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Documentation
Software Reference
Software Reference Manual v4.4
CiA 402 Object Dictionary
Process Data Objects
Standard TxPDO mapped Objects
Software Reference
Software Reference v4.4
Overview
Functionality description
CANopen over EtherCAT (CoE)
Drive State Machine (CiA 402)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor and Gear settings
Motor Configuration
Parameters related to the Motor
Selecting the PWM frequency
Gear Ratio
Parameters related to Gear Ratio
Manually controlling phase D voltage
Overview
Usage
Limitations
Parameters related to Controlling the brake output voltage
Brake release
Pin-brake Mode
Timing diagram
Selecting the PWM frequency of the brake
Custom brake modes
Parameters related to Brake
User defined velocity units
Overview
Usage
Objects affected by changes of the velocity unit
Example
Parameters related to User defined velocity units
Encoders and I/O
Analog In
Analog Input Scaling
Requirements
Specifications
Parameters related to Analog Input Scaling
Using differential inputs for single-ended sensors
Nonlinear conversion of an analog voltage
Parameters related to Analog Inputs
Digital I/O
Configuration of Digital I/Os as Input or Output
Parameters related to GPIO
Encoder Configuration
Description of common encoder parameters
Function
Resolution
Zero velocity threshold
Polarity
Multiturn resolution
Encoder related parameters
Commutation with Hall and ABI combined
Overview
Requirements
Usage
Detailed description
Startup
Error Detection
Runtime
Input counter
Overview
Limitations
Parameters related to Input counter
Protection
Overview
Usage
Parameters related to protection
Errors and Warnings
Error codes thrown by the firmware
Error Report Object
Remedies for protection errors
Remedy for over-current
Remedy for over-voltage
Remedy for under-voltage
Remedy for over-temperature
Logging
Overview
Types
Format
Motion Control
Control Loops
Current and Torque Control Loop
Torque control loop
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Parameters related to Current and Torque Control Loop
Velocity Control Loop
Parameters related to the Velocity Control Loop
Position Control Loops
Cascaded PID Controller
Parameters related to Cascaded PID Controller
Simple PID Controller
Parameters related to Simple PID Controller
Dual Loop Cascaded Position Control
Overview
Usage
Parameters related to Dual Loop Cascaded Position Control
Modes of Operation
Cyclic modes
Cyclic Synchronous Torque Control (CST)
Parameters related to Cyclic Synchronous Torque Control
Cyclic Synchronous Velocity Control (CSV)
Parameters related to Cyclic Synchronous Velocity Mode
Cyclic Synchronous Position Control (CSP)
Parameters related to Cyclic Synchronous Position Control
Profile modes
Profile position mode
Trajectory generator
Enable Profile position mode
Setting set-points
Profile velocity mode
Enable Profile velocity mode
Profile torque mode
Enable Profile torque mode
Starting/Stopping Torque
Homing modes
Overview
Homing method 33/34
Homing method 35/37
Settings for homing mode
Homing method
Homing speeds
Homing acceleration
How to perform homing
Using the Halt bit
Communications
Objects used
Switching modes
Dynamic Op-Mode switching
Extended Control Functionalities
Cogging Torque Compensation
Overview
Procedure
Prerequisites
Overview of the GUI
Recording
Automatic recording
Testing the compensation table
Manual configuration for the cogging recording
Using the compensation table
Controlling the feature via EtherCAT
Subitems:
1 State
2 Enabled
Parameters related to Cogging Torque Compensation
Field Weakening
Anti-Windup Control
Parameters related to Anti-Windup Control
Gain Scheduling
Motor Overload Protection (i2t)
