#x000022D2 Synapticon GmbH https://synapticon.com 424DE6000000000000007600000028000000100000000E00000001000400000000007000000000000000000000001000000010000000520FE4005513E4006D34E8007A47EA008B5EED009870EF00AE8FF200B498F300BEA4F500CAB6F700D4C3F80000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000333333333333100099999999999A610011124544444691000017988888883000001975555555555500026777777777770000000000000000000000000000000000000000000000000000000000000000 SOMANET SOMANET Device SOMANET Device 424DE6000000000000007600000028000000100000000E00000001000400000000007000000000000000000000001000000010000000520FE4005513E4006D34E8007A47EA008B5EED009870EF00AE8FF200B498F300BEA4F500CAB6F700D4C3F80000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000333333333333100099999999999A610011124544444691000017988888883000001975555555555500026777777777770000000000000000000000000000000000000000000000000000000000000000 CiA402 Motor Control Device SOMANET CiA402 Drive SOMANET CiA402 Antrieb 100 6000 SOMANET 402 BOOL 1 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(2) 16 STRING(8) 64 STRING(50) 400 OCTET_STRING(8) 64 OCTET_STRING(25) 200 DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor-ID UDINT 32 16 ro o 2 Product Code UDINT 32 48 ro o 3 Revision number UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o description Provides information about the device. DT1600 240 0 SubIndex 000 USINT 8 0 rw o 1 Controlword UDINT 32 16 rw o 2 Modes of operation UDINT 32 48 3 Target Torque UDINT 32 80 rw o 4 Target position UDINT 32 112 5 Target velocity UDINT 32 144 6 Torque offset UDINT 32 176 rw o 7 Tuning command UDINT 32 208 rw o DT1601 80 0 SubIndex 000 USINT 8 0 rw o 1 Physical outputs UDINT 32 16 2 Bit mask UDINT 32 48 DT1602 80 0 SubIndex 000 USINT 8 0 rw o 1 User MOSI UDINT 32 16 rw o 2 Velocity offset UDINT 32 48 rw o DT1603 16 0 SubIndex 000 USINT 8 0 rw o DT1A00 176 0 SubIndex 000 USINT 8 0 rw o 1 Statusword UDINT 32 16 rw o 2 Modes of operation display UDINT 32 48 3 Position actual value UDINT 32 80 4 Velocity actual value UDINT 32 112 5 Torque actual value UDINT 32 144 DT1A01 176 0 SubIndex 000 USINT 8 0 rw o 1 Analog input 1 UDINT 32 16 rw o 2 Analog input 2 UDINT 32 48 rw o 3 Analog input 3 UDINT 32 80 rw o 4 Analog input 4 UDINT 32 112 rw o 5 Tuning status UDINT 32 144 rw o DT1A02 48 0 SubIndex 000 USINT 8 0 rw o 1 Digital inputs UDINT 32 16 DT1A03 176 0 SubIndex 000 USINT 8 0 rw o 1 User MISO UDINT 32 16 rw o 2 Timestamp UDINT 32 48 rw o 3 Position demand internal value UDINT 32 80 4 Velocity demand value UDINT 32 112 5 Torque demand UDINT 32 144 DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C10ARR UINT 0 1 0 DT1C10 16 0 SubIndex 000 USINT 8 0 ro o Elements DT1C10ARR 0 16 ro o DT1C11ARR UINT 0 1 0 DT1C11 16 0 SubIndex 000 USINT 8 0 ro o Elements DT1C11ARR 0 16 ro o DT1C12ARR UINT 16 1 4 DT1C12 80 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 16 1 4 DT1C13 80 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 16 16 rw o DT607XARR DINT 64 1 2 DT607X 80 0 SubIndex 000 USINT 8 0 ro o Element DT607XARR 64 16 ro o r description Reports the limits of the position sensor, and is updated when the encoder is reconfigured. On reaching or exceeding these limits, the sensor value will wrap automatically to the other end of the range. The units are user-defined (increments of the position encoder by default; see <code>0x6092 Feed constant </code>to change it). DT2003 128 0 SubIndex 000 USINT 8 0 ro m 1 Pole pairs USINT 8 16 rw m description Number of magnetic pole pairs used in the motor. Please refer to your motor datasheet for this value. 2 Torque constant DINT 32 24 rw o description The motor's torque constant is given by the motor design and defines the torque generated by a given current. 3 Phase resistance DINT 32 56 rw o description The resistance between motor terminal and motor neutral point. It is equal to half of "phase to phase resistance" or "line to line resistance". 4 Phase inductance DINT 32 88 rw o description The inductance between motor terminal and motor neutral point. It is equal to half of "phase to phase inductance" or "line to line inductance". 5 Motor phases inverted BOOL 1 120 rw o options {"No":0,"Yes":1} description Use this parameter only when you have a negative velocity or feedback increment with the positive torque increment. description Please refer to your motor's data sheet for the specific values. DT2004 216 0 SubIndex 000 USINT 8 0 ro m 1 Pull voltage UDINT 32 16 rw o description Voltage required to disengage the brake. It is ignored in manual mode. 2 Hold voltage UDINT 32 48 rw o description Voltage required to hold the brake in a disengaged state. This voltage may be set lower than the "Pull voltage" to reduce losses in the brake. CAUTION! Before setting this parameter, contact your brake manufacturer to ensure reliable operation. It is ignored in manual mode. 3 Pull time UINT 16 80 rw o description