data Type Real32 CANopen COE_ index 3F03h 0h CANopen COE Data Type Real32 Attributes rw reset retain Unit Arms Default value 5 0 Value range 0 to 2147483647 Motor current peak value Object parMotorData S peedNominal Motor speed nominal Modbus IPA 27809 Modbus Data Type Real32 CANopen COE_ index 3F04h 0h CANopen COE Data Type Real32 Attributes rw reset retain Unit rad sec Default value 0 0 Value range Full scale Motor nominal speed Object parMotorData PoleNumbers Motor poles number Modbus IPA 27814 Modbus Data Type Unsigned16 CANopen COE_ index 3F06h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit Default value 8 Value range 2 to Full scale only even numbers Motor poles number Object parMotorData DirectInductance Direct axis Inductance Modbus IPA 27818 Modbus Data Type Rea
143. nel 4 1 7 Incremental Traces With the incremental measuring method the graduation consists of a periodic grating structure The position information is obtained by counting the individual increments measuring steps from some point of origin Since an absolute reference is required to ascertain positions the graduated disks are provided with an additional track that bears a reference mark The incremental signals are transmitted as the square wave pulse trains U1 and U2 phase shifted by 90 elec The reference mark signal consists of one or more reference pulses UO which are gated with the incremental signals Parameters to set up the encoder incremental features and behaviour Object parEncMInc LineCounts Encoder Line Counts Modbus IPA 26030 Modbus Data Type Unsigned32 CANopen COE_ index 3820h 0h CANopen COE Data Type Unsigned32 Attributes rw reset retain Unit Counts Default value 512 Value range Full scale Encoder pulses number for revolution setting The quadrature encoder pulse QEP module is used for direct interface with a linear or rotary incremental encoder to get position direction and speed information from a rotating machine for use in a high performance motion and position control system Furthermore the frequency of the clock generated by QEP AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG circuits is four times that of the frequency of
144. neration resistors are detailed in 4 Object parPS tage VB rakeLow Vdc Brake Low Threshold Modbus IPA 27400 Modbus Data Type Signed16 CANopen COE_ index 3140h 0h CANopen COE Data Type Signed16 Attributes rw pdomap Unit 100 mV Default value 7200 Value range 0 to max operative limits Set the threshold to deactivate the recovery circuit mechanism If the value is set lower to zero an alarm Parameter value out of range is generated If the value is set to zero a default value will be used Object parPS tage VB rakeHigh Vdc Brake High Threshold Modbus IPA 27401 Modbus Data Type Signed16 CANopen COE_ index 3141h 0h CANopen COE Data Type Signed16 Attributes rw pdomap Unit 100 mV Default value 7500 Value range 0 to max operative limits Set the threshold to activate the recovery circuit mechanism If the value is set lower to zero or lower to parPStage VBrakeLow an alarm Parameter value out of range is generated If the value is set to zero a default value will be used Object parPS tage U ndervoltageThreshold Undervoltage threshold Modbus IPA 27402 Modbus Data Type Signed16 CANopen COE index 3142h 0h CANopen COE Data Type Signed16 Attributes rw pdomap Unit 100 mV Default value 0 Value range 0 to max operative limits This parameter defines the undervoltage threshold If the dc bus voltage is lower this
145. nnnnnens 88 C Plic mapping application parameters sccscicscsssaiasssassrarsssccereracererssasnseasternarssscaserireneencinnaes 89 D KM TIVE BAIN ISten niana aerbar oraria riana SKEE EES 90 E AXM li default PDO parametefS i siiiionsnsnsnai n 94 F Space Speed control loop Schema iscisrsrensi a a 96 G AXM I Firmware dia raM snusa aana 97 H IPA parameters sorted Widen nsnsnnensssssirosininiruninonansnerannunnsinnnain 98 l Name Objects S rted INdeX snassrrnserinnisinaunni aai 99 J CANOpen COE objects sorted index ssssssssssssrssurnesrnennnennnnnunnneunnnnunnnnnnnnnnnnnnnennnennnnnnnnna 101 REFERENCES 1 CiA DS301 V4 02 2 CiA DSP305 V1 1 3 CiA DSP402 V2 0 4 Phase Motion Control AxM II Configurable Motion Control Platform 5 Phase Motion Control Cockpit II manual 6 EtherCAT Communication Specification 7 LogicLab Enviroment User Manual Rev 1 0 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG FIGURES Figure 1 Multi turn encoder set point position 0 0 i i i iii iiiereres 13 Fig re 2 Direction COUNT MOUS srnky nenna ea E EA i Eaa Dt 18 Figure 3 Up doWwn COUnt MOJ Eirne eile asad EEEE ENE EEE NEE a ae 18 Figure 4 Electrical field operation IGRAMP nunana nnan n nnn n AEAEE EEEE 23 Figure 5 Structure of CONtrolWOrd ccs ce e steve ceived caeteds a aE EAE E EEE AENEON TEENI 50 Figure 6 Structure of COB ID Emergency M SSaQ cr nananana nananana nananana nananana 5
146. o r A EA ADAE 54 8 1 1 CANOpen RxPDO Communication Parameters ccccccecccceeeeeeeeeeeeeteeeeeeeeeteees 57 8 1 2 CANOpen RxPDO Mapping Parameters ccccccceceee eect ee eeeeeeeeeeetenetetetenenenenes 57 8 1 3 CANOpen TxPDO Communication Parameters ccccccccceceeeeeeeeeeeeeeeeeteteneneeenes 57 8 1 4 CANOpen TxPDO Mapping Parameters sirinin 59 8 2 Fieldbus Serial LINK saceicscsideanvntncanaancumemnadannmadpcinaaunatihaiieaaecenannidbbdieanedhenemaatdamaicmadidaieciea 59 8 3 Fieldbus EtherCAT aenn A E EEE 61 8 4 Fieldbus Syne MaNAGEMs cass casscoashinccessrcaneanstuns anaa aA a Ea 61 8 4 1 Fieldbus gt Syne Manager gt Monitor ssriinrimasiiienie iniii 62 AXM II Configurable Motion Control Platform Doc 10460 0 A M ENG J ee ee T 63 9 1 System Brake WIT ccsinuss duipsattnurbestAsiastesasaubsuaneamsisa a a 63 lal Brake Wimit Mi OMG mesen O AEA NA 64 9 2 Systemoihermal Modelssssiamanoni e 65 92 1 Thermal Model MOmitOliisssstcccsassax civ cheese cseusvacananeeed caaetas vane sbtvecanuevecananeiveceeveneuanas 66 10 Additional PAR AINNCUENS i yiccsicisnuscnerteacttsinesertecsspisieniisieneaciaipeienigeued daumnierenisneemaes 67 10 1 CANOPEN ad ditional parameters sc csssscacoosnade waviness aaeae winicuedhaduantomiacctsiewmasgiees 67 10 2 Piosition additionial parameters isacscuescccscoesiedennteimubeacmeosivlcsteiaietteatelsvansiisted adele 71 10 3 System additional parameters EE E EIR aS 71 104
147. ocity measurement device It corresponds with DSP402 profile specific object velocity actual value Object varE ncFbMechAccel Mechanical acceleration Modbus IPA 27025 Modbus Data Type Signed32 CANopen COE_ index 3A43h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Acceleration factor unit Default value n a Value range Full scale This object represents the actual value of the acceleration The acceleration is simply computed as difference of the speed every 125 us Object varE ncFbElecAngle Electrical angle Modbus IPA 27026 Modbus Data Type Unsigned16 CANopen COE_ index 3A44h 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the electrical position of the motor Object varE ncFbStatus Encoder Feedback status Modbus IPA 27028 Modbus Data Type Unsigned16 CANopen COE_ index 3A45 0h CANopen COE Data Type Unsigned8 Attributes ro pdomap Unit n a Default value n a Value range See table above Encoder feedback status Mask number Name Description Olh cstE ncStatusRelativeValid Relative angle is valid 02h cstEncStatusE lec AngleValid Electrical angle is valid 04h cstE ncStatusF atalFaultValid Fatal fault during the calculations position Non fatal fault status Combine status from both encoders