Overview
Requirements
Description of Subitems for 0x200A:
Operating principle
Velocity feed forward
Usage
Using a velocity offset additionally
Object used for Velocity feed forward
Torque Offset
Velocity Offset
Filtering
Position and Velocity Feedback Low-pass filters
A practical guide to low-pass filter design
Parameters related to feedback low-pass filters
Torque loop input shaping filter
Parameters related to notch filter
Overview
Methods
Definitions
Low-pass filters
Torque loop input shaping filter
Application Guide
Command smoothing and Interpolation
Overview
Side Effects
Applications
Input interpolation
Jerk limiting
Communication jitter mitigation
Detailed Description
Command smoothing
Usage
Parameters related to Finite impulse response Filter
Control supervision
Timing diagram of the supervision objects
Following error
Following error window
Definitions
Configuring the Following error window
Result
Target reached function
Definitions
Configuring the position window (CSP)
Configuring the velocity window (CSV)
Configuring the torque window (CST)
Result
Monitoring the internal variables
Control Effort
Parameters related to Control supervision
Distributed clocks (DC clocks)
Overview
Distributed Clock configuration
Parameters related to Distributed Clocks
Object Dictionary
All Objects
0x1000 Device type
0x1001 Error register
0x1005 COB-ID SYNC
0x1006 Communication cycle period
0x1008 Manufacturer device name
0x100A Manufacturer software version
0x100C Guard time
0x100D Life time factor
0x1010 Store parameters
0x1011 Restore default parameters
0x1016 Consumer heartbeat time
0x1017 Producer heartbeat time
0x1018 Identity object
0x1019 Synchronous counter overflow value
0x1400 Receive PDO1 parameter
0x1401 Receive PDO2 parameter
0x1402 Receive PDO3 parameter
0x1403 Receive PDO4 parameter
0x1600 Receive PDO1 mapping
0x1601 Receive PDO2 mapping
0x1602 Receive PDO3 mapping
0x1603 Receive PDO4 mapping
0x1800 Transmit PDO1 parameter
0x1801 Transmit PDO2 parameter
0x1802 Transmit PDO3 parameter
0x1803 Transmit PDO4 parameter
0x1A00 Transmit PDO1 mapping
0x1A01 Transmit PDO2 mapping
0x1A02 Transmit PDO3 mapping
0x1A03 Transmit PDO4 mapping
0x1C00 Sync Manager
0x1C10 SM 0 Assignment
0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C13 SM 3 Assignment
0x2000 Command object (disabled)
0x2001 Commutation angle offset
0x2002 Position control strategy
0x2003 Motor specific settings
0x2004 Brake options
0x2005 Recuperation
0x2006 Protection
0x2008 Cogging torque compensation
0x2009 Commutation offset
0x200A I2t
0x2010 Torque controller
0x2011 Velocity controller
0x2012 Position controller
0x2013 Gain scheduling
0x2014 Torque window
0x2015 Velocity feed forward
0x2021 Velocity feedback filter
0x2022 Position feedback filter
0x2023 Notch filter
0x2027 Control input FIR filter
0x2030 Core temperature
0x2031 Drive temperature
0x2038 External scaled measurement
0x203F Error report
0x2040 Input counter
0x20E1 High resolution data
0x20F0 Timestamp
0x20F2 Assigned name
0x20F3 DC synchronization
0x2100 Feedback sensor ports
0x2201 BiSS encoder 1
0x2202 BiSS encoder 2
0x2203 REM 16MT encoder
0x2205 Incremental encoder 1
0x2206 Incremental encoder 2
0x2207 Hall sensor 1
0x2208 Hall sensor 2
0x2209 SSI encoder 1
0x220A SSI encoder 2
0x220B A Format encoder
0x220C Fast ABI module
0x220E SinCos module
0x2210 GPIO pin configuration
0x2214 GPIO global options
0x230A Secondary position value
0x230B Secondary velocity value
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2501 Digital input 1
0x2502 Digital input 2
0x2503 Digital input 3
0x2504 Digital input 4
0x2601 Digital output 1
0x2602 Digital output 2
0x2603 Digital output 3
0x2604 Digital output 4