Time period in which <code>0x2004:3 Pull voltage</code> is applied to release the brake. It is ignored in manual mode. 4 Release strategy USINT 8 96 rw o description Sets the method used to control the brake. The options are: <code>Manual output voltage</code> (0) - Manually control the brake with output voltage. <code>Clutch-style brake control</code> (1) - For brakes that will disengage even if a load is applied to them. <code>Pin brake control</code> (2) - For brakes that require extra motion handling to ensure they release. options {"Manual output voltage":0,"Clutch-style brake control":1,"Pin brake control":2} 5 Controller disable delay UINT 16 104 rw o description Time from when the brake is commanded to engage, to when the controller is disabled. It is ignored in manual mode. 6 DC bus voltage (deprecated) UINT 16 120 ro o description Deprecated. Refer to <code>0x6079 DC link circuit voltage</code> instead. 7 Brake status USINT 8 136 rw o 0 description Reports the status of the brake. Can also control the brake in automatic mode (Pin brake or Clutch brake)* The options for controlling or reading this value are: <code>Not configured</code> (0) - No action will be taken for the brake <code>Engaged</code> (1) - The brake will prevent motion (Output voltage disabled in manual mode) <code>Disengaged</code> (2) - The brake will not prevent motion (Output voltage applied to 4th phase in manual mode) * In Manual Mode, output voltage is controlled by bit 0 of <code>Digital Output Object (0x60FE) </code> options {"Not configured":0,"Engaged":1,"Disengaged":2} 8 Minimum displacement (pin brake) UDINT 32 144 rw o description Minimum angle that the motor needs to turn in before it is certain that the brake pin is pulled out. The units are in commutation sensor increments. 9 Percentage of Rated Current (pin brake) UINT 16 176 rw o description Defines the amount of current to be applied during the Pin brake release. Specify this value in percent of rated current. 10 Output voltage UINT 16 192 rw o r description Voltage which is applied on the 4th phase when the Release strategy is set to manual mode (0) and Physical output bit 0 as well as corresponding Bit mask in object <code>0x60FE</code> is set to 1. 11 Switching frequency USINT 8 208 rw m description Select the switching frequency for the 4th phase (D). options {"16 kHz":0,"32 kHz":1,"64 kHz":2} description Provides options for operating a brake. A brake is spring-activated such that it engages when powered off for safety. It must be disengaged by applying current to a solenoid to be released. A disengage Pull voltage can be applied to the solenoid to disengage the brake quickly for the duration of the Pull time. After the pull time, a holding voltage is applied to keep the pin retracted. <svg width="81.163mm" height="23.825mm" version="1.1" viewbox="0 0 81.163 23.825" xmlns="http://www.w3.org/2000/svg" xmlns:cc="http://creativecommons.org/ns#" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"> <defs> <marker id="b" overflow="visible" orient="auto"> <path transform="scale(-.6)" d="m8.7186 4.0337-10.926-4.0177 10.926-4.0177c-1.7455 2.3721-1.7354 5.6175-6e-7 8.0354z" fill-rule="evenodd" stroke="#000" stroke-linejoin="round" stroke-width=".625"></path> </marker> <marker id="a" overflow="visible" orient="auto"> <path transform="scale(.6)" d="m8.7186 4.0337-10.926-4.0177 10.926-4.0177c-1.7455 2.3721-1.7354 5.6175-6e-7 8.0354z" fill-rule="evenodd" stroke="#000" stroke-linejoin="round" stroke-width=".625"></path> </marker> <marker id="d" overflow="visible" orient="auto"> <path transform="matrix(-.4 0 0 -.4 -4 0)" d="m0 0 5-5-17.5 5 17.5 5z" 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time</tspan></text> <text x="41.11161" y="39.728867" fill="#000000" font-family="sans-serif" font-size="3.5278px" letter-spacing="0px" stroke-width=".26458px" word-spacing="0px" style="line-height: 125%;" xml:space="preserve"><tspan x="41.11161" y="39.728867" font-size="3.5278px" stroke-width=".26458px">V</tspan></text> <text x="94.988571" y="57.975586" fill="#000000" font-family="sans-serif" font-size="3.5278px" letter-spacing="0px" stroke-width=".26458px" word-spacing="0px" style="line-height: 125%;" xml:space="preserve"><tspan x="94.988571" y="57.975586" font-size="3.5278px" stroke-width=".26458px">t</tspan></text> <path d="m45.369 53.584h11.138v-10.773h25.561v5.1027h14.647" fill="none" stroke="#000" stroke-linecap="round" stroke-linejoin="round" stroke-width=".52917"></path> <path d="m57.235 56.513h24.059" fill="none" marker-end="url(#b)" marker-start="url(#a)" stroke="#000" stroke-width=".26458"></path> </g> </svg> DT2006 112 0 SubIndex 000 USINT 8 0 ro m 1 Undervoltage setpoint DINT 32 16 rw m description Custom value for undervoltage protection. 2 Overvoltage setpoint DINT 32 48 rw m description Custom value for overvoltage protection. 