148. odbus Data Type Unsigned16 CANopen COE_ index 3F05h 0h CANopen COE Data Type Unsigned16 Attributes rw retain pdomap Unit 0 O 19 78 electrical angle Default value 0 Value range 0 to 65535 0 to 359 59 59 electrical angle This parameter indicates the electrical offset angle between the position feedback encoder and the motor stator windings In Phase motors manufacturer this value is equal to zero 4 1 1 Endat The EnDat interface from Heidenhain is a digital bidirectional interface for encoders It is capable both of transmitting position values from incremental and absolute encoders as well as transmitting or updating information stored in the encoder or saving new information Thanks to the serial transmission method only four signal lines are required The data are transmitted in synchronism with the clock signal from the subsequent electronics The type of transmission position values parameters diagnostics etc is selected by mode commands that the subsequent electronics send to the encoder Parameters to handle the Endat protocol information Object parEncME ndat ClockFreq Endat Clock Frequency Modbus IPA 26020 Modbus Data Type Unsigned16 CANopen COE_ index 3810h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit kHz Default value 2000 Value range 100 max value depending by Endat protocol type Clock freque
149. of activation of the Soft Start circuit A Option code Soft Start time 0000h Soft Start disable 0001h 38 75 msec 0002h 75 50 msec 0003h 155 00 msec 0004h 310 00 msec 39 WARNING This change takes effect only after the Save parameters command and Reset of the drive AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parPStage BridgeLayout Bridge Layout Assignment Modbus IPA 27490 Modbus Data Type Unsigned16 CANopen COE_ index 3146h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit n a Default value 0000h UVW Value range See table above Motor wires order This parameter has to correspond to the motor phase U V W sequence on the AxM II connector P1 Option code Description Name Mask 0000h Bridge layout U V W cstPStageB ridgeLayoutU VW 0001h Bridge layout U W V cstPStageB ridgeLayoutU WV 0002h Bridge layout VU W cstPS tageB ridgeLayoutVU W 0003h Bridge layout W U V cstPS tageB ridgeLayoutWUV 0004h Bridge layout V W U cstPS tageB ridgeLayoutVWU 0005h Bridge layout W V U cstPStageB ridgeLayoutWVU A WARNING Use with caution Useful parameter when it s wrong wire sequence on the motor cable and is unable to change it This change takes effect only after the Save parameters command and Reset of the drive Object wksIdRef User
150. of execution time Object wksPicPwrDisOnOverTime Modbus IPA LogicLab Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True If enabled in case of task overtime all power outputs are immediately set in safe state Object wksPIcSlowTaskPeriod Modbus IPA LogicLab Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes rw Unit msec Default value 8 Value range 1 to 64 Plc program slow task execution period This variable has to be set during pre boot task of Plc program Object wksPlIcTaskCfg IEC address MB1003 0 LogicLab Type DRVTSKCTRL PLC CONFIG Attributes w Description Tasks configuration parameters Structure members ubRtHookPosition Description Hook Position ubModActiveF rontEnd Active front end task ubModPiDcBusCntrlLp32bit PI control loop on DC bus task ubPositioner Positioner task ubSpaceSpeedCntrLp Space speed control loop task ubThermal Model Thermal model task ubMotorHandler Motor handler task ubMotionController Motion controller task CiA402 state machine and profile mode ubActiveF rontEndController Active front end controller task ubEncoderM anager Encoder manager task ubEncFeedBackSelection Encoder feedback selection task This
151. oltage threshold OverCurrentThreshold Dc bus Over Current thrsehold ILoopKi Modulator Ki ILoopKp Modulator Kp Dummy0 Dummy parameter IqLimit Quadrature current limits IdLimit Direct current limits Dummy1 Dummy parameter Bridgelayout Bridge Layout Assignment Through Plc program application it should possible to realize a Torque Mode profile In this way the torque reference and the limits of the torque loop are managed by Plc program instead of AxM II firmware Plc variables plclLoop Object plclLoopidRef Direct current reference Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit 0 1 mA Default value 0 Value range Full scale Direct current target for current loop control 78 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object plclLoopiqRef Quadrature current reference Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type Attributes rw Unit 0 1 mA Default value 0 Value range Full scale Quadrature current target for current loop control Object plclLoopElecAngle Modbus IPA LogicLab Data Type Unsigned16 CANopen COE index CANopen COE Data Type Attri
152. on The position counter is incremented on every rising edge of a track A input when the direction input is high and decremented when the direction input is low Object parEncMInc Flags E nableU pDown Enable Up Down mode Modbus IPA 26051 Modbus Data Type Unsigned16 CANopen COE_ index 3828h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On Enable up pulse track A and down pulse track B mode in place of standard quadrature encoder mode This is sometimes called in a 1X mode a 512 line encoder will generate 512 counts per revolution in up down mode When the Up Down mode is selected two input pulse signals determine the count value With track B high the count increments on the rising edge of track A With track A high the count decrements on the rising edge of track B Track A Up count Track B f f f Down count Clockwise rotation Counter Clockwise rotation Figure 3 Up down count mode 18 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parEncMInc Flags SwapTracks Swap input tracks Modbus IPA 26049 Modbus Data Type Unsigned16 CANopen COE_ index 3827h 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value
153. ow Target Position Window Modbus IPA 29027 Modbus Data Type Signed32 CANopen COE_ index 6067h 0h CANopen COE Data Type Unsigned32 Attributes rw retain pdomap Unit Position factor unit Default value 64 0 35 Value range n a The position window defines a symmetrical range of accepted positions relatively to the target position target position position window target position position window If the present value of the position encoder is within the position window this target position is regarded as reached Object parDevCtrl TargetP osTimeout Position Timeout Modbus IPA 29028 Modbus Data Type Signed16 CANopen COE_ index 6068h 0h CANopen COE Data Type Unsigned16 Attributes rw retain pdomap Unit ms Default value 20 Value range n a When the actual position is within the position window during the position window timeout the corresponding bit10 in the statusword is set Object wksTargetPosHi Target position mechanical tums Modbus IPA 29002 Modbus Data Type Signed32 CANopen COE_ index CANopen COE Data Type Attributes rw Unit Position factor unit Default value 0 Value range Full scale User target position in mechanical turns is the MSB 32 bit of 64 bit target position The target position is the position that the drive should move to in position profile mode using the current settings