0x2611 Safety digital input diagnostics
0x2701 Tuning command
0x2702 Tuning status
0x2703 User MOSI
0x2704 User MISO
0x2705 Setup wizard completed
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Modes of operation
0x6061 Modes of operation display
0x6062 Position demand value
0x6064 Position actual value
0x6065 Following error window
0x6066 Following error time out
0x6067 Position window
0x6068 Position window time
0x606B Velocity demand value
0x606C Velocity actual value
0x606D Velocity window
0x606E Velocity window time
0x606F Velocity threshold
0x6070 Velocity threshold time
0x6071 Target torque
0x6072 Max torque
0x6073 Max current
0x6074 Torque demand
0x6075 Motor rated current
0x6076 Motor rated torque
0x6077 Torque actual value
0x6079 DC link circuit voltage
0x607A Target position
0x607B Position range limit
0x607C Home offset
0x607D Software position limit
0x607E Polarity
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x6087 Torque slope
0x6088 Torque profile type
0x6091 Gear ratio
0x6098 Homing method
0x6099 Homing speeds
0x609A Homing acceleration
0x60A9 SI unit velocity
0x60B1 Velocity offset
0x60B2 Torque offset
0x60E3 Supported homing methods
0x60F4 Following error actual value
0x60FA Control effort
0x60FC Position demand internal value
0x60FF Target velocity
0x6502 Supported drive modes
0x6621 Safety statusword
Communication Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Configuring custom PDO mappings
Changing the content of an object
Manufacturer Specific Area
CiA 402 Specific Area
Device Information
Software Reference v4.2
Overview
Functionality description
CANopen over EtherCAT (CoE)
Drive State Machine (CiA 402)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor and Gear settings
Motor Configuration
Parameters related to the Motor
Selecting the PWM frequency
Gear Ratio
Parameters related to Gear Ratio
Manually controlling phase D voltage
Overview
Usage
Limitations
Parameters related to Controlling the brake output voltage
Brake release
Pin-brake Mode
Timing diagram
Selecting the PWM frequency of the brake
Custom brake modes
Parameters related to Brake
User defined velocity units
Overview
Usage
Objects affected by changes of the velocity unit
Example
Parameters related to User defined velocity units
Encoders and I/O
Analog In
Analog Input Scaling
Requirements
Specifications
Parameters related to Analog Input Scaling
Using differential inputs for single-ended sensors
Nonlinear conversion of an analog voltage
Parameters related to Analog Inputs
Digital I/O
Configuration of Digital I/Os as Input or Output
Parameters related to GPIO
Encoder Configuration
Description of common encoder parameters
Function
Resolution
Zero velocity threshold
Polarity
Multiturn resolution
Encoder related parameters
Commutation with Hall and ABI combined
Overview
Requirements
Usage
Detailed description
Startup
Error Detection
Runtime
Input counter
Overview
Limitations
Parameters related to Input counter
Protection
Overview
Usage
Parameters related to protection
Errors and Warnings
Error codes thrown by the firmware
Error Report Object
Remedies for protection errors
Remedy for over-current
Remedy for over-voltage
Remedy for under-voltage
Remedy for over-temperature
Logging
Overview
Types
Format
Motion Control
Control Loops
Current and Torque Control Loop
Torque control loop
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Parameters related to Current and Torque Control Loop
Velocity Control Loop
Parameters related to the Velocity Control Loop
Position Control Loops
Cascaded PID Controller
Parameters related to Cascaded PID Controller
Simple PID Controller
Parameters related to Simple PID Controller
Dual Loop Cascaded Position Control
Overview
Usage