3 Overcurrent setpoint DINT 32 80 rw o description Custom value for overcurrent protection. description Provides user-defined values for setting protection thresholds. If the measured value of one of these parameters exceeds the threshold, the drive will issue an error and halt the drive. REAL 32 DT2010 320 0 SubIndex 000 USINT 8 0 ro m 1 Controller Kp (disabled) REAL 32 16 rw o description In the case of using predictive controllers for current loop the unit is undefined, and the default value is 2500. Moreover, Increasing this parameter directly amplifies the amplitude of applied voltages, and as a result has an effect similar to Kp in the case of using a PID controller. Range of this torque controller gain is 0 to 100,000,000.   2 Controller Ki (disabled) REAL 32 48 rw o description The unit of this gain is 0.16 [uV/(Second * Amp_rms)]. The default value is 40000. Range of this torque controller gain is 0 to 100,000,000. 3 Controller Kd (disabled) REAL 32 80 rw o description   This parameter is undefined for predictive current controller. Range of this torque controller gain is 0 to 100,000,000. 4 Field weakening enabled UDINT 32 112 rw o description In many applications, it is required to extend the velocity range of an electric motor. This parameter enables or disables “Field Weakening”, a feature that increases the speed range of a PM motor by weakening the magnetic field of the rotor linearly over the speed range. The user should set 3 parameters: 1. Field Weakening Starting Speed (Subitem 6) 2. Field Weakening Ending Speed (Subitem7) 3. Percentage of Field Weakening (f) (Subitem 5) Note: While the field weakening feature is enabled, it is assumed that the Drive is in its normal conditions with no fault. options {"Disabled":0,"Enabled":1} 5 Field weakening percentage UDINT 32 144 rw o description Percentage of Field weakening. This field can have an integer value in the range of [0-100], and determines the "RMS" value of phase currents which are (only) generated to weaken the field. For example, if set to 10, then 10% of rated current will be injected in motor phases to weaken the rotor field. WARNING: Based on motor type, values more than 25% can lead to instability of torque control service. While tuning, proceed with "small steps", "limited power supply voltage" and "limited power supply current". 6 Field weakening starting speed UDINT 32 176 rw o description Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point). The units are user-defined (RPM by default; see <code>0x60a9 SI unit velocity</code>  and <code>0x6092 Feed constant </code>to change it). 7 Field weakening ending speed UDINT 32 208 rw o description Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point). The units are user-defined (RPM by default; see <code>0x60a9 SI unit velocity</code>  and <code>0x6092 Feed constant </code>to change it). 8 Commutation angle measurement delay UDINT 32 240 rw o description Time taken by the sensor in reading the position value. An offset angle corresponding to this sensor measurement delay is calculated by the firmware as shown by the equation below. <math display="block" xmlns="http://www.w3.org/1998/Math/MathML"><mrow><mi>Sensor Delay Angle Offset </mi><mo>= </mo><mi>Electrical Rotational Speed </mi> <mo>×</mo><mi> Sensor Measurement Delay</mi></mrow></math> This angle offset value is then added into the sampled electrical angle. 9 Switching frequency USINT 8 272 rw m options {"16 kHz":0,"32 kHz":1,"64 kHz":2} description Select the switching frequency for the 3 motor phases (A, B, C). 10 Settling time UINT 16 280 rw o description Settling time of current loop controllers. This value should be entered in [micro seconds] 11 Damping ratio UINT 16 296 rw o description Damping ratio of current loop controllers. This value should be entered in [per mill]. As an example, if a damping ratio of 1.5 is required, then this value should be set to 1500. 12 Encoder source USINT 8 312 rw o description Select which encoder should be used for torque control. Must be mounted to the motor shaft. Used for commutation. options {"No encoder":0,"Encoder 1":1,"Encoder 2":2} description Range of all torque controller gains is 0 to 100,000,000 DT2011 152 0 SubIndex 000 USINT 8 0 ro m 1 Controller Kp REAL 32 16 rw o description The P-gain of the PID Velocity Control Loop [mNm/rpm]. 2 Controller Ki REAL 32 48 rw o description The I-gain of the PID Velocity Control Loop [mNm/(rpm*s)] 3 Controller Kd REAL 32 80 rw o description The D-gain of the PID Velocity Control Loop [rpm*s/inc] 4 Controller integral limit UDINT 32 112 rw o description Integrator limitation for anti-windup. Technique used is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit DEACTIVATED), please set the maximal values for your integral limit manually. 