154. p Modbus IPA 27408 Modbus Data Type Real32 CANopen COE_ index 3121h 0h CANopen COE Data Type Real32 Attributes rw retain pdomap Unit Default value 0 Value range Full scale Current Loop Proportional Gain If set to zero its used the Kp automatically calculated by the firmware looking motor data parameters refer to section 3 during the normal drive working cycle thus with power enabled and moving shaft Be careful as jd WARNING the values of the objects parlLoop lLoopKi and parlLoop lLoopKp could be written also modifying the values of this object with power enabled could yield in a loss of axle control Object pariLoop IdLimitMin Direct Current Limit Min Modbus IPA 27409 Modbus Data Type Signed32 CANopen COE_ index 3122h 0h CANopen COE Data Type Signed32 Attributes rw retain pdomap Unit 0 1mA Default value 0 0 Value range 0 to 214748 3647 38 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Direct current negative minimum limit when in Torque Mode profile It s clipped to zero if the user sets a positive value Object pariLoop IdLimitMax Direct Current Limit Max Modbus IPA 27410 Modbus Data Type Signed32 CANopen COE_ index 3123h 0h CANopen COE Data Type Signed32 Attributes rw retain pdomap Unit 0 1mA Default value 0 0 Value range 0 to 214748 3647 Direct current positive maximum li
155. r configuration For more details about the format position refer to the manual 4 Object varE ncAbsMechS peed Absolute mechanical speed Modbus IPA 26404 Modbus Data Type Signed32 CANopen COE_ index 3A12h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Velocity factor unit Default value n a Value range Full scale This is the absolute mechanical speed The speed is calculated as difference between two consecutive readings of the absolute position encoder 125s Object var ncAbsMechAccel Absolute mechanical acceleration Modbus IPA 26405 Modbus Data Type Signed32 CANopen COE_ index 3A13h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Acceleration factor unit Default value n a Value range Full scale This is the absolute mechanical acceleration The acceleration is simply computed as difference of the speed every 125 us Object var ncAbsE lecAngle Absolute electrical angle Modbus IPA 26406 Modbus Data Type Unsigned16 CANopen COE_ index 3A14h 0h CANopen COE Data Type Unsigned16 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale This is the electrical absolute position of the motor Object n a Main Absolute Encoder Status Modbus IPA Modbus Data Type CANopen COE index 3A15 0h CANopen
156. r is used it s necessary to set here the own value Object parThermalModel B rakeResistorPower Brake resistor power Modbus IPA 28101 Modbus Data Type Unsigned16 CANopen COE_ index 3221h 0h CANopen COE Data Type Unsigned16 Attributes rw retain Unit 100 mW Default value 0 Value range Full scale Maximum power wasted by the brake resistor Defines the edge limit of the Brake Error alarm A WARNING The internal resistor max power depends on the AxM II drive model The internal braking resistor is able to dissipate a maximum of 10W braking power If the power dissipation is higher it becomes necessary the use of an external resistor Refer to 4 for the connection of the external resistor Object parThermalM odel B rakeResistorE nergy Brake resistor energy Modbus IPA 28107 Modbus Data Type Unsigned32 CANopen COE_ index 3225h 0h CANopen COE Data Type Unsigned32 Attributes rw retain Unit Joule Default value 0 Value range Full scale Maximum brake resistor energy 9 1 1 Brake Unit Monitor Object varP StageVdcB us Dc bus voltage Modbus IPA 27440 Modbus Data Type Signed16 CANopen COE_ index 3104h 0h CANopen COE Data Type Signed16 Attributes ro pdomap 64 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG
157. rCAN Controller parCAN DisableAlarmM ask parCAN Flags ReS yncEnable parCAN Open parCAN Open CommCycleP eriod parCANOpen EmcylinhibitTime parCANOpen EmgyCOB parCAN Open GuardTime parCAN Open HeartbeatTime parCANOpen LifeTimeF actor parCAN Open LssNodeld parCANOpen LssTiminglndex parCANOpen SyncCOB parDevCtrl parDevCtrl DisableOptCode parDevCtrl FaultReactionOptCode parDevCtrl FollowingErrTimeout parDevCtrl FollowingE rrWindow parDevCtrl HaltOptCode parDevCtrl IPTimelndex parDevCtrl IPTimeUnits parDevCtrl M odeOfOperation parDevCtrl QuickStopOptCode parDevCtrl ShutdownOptCode 0 48 parDevCtrl TargetP osTimeout parDevCtrl TargetP osWindow parDevCtrl VelocityThresholdTimeout parDevCtrl VelocityThresholdWindow parDevCtrl VelocityTimeout parDevCtrl VelocityWindow parECAT parE CAT Flags EnableM odule parE CAT Flags ReSyncEnable parEncAEndat parEncAEndat ClockF req parEncAEndat MTurnStartP os PATENCAING sici parEncAlnc Flags DisablelndexE rror parEncAlnc Flags EnableStepDir parEncAlnc Flags EnableUpDown parEncAlnc Flags Swaptracks parEncAlnc FlagsEnablelndexTrack parEncAlnc IndexErrorTolerance parEncAlnc LineCounts parEncAn parEncAn AnalogAlarmThreshold parEncAn Flags AnalogGain parEncAn Flags ReverseSignal parEncAn PoleCounts parEncBEmf AGlitchF aultLimit p
158. rator Wks variable to command digital state of output signal 0 False digital output value is low 1 True digital output value is high Object wks OAnaOutputs Analog Outputs signal Modbus IPA Modbus Data Type Signed16 CANopen COE index CANopen COE Data Type Attributes rw Unit mV Default value 0 Value range 0 10000 Array of 4 analog outputs signals The hardware analog outputs are physically two channels Their value has source to 0 1 array channels while 2 3 array channels are virtual channels handled by Control Panel Logical Outputs from the Cockpit configurator Wks variable to set the value of analog signal outputs value corresponds to the ADC scale appropriate 0 10000 means 0 10V Object var ODigInputs Digital Inputs signal Modbus IPA Modbus Data Type Unsigned16 CANopen COE index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True Array of 8 digital inputs signal The hardware digital inputs are physically eight channels Their value can be source to 0 7 channels D0 D7 or can be source to 0 7 array virtual channels handled by Control Panel Logical Outputs from the Cockpit configurator For more detail refer to 4 Variable to read digital state of input signal 72 AXM II Configurable Motion Control Platform 0 False digital inpu
159. refer to 4 or refer to 7 Basic data types used for accessing the object from Plc program application are par the parameter variables are data structures based on drive parameters cst the constant variable should be used by the user to write own program Plc application wks the working variables are used to set and control the AxM II drive and the tasks behaviour var the monitor variables 11 1 Globals Group Globals Group data structure describes the electrical and mechanical features of the motor Object parMotorData IEC address MB205 0 LogicLab Type PAR MOTORDATA Attributes rw Description Motor specifications Structure members SerialNumber Description Motor serial number s n Productiondate Production date YYYYMMDD Model Motor model Resistance Motor winding resistance 0 Inductance Motor winding inductance H Kt Motor constant torque Nm Arms CurrentN ominalZeroS peed Nominal current at zero speed Arms CurrentNominal Motor nominal current Arms CurrentPeak Motor peak current Arms SpeedNominal Motor nominal speed rad s ThermalConstant Thermal constant in air s StatorInertia Motor stator inertia kg m PhaseOffset Electrical phase offset 0 65535 0 35 9electrical Type Motor type PoleN umbers Motor poles number CoolingTempOn Start cooling a