Parameters related to Dual Loop Cascaded Position Control
Modes of Operation
Cyclic modes
Cyclic Synchronous Torque Control (CST)
Parameters related to Cyclic Synchronous Torque Control
Cyclic Synchronous Velocity Control (CSV)
Parameters related to Cyclic Synchronous Velocity Mode
Cyclic Synchronous Position Control (CSP)
Parameters related to Cyclic Synchronous Position Control
Profile modes
Profile position mode
Trajectory generator
Enable Profile position mode
Setting set-points
Profile velocity mode
Enable Profile velocity mode
Profile torque mode
Enable Profile torque mode
Starting/Stopping Torque
Homing modes
Overview
Homing method 33/34
Homing method 35/37
Settings for homing mode
Homing method
Homing speeds
Homing acceleration
How to perform homing
Using the Halt bit
Communications
Objects used
Switching modes
Extended Control Functionalities
Cogging Torque Compensation
Overview
Procedure
Prerequisites
Overview of the GUI
Recording
Automatic recording
Testing the compensation table
Manual configuration for the cogging recording
Using the compensation table
Controlling the feature via EtherCAT
Subitems:
1 State
2 Enabled
Parameters related to Cogging Torque Compensation
Field Weakening
Anti-Windup Control
Parameters related to Anti-Windup Control
Gain Scheduling
Motor Overload Protection (i2t)
Overview
Requirements
Description of Subitems for 0x200A:
Operating principle
Velocity feed forward
Usage
Using a velocity offset additionally
Object used for Velocity feed forward
Torque Offset
Velocity Offset
Filtering
Position and Velocity Feedback Low-pass filters
A practical guide to low-pass filter design
Parameters related to feedback low-pass filters
Torque loop input shaping filter
Parameters related to notch filter
Overview
Methods
Definitions
Low-pass filters
Torque loop input shaping filter
Application Guide
Control supervision
Timing diagram of the supervision objects
Following error
Following error window
Definitions
Configuring the Following error window
Result
Target reached function
Definitions
Configuring the position window (CSP)
Configuring the velocity window (CSV)
Configuring the torque window (CST)
Result
Monitoring the internal variables
Control Effort
Parameters related to Control supervision
Distributed clocks (DC clocks)
Overview
Distributed Clock configuration
Parameters related to Distributed Clocks
Object Dictionary
All Objects
0x1000 Device type
0x1001 Error register
0x1005 COB-ID SYNC
0x1006 Communication cycle period
0x1008 Manufacturer device name
0x100A Manufacturer software version
0x100C Guard time
0x100D Life time factor
0x1010 Store parameters
0x1011 Restore default parameters
0x1016 Consumer heartbeat time
0x1017 Producer heartbeat time
0x1018 Identity object
0x1019 Synchronous counter overflow value
0x1400 Receive PDO1 parameter
0x1401 Receive PDO2 parameter
0x1600 Receive PDO1 mapping
0x1601 Receive PDO2 mapping
0x1602 Receive PDO3 mapping
0x1603 Receive PDO4 mapping
0x1800 Transmit PDO1 parameter
0x1801 Transmit PDO2 parameter
0x1A00 Transmit PDO1 mapping
0x1A01 Transmit PDO2 mapping
0x1A02 Transmit PDO3 mapping
0x1A03 Transmit PDO4 mapping
0x1C00 Sync Manager
0x1C10 SM 0 Assignment
0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C13 SM 3 Assignment
0x2000 Command object (disabled)
0x2001 Commutation angle offset
0x2002 Position control strategy
0x2003 Motor specific settings
0x2004 Brake options
0x2005 Recuperation
0x2006 Protection
0x2008 Cogging torque compensation
0x2009 Commutation offset
0x200A I2t
0x2010 Torque controller
0x2011 Velocity controller
0x2012 Position controller
0x2013 Gain scheduling
0x2014 Torque window
0x2015 Velocity feed forward
0x2021 Velocity feedback filter
0x2022 Position feedback filter