5 Encoder source USINT 8 144 rw o description Select which encoder should be used for velocity control. options {"No encoder":0,"Encoder 1":1,"Encoder 2":2} description <h4>Velocity PID Tuning (objects 2011:1...2011:4)</h4> IMPORTANT: These values are only used in velocity control mode (not in cascaded position control) <h5>Controller Structure</h5> <svg xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:cc="http://creativecommons.org/ns#" xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#" xmlns:svg="http://www.w3.org/2000/svg" xmlns="http://www.w3.org/2000/svg" xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" version="1.1" viewbox="0 0 539.75747 178.89369" stroke-miterlimit="10" id="svg2" inkscape:version="0.91 r13725" sodipodi:docname="velocity_control.svg" 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font-size: 20px; line-height: 125%; font-family: sans-serif; letter-spacing: 0px; word-spacing: 0px; fill: #000000; fill-opacity: 1; stroke: none; stroke-width: 1px; stroke-linecap: butt; stroke-linejoin: miter; stroke-opacity: 1;" x="562.58942" y="297.01697" id="text3521" sodipodi:linespacing="125%"><tspan sodipodi:role="line" id="tspan3523" x="562.58942" y="297.01697" style="font-size: 10px;">τ_offset</tspan></text> <text xml:space="preserve" style="color: #000000; font-style: normal; font-variant: normal; font-weight: normal; font-stretch: normal; font-size: 10px; line-height: 125%; font-family: sans-serif; text-indent: 0; text-align: start; text-decoration: none; text-decoration-line: none; text-decoration-style: solid; text-decoration-color: #000000; letter-spacing: 0px; word-spacing: 0px; text-transform: none; direction: ltr; block-progression: tb; writing-mode: lr-tb; baseline-shift: baseline; text-anchor: start; white-space: normal; clip-rule: nonzero; display: inline; overflow: visible; visibility: visible; opacity: 1; isolation: auto; mix-blend-mode: normal; color-interpolation: sRGB; color-interpolation-filters: linearRGB; solid-color: #000000; solid-opacity: 1; fill: #000000; fill-opacity: 1; fill-rule: nonzero; stroke: none; stroke-width: 1px; stroke-linecap: butt; stroke-linejoin: miter; stroke-miterlimit: 10; stroke-dasharray: none; stroke-dashoffset: 0; stroke-opacity: 1; color-rendering: auto; image-rendering: auto; shape-rendering: auto; text-rendering: auto; enable-background: accumulate;" x="567.95856" y="351.78207" id="text3525" sodipodi:linespacing="125%"><tspan sodipodi:role="line" id="tspan3527" x="567.95856" y="351.78207">τ_con</tspan></text> <text xml:space="preserve" style="color: #000000; font-style: normal; font-variant: normal; font-weight: normal; font-stretch: normal; font-size: 10px; line-height: 125%; font-family: sans-serif; text-indent: 0; text-align: start; text-decoration: none; text-decoration-line: none; 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auto; image-rendering: auto; shape-rendering: auto; text-rendering: auto; enable-background: accumulate;" x="863.18677" y="318.95657" id="text3533" sodipodi:linespacing="125%"><tspan sodipodi:role="line" id="tspan3535" x="863.18677" y="318.95657">τ</tspan></text> </g> <desc id="desc103">Velocity Control</desc> </svg> <h5>PID Parameter Range</h5> The constants K_p, K_i, and K_d should be between 0 and 10 with the precision of 6-digit floating point. To find the proper values of PID constants of velocity controller the following steps are recommended: <h5>Recommended Tuning Steps</h5> <ul> <li>Step 1. Check if all constants K_p, K_i, and K_d are set to 0. After that activate the velocity controller. By default, the integral limit of velocity controller should be set to the maximum torque of selected motor in [mNm].</li> <li>Step 2. Set the reference velocity to 50% of rated motor velocity [rpm].</li> <li>Step 3. Increase K_p until the measured speed is around 70% of the reference speed. As a suggestion start with K_p equal to 0.1, and in each step increase K_p with a factor of 2.</li> <li>Step 4. From this step forth, step response of the system should be checked. Increase K_i step by step to increase the speed of velocity controller (as a suggestion start with K_i equal to 0.01 and in each step increase it by a factor of 2). At this point, the parameters K_p and K_i of the velocity controller are tuned. The parameter K_d of the velocity controller can be kept at its default value (0).</li> </ul> DT2012 280 0 SubIndex 000 USINT 8 0 ro m 1 Position loop Kp REAL 32 16 rw o description The P-gain of the PID Position Control Loop. The value is given in [rpm/inc] for the cascaded position controller ([mNm/inc] for the simple PID position controller) 2 Position loop Ki REAL 32 48 rw o description The I-gain of the PID Position Control Loop. The value is given in [rpm/(inc*s)] for the cascaded position controller ([mNm/(inc*s)] for the simple PID position controller) 3 Position loop Kd REAL 32 80 rw o description The D-gain of the Position Control Loop [rpm*s/(inc)] for the cascaded position controller ([mNm*s/(inc)] for the simple PID position controller) 4 Position loop integral limit UDINT 32 112 rw o description Integrator limitation for anti-windup. Technique used is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit DEACTIVATED), please set the maximal values for your integral limit manually. Limit should always be set in the driving shaft units, especially important, when the gear box is used in the setup. The units are user-defined (RPM by default; see <code>0x60a9 SI unit velocity</code>  and <code>0x6092 Feed constant </code>to change it). 