160. ributes rw Description Thermal Model Structure members BrakeR esistorValue Description Brake resistor value 100 mQ BrakeR esistorP ower Brake resistor power 100 mW CoolingTempOn On cooling temperature 100m C CoolingT emp Off Off cooling temperature 100m C MotorOverTemp Motor overtemperature C BrakeResistorEnergy Brake resistor energy J 11 10 CANOpen Group Constants to set the CiA301 state machine for the network management NMT objects Through NMT services CANOpen devices are initialized started monitored reset or stopped All CANOpen devices are regarded as NMT slaves Constant to command the NMT state machine Constant name Description Data Type Mask Value cstCanOpenNMTCStart NMT command start Unsigned8 Olh cstCanOpenNMTCStop NMT command stop Unsigned8 02h cstCanOpenNMTCEnterPreoperational NMT command to pre operational Unsigned8 80h cstCanOpenNMTCResetNode NMT command to reset the CAN node Unsigned8 81h cstCanOpenNMTCResetCommunication NMT command to reset communication Unsigned8 82h Constant to read state of NMT Can communication Constant name Description Data Type Mask Value cstCanOpenNMTSBootup NMT state initialization Unsigned8 00h 85 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG
161. ributes rw pdomap Unit n a Default value 03h Value range See table above This parameter switches the operation mode The possible values are Option code Description Name mask Olh Profile position mode cstDevCtriMode0fOpProfilePosition 03h Profile velocity mode cstDevCtriModeOfOpProfileVelocity 06h Homing mode n a 07h Interpolated position mode n a 80h Torque mode cstDevCtriMode0fOpTorqueMode This value parameter is reflected in the object modes of operation display The AxM II supports switching between the various modes of operation also when the axes is moving Object parDevCtri QuickStopOptCode Quick Stop Option Code Modbus IPA 29020 Modbus Data Type Signed16 CANopen COE index 605Ah 0h CANopen COE Data Type Signed16 Attributes rw retain 47 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Unit n a Default value 0002h Value range See table above This determines what action should be taken if the Quick stop function is executed transition 11 The action could be one of the following Option code Description Name mask 0000h Disable drive function cstDevCtrOptCodeP owerOff 0001h F with slow down ramp disable of the drive cstDevCtriOptCodeSlowDown 0002h ap with quick stop ramp disable of the drive cstDevCtriOptCodeQuickStop 0005h
162. rical connections Object parEncAlnc Flags EnableStepDir Auxiliary Enable pulse and direction tracks Modbus IPA 26138 Modbus Data Type Unsigned16 CANopen COE_ index 392Ch 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value o off Value range 0 Off 1 On Enable step pulse track A and direction track B mode in place of standard quadrature encoder mode For more details refer to parEncMInc Flags EnableS tepDir Object parEncAlnc Flags EnableU pDown Auxiliary enable index track Modbus IPA 26139 Modbus Data Type Unsigned16 CANopen COE_ index 392Dh 0h CANopen COE Data Type Signed8 Attributes rw reset retain Unit n a Default value 0 Off Value range 0 Off 1 On Flag to enable up pulse track A and down pulse track B mode in place of standard quadrature encoder mode For more details refer to parEncMInc Flags EnableU pDown Object parEncSiminc IndexLineCounts Simulated encoder counts Modbus IPA 26146 Modbus Data Type Unsigned32 CANopen COE_ index 3928h 0h CANopen COE Data Type Unsigned32 Attributes rw reset retain Unit counts Default value 512 Value range 2 to 16384 The encoder simulation signal is generated in the A quadrature B format with index marker trace The simulated line counts for motor revolution is setting with this parameter 33 Ax
163. ronous acyclic Inhibit Time 0 COB ID BO Bl B2 B3 B4 B5 Statusword Velocity actual value eee 6041h 0h 606Ch 0h PDO TPDO 5 COB ID C000 0000h disabled Type 255 asynchronous Inhibit Time 0 PDO TPDO 6 COB ID C000 0000h disabled Type 255 asynchronous Inhibit Time 0 PDO TPDO 7 COB ID C000 0000h disabled Type 255 asynchronous Inhibit Time 0 PDO TPDO 8 COB ID C000 0000h disabled Type 255 asynchronous Inhibit Time 0 TPDO from 5 to 8 have no default mapping parameters 95 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG F SPACE SPEED CONTROL LOOP SCHEMA parS SCntriLp PosGainS hift Only Shift Right Kp position parSSCntriLp PosKp pos fb A pos ref Following error 60F4h 0h 2 vel ref vel fb Diff Kp flag parSSCntriLp Flags U seDifferentKp Kp Speed fbk j parSSCntriLp SpdKPFbk acc ref parSSCntriLp llimitMax e wel loop out Kp Speed Ref parSSCntriLp SpdKpRef 1 Ss 7 parSSCntriLp llimitMin Ki acc fb parSSCntriLp Ki Kp Accel Ref Kp Accel fbk parSSCntriLp AccKpRef parSSCntriLp AccKpFbk parSSCntriLp AccGainShift Only Shift Left Figure 12 Speed loop main schema varlLoop qLimM ax Iq reference vel loop out _ varlLooplqLimMin 2 parSSCntriLp GlobalGainShift Figure 13 Speed loop output schema
164. rs table on the 0000 0002h Invalid Flash Parameters The flash sector where the parameters are saved is damaged drive Then contact PMC service P Measure the input power supply If the problem 0000 0003h due to power fail ar occurred during the boot firmware boot Failure due to power persist also when the power supply value is correct hen contact PMC service 0000 0010h FPGA Programming Failed Error occurred during the boot firmware the FPGA firmware ry to reload firmware If the problem persists download procedure is failed contact the PMC service Error occurred during the boot firmware boot failure due to Try to reload software and parameters table on the 0000 0018h due to incompatible FPGA incompatible firmware release and FPGA hardware revision For drive Then contact PMC service Group Alarm Code Alarm Type Leds Panel 0000 0008h System boot locked by parameter s value out of range S28a8a0 88A SubCode Alarm Subcode Identification Description Suggested Action Boot system fail for invalid parameter configuration Check the value of varSysWrongParCode parameter that should indicate which parameter has the wrong value Correct parameter save and reset the drive should solve the error Group Alarm Code Alarm Type Leds Panel 0000 0010h Power Section Fault SubCode Alarm Subcode Identification Description Suggested Action Fault on the IG
165. s IPA 27481 Modbus Data Type Real32 CANopen COE index 310Ah 0h CANopen COE Data Type Real32 Attributes ro pdomap Unit n a Default value 0 0 Value range Full scale Torque loop gain calculated by the drive based on motor inductance Object varlLoopIdMin Id Limit Min Modbus IPA 27482 Modbus Data Type Signed32 CANopen COE_ index 310Bh 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale Applied lower limit for the direct current Object varlLoop dMax Id Limit Max Modbus IPA 27483 Modbus Data Type Signed32 CANopen COE_ index 310Ch 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale Applied higher limit for the direct current Object variLooplqMin Iq Limit Min Modbus IPA 27484 Modbus Data Type Signed32 CANopen COE_ index 310Dh 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale Applied lower limit for the quadrature current Object variLooplqMax Iq Limit Max Modbus IPA 27485 Modbus Data Type Signed32 CANopen COE_ index 310Eh 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale Applied higher limit for the quadrature current 42 AxM II Configurable Motion Control Platform 6 SPEED POSITION LOOP These parameters control the behaviour and the
166. s and the plc application stored into the drive 0000 0010h Start with power supply voltage under 24 Voltage 0000 0020h Undervoltage warning if the power stage is disabled otherwise fatal fault is generated if the power stage is enabled 0000 0040h Estimated sensorless module Kt value is out of range Refer to varEncBEmfValueKt 0000 0080h Estimated sensorless module speed constant is out of range Refer to varEncBEmfSpeedK Conversion 0000 0100h Invalid parameters 0000 0200h Safe Torque Off STO active 0000 1000h Save and reset request pending 3 MOTOR T hese values describe the electrical and mechanical characteristics of the motor usually they are found on the motor s namemeplate or on the manufacturer s motor catalogue You can obtain the data sets for all Phase standard motors from the website http www phase eu Object parMotorData Resistance Motor resistance Modbus IPA 27803 Modbus Data Type Real32 CANopen COE_ index 3F00h 0h CANopen COE Data Type Real32 Attributes rw reset retain Unit Q Default value 3 099 Value range 0 001 to 32 767 Motor winding resistance value Object parMotorData Inductance Motor inductance Modbus IPA 27804 Modbus Data Type Real32 CANopen COE_ index 3F01h 0h CANopen COE Data Type Real32 Attributes rw reset retain Unit H Default value 0 01432 Value range 0 00001 to 0 32767 Motor wi