0x2023 Notch filter
0x2030 Core temperature
0x2031 Drive temperature
0x2038 External scaled measurement
0x203F Error report
0x2040 Input counter
0x20E1 High resolution data
0x20F0 Timestamp
0x20F2 Assigned name
0x20F3 DC synchronization
0x2100 Feedback sensor ports
0x2201 BiSS encoder 1
0x2202 BiSS encoder 2
0x2203 REM 16MT encoder
0x2205 Incremental encoder 1
0x2206 Incremental encoder 2
0x2207 Hall sensor 1
0x2208 Hall sensor 2
0x2209 SSI encoder 1
0x220A SSI encoder 2
0x220B A Format encoder
0x220C Fast ABI module
0x220E SinCos module
0x2210 GPIO pin configuration
0x2214 GPIO global options
0x230A Secondary position value
0x230B Secondary velocity value
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2501 Digital input 1
0x2502 Digital input 2
0x2503 Digital input 3
0x2504 Digital input 4
0x2601 Digital output 1
0x2602 Digital output 2
0x2603 Digital output 3
0x2604 Digital output 4
0x2611 Safety digital input diagnostics
0x2701 Tuning command
0x2702 Tuning status
0x2703 User MOSI
0x2704 User MISO
0x2705 Setup wizard completed
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Modes of operation
0x6061 Modes of operation display
0x6062 Position demand value
0x6064 Position actual value
0x6065 Following error window
0x6066 Following error time out
0x6067 Position window
0x6068 Position window time
0x606B Velocity demand value
0x606C Velocity actual value
0x606D Velocity window
0x606E Velocity window time
0x606F Velocity threshold
0x6070 Velocity threshold time
0x6071 Target torque
0x6072 Max torque
0x6073 Max current
0x6074 Torque demand
0x6075 Motor rated current
0x6076 Motor rated torque
0x6077 Torque actual value
0x6079 DC link circuit voltage
0x607A Target position
0x607B Position range limit
0x607C Home offset
0x607D Software position limit
0x607E Polarity
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x6087 Torque slope
0x6088 Torque profile type
0x6091 Gear ratio
0x6098 Homing method
0x6099 Homing speeds
0x609A Homing acceleration
0x60A9 SI unit velocity
0x60B1 Velocity offset
0x60B2 Torque offset
0x60E3 Supported homing methods
0x60F4 Following error actual value
0x60FA Control effort
0x60FC Position demand internal value
0x60FF Target velocity
0x6502 Supported drive modes
0x6621 Safety statusword
Communication Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Configuring custom PDO mappings
Changing the content of an object
Manufacturer Specific Area
CiA 402 Specific Area
Device Information
Software Reference v4.1
Overview
Functionality description
CANopen over EtherCAT (CoE)
Drive State Machine (CiA 402)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor Configuration
Motor Control Objects
Brake Configuration
Brake Parameter Object
Gear Ratio
Sensor Configuration
Sensor Objects
Description of commonly used specifications
Function
Resolution
Velocity calculation period
Polarity
Multiturn resolution
Protection
Overview
Usage
Parameters related to protection
Errors and Warnings
Errors thrown by the firmware
Error Report Object
Logging
Overview
Types
Format
Motion Control
Control Loops
Current and Torque Control Loop
Torque control loop
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Parameters related to Current and Torque Control Loop
Velocity Control Loop
Parameters related to the Velocity Control Loop
Position Control Loops
Cascaded PID Controller
Parameters related to Cascaded PID Controller
Simple PID Controller
Parameters related to Simple PID Controller
Dual Loop Cascaded Position Control
Overview
Usage
Parameters related to Dual Loop Cascaded Position Control
Modes of Operation
Cyclic Synchronous Torque Control (CST)
Parameters related to Cyclic Synchronous Torque Control
Cyclic Synchronous Velocity Control (CSV)