5 Velocity loop Kp REAL 32 144 rw o description The P-gain of the PID Velocity Loop Controller [mNm/rpm] 6 Velocity loop Ki REAL 32 176 rw o description The I-gain of the PID Velocity Controller [mNm/(rpm*s)] 7 Velocity loop Kd REAL 32 208 rw o description The D-gain of the PID Velocity Loop Controller [mNm*s/rpm] 8 Velocity loop integral limit UDINT 32 240 rw o description Integrator limitation for anti-windup. Technique used is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit DEACTIVATED), please set the maximal values for your integral limit manually. 9 Encoder source USINT 8 272 rw o description Select which encoder should be used for position control. options {"No encoder":0,"Encoder 1":1,"Encoder 2":2} description <h4>Parameter Tuning Guide for Position Controller with Cascaded Structure</h4> <h5>Introduction</h5> The cascaded control structure is the standard position control structure for SOMANET Drives. Its controller gains can be automatically set by the auto-tuning process, the results will be stored in the objects 2012:1 ... 2012:8. If auto-tuning is not applicable or manual modifications are necessary, the gains can be set manually. In the following, a procedure to do so is described. 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style="font-size: 10px;">τ</tspan></text> <desc id="desc121">Cascaded PID</desc> </svg> <h5>Control Basics</h5> Cascaded controller is usually used in PI-P form, i.e. inner loop (velocity control loop) is only using the proportional part of its PID controller and the outer loop (position controlling loop) is only using its proportional and integral part. The other form is P-PI form, i.e. inner loop is using proportional and integral part and outer loop uses only proportional part. The inner velocity control loop is responsible for calculating the torque reference. As a result the integral limit of the velocity controller should be set to the maximum torque of your torque actuato. Moreover, the outer position control loop is responsible for controlling the reference velocity, and consequently its integral limit should be set to the maximum velocity of your system. <h5>Tuning Concept in Brief</h5> For tuning the cascaded structure, we should first focus on the inner (velocity) loop. As it is the inner controlling loop, it should be faster than the outer position loop. However, if all parameters of the outer position controller are set to 0, the inner loop will be disconnected from the user position commands. As a result, we can increase the K_p of both position and velocity controllers with a ratio of 10 (K_p_velocity` = 10 * K_p_position`). Once the real position started to follow the reference position, we can stop increasing the K_p_position, and only focus on increasing K_p_velocity. At this stage, we can increase (sharpen) the velocity controller as much as possible. As a rule of thumb, increase K_p_velocity until you get close to the instability margin (at this margin, you will feel a vibration effect and some acoustic noise which is caused by controller sharpness). Now, you can reduce K_p_velocity to 90% of its value to increase the stability margin, and remove vibration noise. Once the velocity controller (the inner controlling loop) is tuned, it is time to tune the position controller (the outer controlling loop). To tune the position controller loop, we should start with the P part of its PID controller. Increase K_p_position until the entire position control gets close to instability margin. At this state, you will feel a vibration (or acoustic noise) which is because of too sharpened position control. At this step, reduce K_p_position to its 90% to increase the stability margin and remove the vibration/acoustic noise. So far, the proportional parts of both inner velocity loop and outer position loop are tuned, and we can focus on integrator part of the outer position or inner velocity loop (depends on chosen structure of controller). Increasing the integrator constant will remove the steady state error, but at the same time, it adds some overshoot at step responses. As a rule of thumb, you can increase K_i step by step until the following two conditions are met at the same time: <ul> <li>the steady-state error is eliminated in a short enough period of time</li> <li>the overshoot is in its acceptable range</li> </ul> In the following section, the explained tuning concept is divided in separate systematic steps. <h5>Tuning Steps</h5> <ul> <li>Step 1. Set the PID constants of both controllers equal to 0. By default, the integral limit of the velocity controller should be set to motor maximum torque and the integral limit of position controller should be set to motor maximum velocity. From this step forth, the step response of position controller should always be evaluated.