167. s the 32 LSB bit position input of the space speed control loop as computed by the trajectory generator Object varPosR GDemandS peed Demand Speed Modbus IPA 27124 Modbus Data Type Signed32 CANopen COE_ index 606Bh 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Velocity factor unit Default value n a Value range Full scale It corresponds to the velocity demand value this is the output value of the trajectory generator Object varPosRGDemandAccel Demand acceleration Modbus IPA 27125 Modbus Data Type Signed32 CANopen COE_ index 3352h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Acceleration factor unit Default value n a Value range Full scale Input acceleration reference in the speed position loop Object varPosRGPosE rror Following error Modbus IPA 27126 Modbus Data Type Signed32 CANopen COE_ index 60F4h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit Position factor unit Default value n a Value range Full scale Following error actual value 7 DEVICE CONTROL Parameters defined in DSP402 profile of the CanOpen specifications For further information s refer to 3 Object parDevCtrl ModeOfOperation Mode of Operation Modbus IPA 29016 Modbus Data Type Unsigned16 CANopen COE_ index 6060h 0h CANopen COE Data Type Signed8 Att
168. sS yncing varSysStatLockedB yB ootE rror varS ysStatP arametersS aving varS ysStatPIclmgBackgroundIn varSysStatPlclmgBackgroundOut varSysStatPIclmgSlowIn varSysStatPlclmgSlowOut varSysStatPIcRunBackground varSysStatPIcRunning varSysStatPIcRunSlow varS ysS tatP owerE nabled varS ysS tatP owerS oftStarting varS ysS tatP owerZeroEIFldSeek varS ysStatP rogramFlashWriting varS ysS tatResetting varS ysWarnings varS ysWrongP arCode varThM odelldLimMax varThM odelldLimMin varThM odellqLimM ax varThM odellqLimMin varThM odelR BrakeE nergy varThM odelRBrakeP ower varThM odelTHeatSink varThM odelTj varThM odelTM otor varThM odelTNtc wksControlWord wksldRef wks lOAnaOutputs wks ODigOu wksIP QuotaHi wksIP QuotaLo wksl Ref wksP cP wrDisOnOverTime wksPIcSlowTaskCopyOutl mmediate wksPIcSlowTaskPeriod wksPIcTaskCfg wksSysReset wksSysRestoreP arameters wksSysS aveP arameters wksTargetPosH wksTargetP osLo wksTargetS peed AxM II Configurable Motion Control Platform J CANOPEN COE OBJECTS SORTED INDEX 000h 0h 001h 0h 002 0h 005 0h 006h 0h 008 0h 00A 0h 00Ch Oh 00Dh 0h 67 67 69 I a EEEE EE 400h 2h 600h 0h 600h 1h 600h 8h 800h 1h 800h 2h 800h 3h 800h 6h A0Oh Oh AOOh 1h AOOh 8h 2901h 0h 2902h 0h 2903h 0h
169. scale Acceleration reference proportional gain value Object parSSCntriLp AccKpFbk Acceleration kp feedback value Modbus IPA 27005 Modbus Data Type Signed16 CANopen COE index 3305h 0h CANopen COE Data Type Signed16 Attributes rw retain pdomap Unit n a Default value 0 Value range Full scale Acceleration feedback proportional gain value Object parSSCntriLp Ki Integral Gain Modbus IPA 27006 Modbus Data Type Signed16 CANopen COE index 3306h 0h CANopen COE Data Type Signed16 Attributes rw retain pdomap Unit n a Default value 0 Value range Full scale Speed loop integral gain value Object parSSCntriLp PosGainShift Position gain shift Modbus IPA 27007 Modbus Data Type Unsigned16 CANopen COE index 3307h 0h CANopen COE Data Type Unsigned16 Attributes rw retain pdomap Unit n a Default value 0 Value range 0 to 16 Divisor of the position gain expressed in exponential base 2 E g with the value 2 the proportional gain is divided by 4 Object parSSCntriLp AccGainShift Acceleration gain shift Modbus IPA 27008 Modbus Data Type Unsigned16 CANopen COE_ index 3308h 0h CANopen COE Data Type Unsigned16 Attributes rw retain pdomap Unit n a Default value 0 Value range 0 to 15 Multiplier of the Acceleration Gain expressed in exponential base 2 E g with the value 2 the proportional gain is multiplied by 4 Object parSSCntrLp GlobalGainShift Global gain shift Modbus IPA 27009 Modbus Data T
170. standard definition refer to 1 and 3 Object parCAN Controller Can controller configuration Modbus IPA 30000 Modbus Data Type Signed16 CANopen COE_ index CANopen COE Data Type Attributes rw retain Unit n a Default value 0000h Disabled Value range See table above CAN controller configuration AxM II drive has two configurable CAN channel Option code Description Name 0000h Disable CAN controller 0001h Main Controller AxM II drive connector C1 cstCanNode0 0002h Aux Controller AxM II drive connector S1 cstCanNodel Object parCAN Open LssNodeld Lss Node ID Modbus IPA 30001 Modbus Data Type Signed16 CANopen COE index CANopen COE Data Type Attributes rw retain Unit n a Default value 1 Value range 1 to 127 The node identifier node ID within a CANOpen network is set with this parameter Each node within the network drives peripherals needs its own unique number A WARNING Do not assign the same node ID address to more than one slaves on the net Object parCANOpen LssTiminglndex Lss Timing Index Modbus IPA 30002 Modbus Data Type Signed16 CANopen COE_ index CANopen COE Data Type Attributes rw retain Unit n a Default value 0004h 125Kbps Value range See table above Baudrate CAN communication protocol 54 AxM II Config
171. stant name Description Data Type Mask value cstEncEfsTypeDisabled Disable the electrical field orientation Unsigned8 00h cstEncEfsTypeldRamp Enable the electrical field orientation Unsigned8 01h cstEncEfsTypeldRampPosition Enable the electrical field orientation Unsigned8 02h These data structures are referred to encoder main and auxiliary configuration Object parEncME ndat IEC address MB401 0 LogicLab Type PAR ENDAT Attributes w Description Main Encoder Endat parameters Structure members ClockFreq Description Clock frequency selector KHz MTurnStartPos Offset for multiturn position at start up Dummy Dummy parameter Object parEncAEndat IEC address MB402 0 LogicLab Type PAR_ENDAT Attributes w Description Auxiliary Encoder Endat parameters Structure members ClockFreq Description Clock frequency selector KHz MTurnStartPos Offset for multiturn position at start up Dummy Dummy parameter Object parEncAn IEC address MB403 0 LogicLab Type PAR_SINCOS Attributes rw Description Encoder main absolute encoder parameters Structure members PoleCounts Description Encoder number of poles AnalogAlarmThreshold SinCos Level Alarm threshold Dummy Dummy parameter Structure flags AnalogGain If enabled Angle 360 arctan Sin Cos otherwise Angle arctan Sin Cos ReverseSignal High for Sincos encoder low for Resolver 75 AxM II Configurable Motion Control Platform Doc 1