Parameters related to Cyclic Synchronous Velocity Mode
Cyclic Synchronous Position Control (CSP)
Parameters related to Cyclic Synchronous Position Control
Switching modes
Extended Control Functionalities
Cogging Torque Compensation
Overview
Procedure
Prerequisites
Overview of the GUI
Recording
Automatic recording
Testing the compensation table
Manual configuration for the cogging recording
Using the compensation table
Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
Subitems:
1 State
2 Enabled
Field Weakening
Anti-Windup Control
Gain Scheduling
Motor Overload Protection (i2t)
Overview
Requirements
Description of Subitems for 0x200A:
Operating principle
Torque Offset
Velocity Offset
Object Dictionary
All Objects
0x1000 Device Type
0x1001 Error Register
0x1008 Manufacturer Device Name
0x100A Manufacturer Software Version
0x1010 Store parameters
0x1011 Restore default parameters
0x1018 Identity
0x1600 RxPDO Mapping 1
0x1A00 TxPDO Mapping 1
0x1C00 Sync Manager
0x1C10 SM 0 Assignment
0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C13 SM 3 Assignment
0x2000 Command Object (disabled)
0x2001 Commutation Angle Offset
0x2002 Position control strategy
0x2003 Motor Specific Settings
0x2004 Brake Options
0x2005 Recuperation
0x2006 Protection
0x2008 Cogging Torque Compensation
0x2009 Commutation Offset
0x200A I2t
0x2010 Torque Controller
0x2011 Velocity Controller
0x2012 Position Controller
0x2013 Gain Scheduling
0x2021 Velocity Feedback Filter
0x2022 Position Feedback Filter
0x2031 Drive temperature
0x203F Error report
0x20F0 Timestamp
0x20F1 Real Time Clock
0x20F2 Assigned Name
0x2100 Feedback sensor ports
0x2201 BISS Encoder 1
0x2202 BISS Encoder 2
0x2203 REM 16MT Encoder
0x2204 REM 14 Encoder
0x2205 Incremental Encoder 1
0x2206 Incremental Encoder 2
0x2207 HALL Sensor 1
0x2208 HALL Sensor 2
0x2209 SSI Encoder 1
0x220A SSI Encoder 2
0x2210 GPIO
0x230A Secondary position value
0x230B Secondary velocity value
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2501 Digital Input 1
0x2502 Digital Input 2
0x2503 Digital Input 3
0x2504 Digital Input 4
0x2601 Digital Output 1
0x2602 Digital Output 2
0x2603 Digital Output 3
0x2604 Digital Output 4
0x2701 Tuning command
0x2702 Tuning status
0x2703 User MOSI
0x2704 User MISO
0x2705 Setup Wizard Completed
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Op Mode
0x6061 Op Mode Display
0x6064 Position Value
0x606C Velocity Value
0x6071 Target Torque
0x6072 Max torque
0x6073 Max current
0x6075 Motor Rated Current
0x6076 Motor Rated Torque
0x6077 Torque Value
0x6079 DC link circuit voltage
0x607A Target Position
0x607B Position Range Limits
0x607C Home offset
0x607D Software position limit
0x607E Polarity
0x607F Max profile velocity
0x6080 Max motor speed
0x6081 Profile velocity
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x6091 Gear ratio
0x60B1 Velocity offset
0x60B2 Torque offset
0x60FF Target Velocity
0x6502 Supported Drive Modes
Communication Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Configuring custom PDO mappings
Manufacturer Specific Area
CiA 402 Specific Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Configuring custom PDO mappings
Device Information
Software Reference v4.0
Overview
Functionality description
CANopen over EtherCAT (CoE)
Drive State Machine (CiA 402)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor Configuration
Motor Control Objects
Brake Configuration
Brake Parameter Object
Sensor Configuration
Sensor Objects
Description of commonly used specifications
Function
Resolution
Velocity calculation period
Polarity
Multiturn resolution
Motion Control
Control Loops
Current and Torque Control Loop
Torque control loop