</li> <li>Step 2. In this step, the K_p constant of the velocity controller should be tuned. Increase the K_p of both position and velocity controllers with a ratio of 10 (K_p_velocity = 10 * K_p_position). Once the real position starts to follow the reference position, stop increasing the K_p_position and only focus on increasing the K_p_velocity. Increase (sharpen) the velocity controller as much as possible. As a rule of thumb, increase K_p_velocity until you get close to the instability margin (at this margin, you will feel a vibration effect and some acoustic noise which is because of controller sharpness). Now, you can reduce K_p_velocity to 90% of its value to increase the stability margin, and remove vibration noise.</li> <li>Step 3. Now that the velocity controller is tuned, it is time to tune the parameters of the PID position controller. Start with K_p_position, and increase it until you again get close to the instability margin, and then reduce K_p_position` to its 90%. So far, the proportional parts of both inner velocity loop and outer position loop are tuned.</li> <li>Step 4. In this step, increase K_i to eliminate the steady state error. As a suggestion start with K_i equal to 0.01, and in each step, increase it with a factor of 2. Increase K_i step by step until the following two conditions are met at the same time:</li> </ul> <ul> <li>the steady-state error is eliminated in a short enough period of time</li> <li>the overshoot is in its acceptable range</li> </ul> <h4>Parameter Tuning Guide for Position Controller with simple PID Structure (objects 2012:1...2012:4 only)</h4> The Position Controller with Cascaded Structure is generally preferable over the simple PID controller. 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inkscape:connector-curvature="0" id="path4026" d="m 211.99999,76.64632 22.00024,0.19799"></path> <path style="fill: #000000; fill-rule: evenodd; stroke: #000000; stroke-width: 1; stroke-linecap: butt;" inkscape:connector-curvature="0" id="path4028" d="m 233.98539,78.49596 4.55276,-1.61083 -4.52304,-1.6925 z"></path> <text xml:space="preserve" style="font-style: normal; font-weight: normal; font-size: 20px; line-height: 125%; font-family: sans-serif; letter-spacing: 0px; word-spacing: 0px; fill: #000000; fill-opacity: 1; stroke: none; stroke-width: 1px; stroke-linecap: butt; stroke-linejoin: miter; stroke-miterlimit: 10; stroke-opacity: 1;" x="165.14099" y="36.656895" id="text3507" sodipodi:linespacing="125%"><tspan sodipodi:role="line" id="tspan3509" x="165.14099" y="36.656895" style="font-size: 10px;">τ_offset</tspan></text> <text xml:space="preserve" style="font-style: normal; font-weight: normal; font-size: 20px; line-height: 125%; font-family: sans-serif; letter-spacing: 0px; word-spacing: 0px; fill: #000000; fill-opacity: 1; stroke: none; stroke-width: 1px; stroke-linecap: butt; stroke-linejoin: miter; stroke-miterlimit: 10; stroke-opacity: 1;" x="213.09494" y="88.621674" id="text3507-3" sodipodi:linespacing="125%"><tspan sodipodi:role="line" id="tspan3509-6" x="213.09494" y="88.621674" style="font-size: 10px;">τ_ref</tspan></text> <text xml:space="preserve" style="font-style: normal; font-weight: normal; font-size: 20px; line-height: 125%; font-family: sans-serif; letter-spacing: 0px; word-spacing: 0px; fill: #000000; fill-opacity: 1; stroke: none; stroke-width: 1px; stroke-linecap: butt; stroke-linejoin: miter; stroke-miterlimit: 10; stroke-opacity: 1;" x="477.51077" y="59.232044" id="text3507-35" sodipodi:linespacing="125%"><tspan sodipodi:role="line" id="tspan3509-62" x="477.51077" y="59.232044" style="font-size: 10px;">τ</tspan></text> <desc id="desc3580">Simple PID </desc> <rect id="rect3586" width="547" height="206" x="217" y="125.04855"></rect></svg> <h5>Tuning Concept for Simple PID Controller</h5> To tune the position controller loop, we should start with the P part of its PID controller. Increase K_p_position until the entire position control gets close to instability margin. At this state, you will feel a vibration (or acoustic noise) which is because of a position control that has been sharpened too much. At this step, reduce K_p_position to its 90% to increase the stability margin and remove the vibration/acoustic noise. Now increase K_i to eliminate the steady state error. As a suggestion start with K_i equal to 0.01, and in each step, increase it with a factor of 2. Increase K_i step by step until the following two conditions are met at the same time: <ul> <li>the steady-state error is eliminated in a short enough period of time</li> <li>the overshoot is in its acceptable range</li> </ul> DT2210 72 0 SubIndex 