172. t Default value n a Value range Full scale The interpolation data record is the data words which are necessary to perform the interpolation algorithm For the linear interpolation mode each interpolation data record simply is regarded as a new position set point Those set points could be optionally filtered by a user defined 2 order filter Object parDevCtr IPTimeU nits Interpolation time units Modbus IPA 29033 Modbus Data Type Unsigned16 CANopen COE_ index 60C2h 1h CANopen COE Data Type Unsigned8 Attributes rw Unit n a Default value 1 Value range Full scale Interpolation time units Object parDevCtri IPTimelndex Interpolation time index Modbus IPA 29034 Modbus Data Type Signed16 CANopen COE index 60C2h 2h CANopen COE Data Type Signed8 Attributes rw Unit n a Default value 3 Value range 128 to 63 Interpolation time index Object wksIPQuotaLo Interpolation data value angle unit Modbus IPA LogicLab Data Type Unsigned32 CANopen COE index CANopen COE Data Type Attributes rw Unit Position Factor Unit Default value n a Value range Full scale This is the interpolation data position in mechanical angle unit The interpolation data in angle unit is the 32 LSB bit of 64 bit interpolation data position For more details about the format position refer to the appendix Encoder posi
173. t if available 100m C CoolingT emp Off Stop cooling at if available 100m C MaximumTemp Maximum coil temperature 100m C DirectInductance Synchronous or direct inductance H These parameters should be memorized into the non volatile memory of the Endat encoder 73 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG If there are not informations saved into Endat electronic plate these parameters will assume the default value or their value saved in the non volatile memory of AxM II drive For more details refer to parEncMgr Flags DisableE Plate 11 2 PLC Group Constants to set the task configuration of AxM II drive Constant name Description Data Type Mask value cstPicTaskCfgAuto Task configuration default handle by the firmware Unsigned8 00h cstPlcTaskCfgOff Task configuration disable task is switched off Unsigned8 Olh cstPlcTaskCfgPlc Task configuration handles by PLC program Unsigned8 02h Wks variables are used to set and control the AxM II drive tasks behaviour Object wksPIcSlowTaskCopyOutimmediate Modbus IPA LogicLab Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True Copy output data of slow task immediately at the end
174. t value is low 1 True digital input value is high Doc 10460 0 A M ENG Object vaiOAnalnputs Physical Analog Inputs Modbus IPA Modbus Data Type Signed16 CANopen COE index CANopen COE Data Type Attributes rw Unit mV Default value 0 Value range 10000 Array of 3 analog inputs signal The hardware analog inputs are physically two channels Their value can be source to 0 1 array channels or can be source to 2 array virtual channels handled by Control Panel Logical Outputs from the Cockpit configurator For more detail refer to 4 Variables to read the value of analog signal inputs value corresponds to the ADC scale appropriate 10000 means 10V 11 PLC VARIABLES Following tables describe the system variables available in the file SysApp tgt divided for group identifier and data type These system variables are also reported in LogicLab environment under Target variables tab of Library tools windows The Target variables are the interface between the firmware and Plc application code Each group is divided in constant parameters monitor variables and working variables WKS used to control drive behaviour LogicLab is an IEC61131 3 Integrated Development Environment supporting the whole range of languages defined in the standard Use the software development tool LogicLab in order to create a dedicated application for the AxM II drives family For more detail
175. tem reset 0 False no system reset 1 True enable system reset 71 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object varSysAlarms System alarms Modbus IPA LogicLab Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type Attributes ro Unit n a Default value n a Value range Full scale Active alarm mask For more details refer to C Object varS ysAlarmS ubCode System alarms subcode Modbus IPA LogicLab Data Type Unsigned32 CANopen COE index CANopen COE Data Type Attributes ro Unit n a Default value n a Value range Full scale Last alarms subcode For more details refer to C 10 4 Physical Digital Analog Input Output These variables are used to set the status of digital output and analog output For electrical specification of digital and analog input output refer to 4 Object wks ODigOutputs Digital Outputs signal Modbus IPA Modbus Data Type Unsigned16 CANopen COE index CANopen COE Data Type Attributes rw Unit n a Default value 0 False Value range 0 False 1 True Array of8 digital outputs signal The hardware digital output is physically four channels Their value has source to 0 3 array channels while 4 7 virtual channels are virtual channels handled by Control Panel Logical Outputs from the Cockpit configu
176. ter 22 AXM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object varE ncBE mfSpeedK Conversion Speed constant conversion Modbus IPA 26085 Modbus Data Type Unsigned32 CANopen COE_ index 3863h 0h CANopen COE Data Type Unsigned32 Attributes ro pdomap Unit n a Default value 0 Value range 0 to 65536 Actual speed constant conversion value calculated by the sensorless algorithm If the value is outside the value range 0 to 65536 a Sensorless alarm is generated Object varE ncBEmfS peedDelta BEmf speed angle Modbus IPA 26086 Modbus Data Type Signed32 CANopen COE_ index 3864h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit rad s Default value 0 Value range Full scale Mechanical speed calculated as difference of mechanical angles Object varE ncBEmfValueKt Motor Kt value Modbus IPA 26087 Modbus Data Type Real32 CANopen COE_ index 3865h 0h CANopen COE Data Type Real32 Attributes ro pdomap Unit Nm A Default value 0 0 Value range Full scale Estimated motor torque constant Kt value 4 1 11 Electrical Field Orientation Parameters to manage the Electrical Field Orientation procedure Object parEncEFS ProcedureType Procedure type Modbus IPA 26302 Modbus Data Type Unsigned16 CANopen COE_ index 38F0h 0h CANopen COE Data Type Unsigned
177. ternal device unit d u Default value 5000 Value range Full scale Analog tracks level sin cos threshold The calculated value sin cos must be greater than this value otherwise the alarm Absolute Analog Encoder Low Tracks Level is generated The signals of the single tracks will not be monitored to their amplitudes separately But from the recalculation of the encoder radius the outcome is that the signal level has to greater to the analog signal threshold The sin cos greater to the threshold means that the amplitude of signal sine and cosine are correct this represents the health of the encoder If the value is set to zero then amplitude checking is disabled 4 1 4 Absolute Analogue Traces gt Monitor Status of the encoder absolute analogue traces Object varE ncAnChannelSin Analog Sine channel Modbus IPA 26055 Modbus Data Type Signed16 CANopen COE_ index 3848h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit Internal device unit d u Default value n a Value range Full scale Analog level of the encoder Sin channel Object varE ncAnChannelCos Analog Cosine channel Modbus IPA 26056 Modbus Data Type Signed16 CANopen COE_ index 3849h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit Internal device unit d u Default value n a Value range Full scale Analog level of the en