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Parameters related to Current and Torque Control Loop
Velocity Control Loop
Parameters related to the Velocity Control Loop
Position Control Loops
Cascaded PID Controller
Parameters related to Cascaded PID Controller
Simple PID Controller
Parameters related to Simple PID Controller
Modes of Operation
Cyclic Synchronous Torque Control (CST)
Parameters related to Cyclic Synchronous Torque Control
Cyclic Synchronous Velocity Control (CSV)
Parameters related to Cyclic Synchronous Velocity Mode
Cyclic Synchronous Position Control (CSP)
Parameters related to Cyclic Synchronous Position Control
Switching modes
Extended Control Functionalities
Cogging Torque Compensation
Overview
Procedure
Prerequisites
Overview of the GUI
Recording
Automatic recording
Testing the compensation table
Manual configuration for the cogging recording
Using the compensation table
Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
Subitems:
1 State
2 Enabled
Field Weakening
Anti-Windup Control
Torque Offset
Errors and Warnings
Object Dictionary
All Objects
0x1000 Device Type
0x1001 Error Register
0x1008 Manufacturer Device Name
0x100A Manufacturer Software Version
0x1010 Store parameters
0x1011 Restore default parameters
0x1018 Identity
0x1600 Rx PDO Mapping
0x1A00 Tx PDO Mapping
0x1C00 Sync Manager
0x1C10 SM 0 Assignment
0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C13 SM 3 Assignment
0x2000 Command Object (disabled)
0x2001 Commutation Angle Offset
0x2002 Position control strategy
0x2003 Motor Specific Settings
0x2004 Brake Options
0x2005 Recuperation
0x2006 Protection
0x2008 Cogging Torque Compensation
0x2009 Commutation Offset
0x2010 Torque Controller
0x2011 Velocity Controller
0x2012 Position Controller
0x20F0 Timestamp
0x20F1 Real Time Clock
0x20F2 Assigned Name
0x2100 Feedback sensor ports
0x2201 BISS Encoder 1
0x2202 BISS Encoder 2
0x2203 REM 16MT Encoder
0x2204 REM 14 Encoder
0x2205 Incremental Encoder 1
0x2206 Incremental Encoder 2
0x2207 HALL Sensor 1
0x2208 HALL Sensor 2
0x2210 GPIO
0x230A Secondary position value
0x230B Secondary velocity value
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2501 Digital Input 1
0x2502 Digital Input 2
0x2503 Digital Input 3
0x2504 Digital Input 4
0x2601 Digital Output 1
0x2602 Digital Output 2
0x2603 Digital Output 3
0x2604 Digital Output 4
0x2701 Tuning command
0x2702 Tuning status
0x2703 User MOSI
0x2704 User MISO
0x2705 Setup Wizard Completed
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Op Mode
0x6061 Op Mode Display
0x6064 Position Value
0x606C Velocity Value
0x6071 Target Torque
0x6072 Max torque
0x6073 Max current
0x6075 Motor Rated Current
0x6076 Motor Rated Torque
0x6077 Torque Value
0x6079 DC link circuit voltage
0x607A Target Position
0x607B Position Range Limits
0x607C Home offset
0x607D Software position limit
0x607E Polarity
0x607F Max profile velocity
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x60B2 Torque offset
0x60C5 Max acceleration
0x60FF Target Velocity
0x6502 Supported Drive Modes
Communication Area
Manufacturer Specific Area
CiA 402 Specific Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Device Information
Standard TxPDO mapped Objects
¶
Index
Name
0x6041
Statusword
0x6061
Modes of operation display
0x6064
Position actual value
0x606C
Velocity actual value
0x6077
Torque actual value
0x230A
Secondary position value
0x230B
Secondary velocity value
0x2401
Analog input 1
0x2402
Analog input 2
0x2403
Analog input 3
0x2404
Analog input 4
0x2702
Tuning status
0x2501
Digital input 1
0x2502
Digital input 2
0x2503
Digital input 3
0x2504
Digital input 4
0x2704
User MISO
0x20F0
Timestamp
0x60FC
Position demand internal value
0x606B
Velocity demand value
0x6074
Torque demand
Feedback