000 USINT 8 0 ro m 1 Pin 1 USINT 8 16 rw o description Pin 1 : DIO [With Pull Down Resistor] options { "Disabled": 0, "[IN] General Purpose": 2, "[OUT] General Purpose": 3, "[IN] Home Switch (Active High)": 4, "[IN] Home Switch (Active Low)": 5, "[IN] Limit Switch Positive (Active High)": 6, "[IN] Limit Switch Positive (Active Low )": 7, "[IN] Limit Switch Negative (Active High)": 8, "[IN] Limit Switch Negative (Active Low)": 9, "[IN] Interlock - Disable Operation (Active Low)": 10, "[IN] Fault Reset (Active High)": 11, "[IN] Interlock - Fault Reaction (Active Low)": 12, "[IN] Timestamped Rising Edge (Active High)": 13, "[OUT] Target Reached": 14, "[OUT] Internal limit Active": 15, "[OUT] Timestamped Triggered Output": 16, "[OUT] Position Triggered Output (Pulse)": 17, "[OUT] Fault": 18, "[OUT] Switched On": 19, "[OUT] Ready to Switch On": 20, "[OUT] Operation Enabled": 21, "[OUT] Voltage Enabled": 22, "[OUT] Switch On Disabled": 23, "[OUT] Quick Stop": 24, "[OUT] Warning": 25, "[OUT] NZR LED": 26 } 2 Pin 2 USINT 8 24 rw o description Pin 2 : DIO [With Pull Down Resistor] options { "Disabled": 0, "[IN] General Purpose": 2, "[OUT] General Purpose": 3, "[IN] Home Switch (Active High)": 4, "[IN] Home Switch (Active Low)": 5, "[IN] Limit Switch Positive (Active High)": 6, "[IN] Limit Switch Positive (Active Low )": 7, "[IN] Limit Switch Negative (Active High)": 8, "[IN] Limit Switch Negative (Active Low)": 9, "[IN] Interlock - Disable Operation (Active Low)": 10, "[IN] Fault Reset (Active High)": 11, "[IN] Interlock - Fault Reaction (Active Low)": 12, "[IN] Timestamped Rising Edge (Active High)": 13, "[OUT] Target Reached": 14, "[OUT] Internal limit Active": 15, "[OUT] Timestamped Triggered Output": 16, "[OUT] Position Triggered Output (Pulse)": 17, "[OUT] Fault": 18, "[OUT] Switched On": 19, "[OUT] Ready to Switch On": 20, "[OUT] Operation Enabled": 21, "[OUT] Voltage Enabled": 22, "[OUT] Switch On Disabled": 23, "[OUT] Quick Stop": 24, "[OUT] Warning": 25, "[OUT] NZR LED": 26 } 3 Pin 3 USINT 8 32 rw o description Pin 3 : DIO [With Pull Down Resistor] options { "Disabled": 0, "[IN] General Purpose": 2, "[OUT] General Purpose": 3, "[IN] Home Switch (Active High)": 4, "[IN] Home Switch (Active Low)": 5, "[IN] Limit Switch Positive (Active High)": 6, "[IN] Limit Switch Positive (Active Low )": 7, "[IN] Limit Switch Negative (Active High)": 8, "[IN] Limit Switch Negative (Active Low)": 9, "[IN] Interlock - Disable Operation (Active Low)": 10, "[IN] Fault Reset (Active High)": 11, "[IN] Interlock - Fault Reaction (Active Low)": 12, "[IN] Timestamped Rising Edge (Active High)": 13, "[OUT] Target Reached": 14, "[OUT] Internal limit Active": 15, "[OUT] Timestamped Triggered Output": 16, "[OUT] Position Triggered Output (Pulse)": 17, "[OUT] Fault": 18, "[OUT] Switched On": 19, "[OUT] Ready to Switch On": 20, "[OUT] Operation Enabled": 21, "[OUT] Voltage Enabled": 22, "[OUT] Switch On Disabled": 23, "[OUT] Quick Stop": 24, "[OUT] Warning": 25, "[OUT] NZR LED": 26 } 4 Pin 4 USINT 8 40 rw o description Pin 4 : DIO [With Pull Down Resistor] (For Circulo : Only DO) options { "Disabled": 0, "[IN] General Purpose": 2, "[OUT] General Purpose": 3, "[IN] Home Switch (Active High)": 4, "[IN] Home Switch (Active Low)": 5, "[IN] Limit Switch Positive (Active High)": 6, "[IN] Limit Switch Positive (Active Low )": 7, "[IN] Limit Switch Negative (Active High)": 8, "[IN] Limit Switch Negative (Active Low)": 9, "[IN] Interlock - Disable Operation (Active Low)": 10, "[IN] Fault Reset (Active High)": 11, "[IN] Interlock - Fault Reaction (Active Low)": 12, "[IN] Timestamped Rising Edge (Active High)": 13, "[OUT] Target Reached": 14, "[OUT] Internal limit Active": 15, "[OUT] Timestamped Triggered Output": 16, "[OUT] Position Triggered Output (Pulse)": 17, "[OUT] Fault": 18, "[OUT] Switched On": 19, "[OUT] Ready to Switch On": 20, "[OUT] Operation Enabled": 21, "[OUT] Voltage Enabled": 22, "[OUT] Switch On Disabled": 23, "[OUT] Quick Stop": 24, "[OUT] Warning": 25, "[OUT] NZR LED": 26 } 5 Pin 5 USINT 8 48 rw o description Pin 5 : DIO [Without Pull Down Resistor] options { "Disabled": 0, "[IN] General Purpose": 2, "[OUT] General Purpose": 3, "[IN] Home Switch (Active High)": 4, "[IN] Home Switch (Active Low)": 5, "[IN] Limit Switch Positive (Active High)": 6, "[IN] Limit Switch Positive (Active Low )": 7, "[IN] Limit Switch Negative (Active High)": 8, "[IN] Limit Switch Negative (Active Low)": 9, "[IN] Interlock - Disable Operation (Active Low)": 10, "[IN] Fault Reset (Active High)": 11, "[IN] Interlock - Fault Reaction (Active Low)": 12, "[IN] Timestamped Rising Edge (Active High)": 13, "[OUT] Target Reached": 14, "[OUT] Internal limit Active": 15, "[OUT] Timestamped Triggered Output": 16, "[OUT] Position Triggered Output (Pulse)": 17, "[OUT] Fault": 18, "[OUT] Switched On": 19, "[OUT] Ready to Switch On": 20, "[OUT] Operation Enabled": 21, "[OUT] Voltage Enabled": 22, "[OUT] Switch