178. the clock signal from the subsequent electronics Hall effect devices are digital On Off sensors constructed of semiconductor material used to sense the presence of magnetic fields In brushless servo motors the halls are usually imbedded within the motor windings and sense the position of the rotor magnets There is one sensor for each motor phase aligned with the stator winding Sin cos encoder also called sinusoidal encoder supply two sinusoidal signals offset by 90 The number and progress of the sine waves interpolation and arctangent is evaluated Using these values the speed and position can be determined with a very high resolution Usually sin cos encoder has 2 tracks and one index signal track Inverting the signals results in a total of six tracks The 90 offset signal are on tracks A and B One sine half wawe per revolution is provided at channel track C The track A B C are inverted in the encoder and provided inverted as signals on tracks A B and C Object parEncMgr Flags DisablelfRel Fail Relative position is not valid Modbus IPA 26007 Modbus Data Type Unsigned16 CANopen COE_ index 3807h 0h CANopen COE Data Type Signed8 Attributes rw retain Unit Default value 0 False Value range 0 False 1 True Immeditately disable the drive if data from relative position encoder are not valid otherwise the absolute track is used to try to quick stop the motor in a controlled way
179. tion cycle period Modbus IPA 30009 Modbus Data Type Unsigned32 CANopen COE index 1006h 0h CANopen COE Data Type Unsigned32 Attributes rw retain Unit Us Default value 0000 0000h Value range Full scale CAN protocol communication cycle period This object defines the Sync interval in us The value shall be given in multiple of us If the value is set to 0000 0000h the transmission of Sync messages Shall be disabled By changing the value from 0000 0000h and the synchronous counter overflow value is greater than 0 the first Sync message shall start with the counter value reset to 1 The transmission of Sync messages shall start within one communication cycle period as given by the value after it is set to the new value Object parCAN DisableAlarmMask Can disable alarm mask Modbus IPA 30010 Modbus Data Type Unsigned32 CANopen COE_ index 5730h 0h CANopen COE Data Type Unsigned32 Attributes rw retain pdomap Unit n a Default value 0000 0000h Value range Full scale If the value is different to 0000 0000h the alarm messages generated by the CAN protocol are disabled Object parCAN Flags ReSyncE nable Synchronization Enable Modbus IPA 30011 Modbus Data Type Unsigned32 CANopen COE index CANopen COE Data Type Attributes rw retain Unit n a Default value 0 Off Value range O Off 1 On Enable the internal machine cycle synchronization with t
180. tion format or to the manual 4 Object wks PQuotaHi Interpolation data value tums unit Modbus IPA LogicLab Data Type Signed32 CANopen COE index CANopen COE Data Type 53 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Attributes rw Unit Position factor unit Default value n a Value range Full scale This is the interpolation data encoder position in mechanical turns unit The interpolation data in turns unit is the 32 MSB bit of 64 bit interpolation data position For more details about the format position refer to the appendix Encoder position format or to the manual 4 8 FIELDBUS 8 1 Fieldbus CANOpen CAN is an abbreviation for the Controller Area Network CANOpen is a higher layer protocol based on CAN Controller Area Network which enables the communication between devices of different manufacturers and guarantees an interchange ability of devices Thus devices of different manufacturers can be accessed via the bus in exactly the same manner In this way a very high degree of vendor independence is achieved as the devices are interoperable and exchangeable CANOpen is a high speed serial interface which was designed for use in Automotive and Industrial applications AxM II drive is configurable as CANOpen standard slave node and it s possible select one from some CAN Open standard profiles For further information about CANOpen
181. tus and configuration Object parSyncMgr IEC address MB218 0 LogicLab Type PAR SYNCMGR Attributes rw Description SyncManager parameters Structure members TSFilter Description Time constant of the filter O no filter ReSyncDelta Time shift for Sync point nsec FiltKp PLL proportional gain FiltKd PLL derivative gain PeakN Discard Number of consecutive discardable sample PeakThreshold Threshold for peak detection The following variables are used to monitor the Sync signal status Object varSyncMgr_ Correction Modbus IPA LogicLab Data Type Signed16 CANopen COE index CANopen COE Data Type Attributes rw Unit n a Default value n a Value range Full scale Instantaneous value used for the correction of the Sync signal status Object varSyncMgr_LastSamplePoint Modbus IPA LogicLab Data Type Signed16 CANopen COE index CANopen COE Data Type Attributes rw Unit n a Default value n a Value range Full scale Last fieldbus sample point averaged 87 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG A ENCODER POSITION FORMAT The encoder position is calculated on 64 bit range subdivide us show in table above This means that the internal device unit d u for the position is expressed as the MSB 32 bit give the number of turns the LSB 32
182. ue range 0 to 127 Slave address 0 is used as broadcast Cockpit Configurator menu Target Communication settings and the LogicLab environment menu Communication settings to avoid problems communication with the AxM II drive For more details refer to 4 and to 7 ji WARNING If one of these parameters has been changed it is necessary to align the setting of the 8 3 Fieldbus EtherCAT The EtherCAT technology overcomes the system limitations of other Ethernet solutions the Ethernet packet is no longer received then interpreted and copied as process data at every connection Instead the Ethernet frame is processed on the fly the newly developed FMMU fieldbus memory management unit in each slave node reads the data addressed to it while the telegram is forwarded to the next device Similarly input data is inserted while the telegram passes through The telegrams are only delayed by a few nanoseconds EtherCAT can provide the same communication mechanisms as the familiar CANOpen mechanisms object dictionary PDO process data objects and SDO service data objects even the network management is comparable For more details refer to 6 AxM II parameters for EtherCAT configuration are show below Object parE CAT Flags EnableModule Enable EtherCAT module Modbus IPA 30800 Modbus Data Type Unsigned16 CANopen COE_ index CANopen COE Data Type
183. urable Motion Control Platform Doc 10460 0 A M ENG Description Option code Name Mask 1Mbps 0000h cstCanBaudRate1000Kbps 800kbps 0001h cstCanBaudRate800Kbps 500kbps 0002h cstCanBaudRate500Kbps 250kbps 0003h cstCanBaudRate250Kbps 125Kbps 0004h cstCanBaudRate125Kbps 100Kbps 0005h cstCanBaudRate100Kbps 50Kbps 0006h cstCanBaudRate50Kbps 20Kbps 0007h cstCanBaudRate20Kbps 10Kbps 0008h cstCanBaudRate10Kbps Object parCANOpen EmcylnhibitTime Emergency Inhibit Time Modbus IPA 30003 Modbus Data Type Unsigned16 CANopen COE_ index 1015h 0h CANopen COE Data Type Unsigned16 Attributes rw retain Unit 100 usec Default value 0 Value range Full scale The inhibit time for the EMCY can be adjusted via this entry To guarantee that no starvation on the network occurs for data objects with low priorities data objects can be assigned an inhibit time this defines the minimum time that has to elapse between two consecutive invocations of a transmission service for that data object It could use only in asynchronous transmission type The value shall be given in multiples of 100 us The value zero disable the inhibit time Object parCANOpen SyncCOB Sync COB ID Modbus IPA 30004 Modbus Data Type Unsigned16 CANopen COE index CANopen COE Data Type Unsigned32 Attributes rw retain Unit n a Default value
184. ut Vv Modbus IPA 27439 Modbus Data Type Signed16 CANopen COE index 3108h 0h CANopen COE Data Type Signed16 Attributes ro pdomap Unit 100 mV Default value n a Value range Full scale Actual values of the voltage of the motor phase V Object variLoop dRef Id Reference Modbus IPA 27443 Modbus Data Type Signed32 CANopen COE_ index 3105h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale This is the direct current reference set as torque loop input Object variLooplqRef Iq Reference Modbus IPA 27444 Modbus Data Type Signed32 CANopen COE index 3106h 0h CANopen COE Data Type Signed32 Attributes ro pdomap Unit 0 1 mA Default value n a Value range Full scale This is the quadrature current reference set as torque loop input 41 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object vari LoopAutol LoopKi Modulator Ki auto Modbus IPA 27480 Modbus Data Type Real32 CANopen COE_ index 3109h 0h CANopen COE Data Type Real32 Attributes ro pdomap Unit n a Default value 0 0 Value range Full scale Torque loop gain calculated by the drive based on motor inductance Object variLoopAutolLoopKp Modulator Kp auto Modbu
185. utes ro pdomap Unit nsec Default value n a Value range n a Data propagation delay the value is calculated during Endat initialization procedure For more information read manual Endat VERSION 2 2 Bidirectional Synchronous Serial Interface for Position Encoders from Heidenhain Gmbh 4 2 3 Incremental Traces With the incremental measuring method the graduation consists of a periodic grating structure The position information is obtained by counting the individual increments measuring steps from some point of origin Since an absolute reference is required to ascertain positions the graduated disks are provided with an additional track that bears a reference mark The incremental signals are transmitted as the square wave pulse trains U1 and U2 phase shifted by 90 elec The reference mark signal consists of one or more reference pulses UO which are gated with the incremental signals Parameters to manage the Auxiliary Incremental Encoder Object parEncAlnc LineCounts Auxiliary Encoder Line Counts Modbus IPA 26130 Modbus Data Type Unsigned32 CANopen COE_ index 3920h 0h CANopen COE Data Type Unsigned32 Attributes rw reset retain Unit count Default value 512 Value range Full scale Encoder pulses number per revolution setting For more details refer to parEncMInc LineCounts Object parEncAlnc Flags DisablelndexE rror Auxiliary Disable Index Error
186. value 2000 Value range 0 100 0 10000 Sensorless speed percentage of the nominal motor speed parMotorData S peedNominal This is the speed that the motor must reach in order to get the sensorless algorithm fully working Object parEncBEmf Threshold1S pd Threshold 1 limit Modbus IPA 26071 Modbus Data Type Unsigned16 CANopen COE_ index 3855h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit 0 0001 Default value 500 Value range 0 100 0 10000 Threshold 1 speed percentage of the nominal motor speed parMotorData SpeedNominal Used only during the sensorless initialization procedure This value has to be lower of parEncBEmf SensorlessSpd value otherwise an alarm Parameter value out of range is generated 20 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parEncBEmf Threshold0Spd Threshold 0 limit Modbus IPA 26072 Modbus Data Type Unsigned16 CANopen COE index 3856h 0h CANopen COE Data Type Unsigned16 Attributes rw reset retain Unit 0 0001 Default value 250 Value range 0 100 0 10000 Threshold 0 speed percentage of the nominal motor speed parMotorData SpeedNominal Used only during the sensorless initialization procedure This value has to be lower of parEncBEmf Threshold1Spd1 value otherwise an alarm Parameter value out of range is generate
187. x selection Modbus IPA 18035 Modbus Data Type Unsigned16 CANopen COE index 5726h 0h CANopen COE Data Type Signed8 Attributes rw retain Unit n a Default value 0 Full Value range 0 Full 1 Half Full duplex communication means that a device can receive and transmit data at the same time Half duplex means that the device cannot send and receive at the same time Object parSerialE ndDelay Serial End delay Modbus IPA 18036 Modbus Data Type Unsigned16 CANopen COE_ index 5727h 0h CANopen COE Data Type Unsigned16 Attributes rw retain Unit usec Default value 0 Value range Full scale Delay after complete transmission frame Object parSerialRxToTxDelay Serial Rx Tx delay Modbus IPA 18037 Modbus Data Type Unsigned16 CANopen COE_ index 5728h 0h CANopen COE Data Type Unsigned16 Attributes rw reatin 60 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Unit usec Default value 0 Value range Full scale Delay between a complete receive frame and begin new frame transmission This delay should be useful to the user to avoid possible conflicts on the serial line Object parSerialS laveAddress Serial slave address Modbus IPA 18070 Modbus Data Type Unsigned16 CANopen COE index 5729h 0h CANopen COE Data Type Unsigned8 Attributes rw Unit n a Default value 0 Val
188. ync start value 1 to 240 shall indicate that the counter of the Sync message shall be processed for this PDO In case the counter of the Sync message is not enabled sub index 06h shall be ignored The Sync message of which the counter value equals the Sync start value shall be regarded as the first received Sync message The value shall not be changed while the PDO exists bit 31 of sub index 01h is set to Ob 58 AXM II Configurable Motion Control Platform 8 1 4 CANOpen TxPDO Mapping Parameters The purpose of this data structure is to define the data mapping for all RPDO for each RPDO exist one object the object index range from 1A00h RPDO 1 to 1A07h RPDO 8 Doc 10460 0 A M ENG Object n a Number of object mapped Modbus IPA 30400 Modbus Data Type Unsigned16 CANopen COE index 1A00h 0h CANopen COE Data Type Unsigned8 Attributes rw Unit n a Default value n a Value range n a Number of mapped object Object n a PDO Mapping Modbus IPA 30401 30408 Modbus Data Type Unsigned32 CANopen COE index 1A00h 1h 1A00h 8h CANopen COE Data Type Unsigned32 Attributes rw Unit n a Default value n a Value range n a These entries describe the PDO contents by their index sub index and length For further information on TxPDO mapping refer to 3 8 2 Fieldbus Serial Link Modbus Protocol is a messaging structure developed by
189. ype Signed16 CANopen COE index 3309h 0h CANopen COE Data Type Signed16 Attributes rw retain pdomap Unit n a Default value 0 Value range 8 to 16 Adapter of the result of the speed position loop Gain expressed in exponential base 2 This parameters support maximum shift left 8 multiplier and maximum shift right 16 divisor 44 AxM II Configurable Motion Control Platform Doc 10460 0 A M ENG Object parSSCnitriLp limitMax Max Limit Torque Modbus IPA 27012 Modbus Data Type Signed32 CANopen COE_ index 330Ah 0h CANopen COE Data Type Signed32 Attributes rw retain pdomap Unit 0 1 mA Default value 2147483647 Value range 0 to 214748 3647 Saturation positive limit of the torque reference Object parSSCntriLp limitMin Min Limit Torque Modbus IPA 27013 Modbus Data Type Signed32 CANopen COE_ index 330Bh 0h CANopen COE Data Type Signed32 Attributes rw retain pdomap Unit 0 1 mA Default value 2147483647 Value range 214748 3647 to 0 Saturation negative limit of the torque reference 6 2 Positioner Variables related to the Positioner software module Object parPositioner ProfileVel Profile velocity Modbus IPA 27100 Modbus Data Type Signed32 CANopen COE_ index 6081h 0h CANopen COE Data Type Unsigned32 Attributes rw retain pdomap Unit Velocity factor unit Defau

Parameters Reference Firmware release 1.5 Doc. 10460-0-A-M

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