On Disabled": 23, "[OUT] Quick Stop": 24, "[OUT] Warning": 25, "[OUT] NZR LED": 26 } 6 Pin 6 USINT 8 56 rw o description Pin 6 : DIO [Without Pull Down Resistor] options { "Disabled": 0, "[IN] General Purpose": 2, "[OUT] General Purpose": 3, "[IN] Home Switch (Active High)": 4, "[IN] Home Switch (Active Low)": 5, "[IN] Limit Switch Positive (Active High)": 6, "[IN] Limit Switch Positive (Active Low )": 7, "[IN] Limit Switch Negative (Active High)": 8, "[IN] Limit Switch Negative (Active Low)": 9, "[IN] Interlock - Disable Operation (Active Low)": 10, "[IN] Fault Reset (Active High)": 11, "[IN] Interlock - Fault Reaction (Active Low)": 12, "[IN] Timestamped Rising Edge (Active High)": 13, "[OUT] Target Reached": 14, "[OUT] Internal limit Active": 15, "[OUT] Timestamped Triggered Output": 16, "[OUT] Position Triggered Output (Pulse)": 17, "[OUT] Fault": 18, "[OUT] Switched On": 19, "[OUT] Ready to Switch On": 20, "[OUT] Operation Enabled": 21, "[OUT] Voltage Enabled": 22, "[OUT] Switch On Disabled": 23, "[OUT] Quick Stop": 24, "[OUT] Warning": 25, "[OUT] NZR LED": 26 } 7 Pin 7 USINT 8 64 rw o description Pin 7 : DI [With Pull Down Resistor] options { "Disabled": 0, "[IN] General Purpose": 2, "[OUT] General Purpose": 3, "[IN] Home Switch (Active High)": 4, "[IN] Home Switch (Active Low)": 5, "[IN] Limit Switch Positive (Active High)": 6, "[IN] Limit Switch Positive (Active Low )": 7, "[IN] Limit Switch Negative (Active High)": 8, "[IN] Limit Switch Negative (Active Low)": 9, "[IN] Interlock - Disable Operation (Active Low)": 10, "[IN] Fault Reset (Active High)": 11, "[IN] Interlock - Fault Reaction (Active Low)": 12, "[IN] Timestamped Rising Edge (Active High)": 13, "[OUT] Target Reached": 14, "[OUT] Internal limit Active": 15, "[OUT] Timestamped Triggered Output": 16, "[OUT] Position Triggered Output (Pulse)": 17, "[OUT] Fault": 18, "[OUT] Switched On": 19, "[OUT] Ready to Switch On": 20, "[OUT] Operation Enabled": 21, "[OUT] Voltage Enabled": 22, "[OUT] Switch On Disabled": 23, "[OUT] Quick Stop": 24, "[OUT] Warning": 25, "[OUT] NZR LED": 26 } description Configurable general purpose inputs and outputs with a 4 kHz update rate. For hardware that supports it, each pin can be configured as follows: <table style="border-collapse: collapse; width: 99.7477%; height: 70px;" border="1"> <tbody> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">Value</td> <td style="width: 1543px; height: 18px;">Definition</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">0</td> <td style="width: 1543px; height: 18px;">Disabled</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 16px;">2</td> <td style="width: 1543px; height: 16px;">[IN] General Purpose Input</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">3</td> <td style="width: 1543px; height: 18px;">[OUT] General Purpose Output</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">4</td> <td style="width: 1543px; height: 18px;">[IN] Home Switch Active High - Level Triggered</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">5</td> <td style="width: 1543px; height: 18px;">[IN] Home Switch Active Low - Level Triggered</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">6</td> <td style="width: 1543px; height: 18px;">[IN] Positive Limit Switch Active High - Level Triggered for Homing & Edge Triggered (Latch) for Error (PosLmAct)</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">7</td> <td style="width: 1543px; height: 18px;">[IN] Positive Limit Switch Active Low - Level Triggered for Homing & Edge Triggered (Latch) for Error (PosLmAct)</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">8</td> <td style="width: 1543px; height: 18px;">[IN] Negative Limit Switch Active High - Level Triggered for Homing & Edge Triggered (Latch) for Error (NegLmAct)</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">9</td> <td style="width: 1543px; height: 18px;">[IN] Negative Limit Switch Active Low - Level Triggered for Homing & Edge Triggered (Latch) for Error (NegLmAct)</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">10</td> <td style="width: 1543px; height: 18px;">[IN] Interlock (Disable Operation) Active Low - Level Triggered</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">11</td> <td style="width: 1543px; height: 18px;">[IN] Fault Reset - Edge Triggered</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">12</td> <td style="width: 1543px; height: 18px;">[IN] Interlock (Fault Reaction) Active Low - Level Triggered</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">13</td> <td style="width: 1543px; height: 18px;">[IN] Time Stamped Rising Edge - Edge Triggered</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">14</td> <td style="width: 1543px; height: 18px;">[OUT] Mimics Target Reached (tr) Bit of Statusword</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">15</td> <td style="width: 1543px; height: 18px;">[OUT] Mimics Internal Limit Active (ila) Bit of Statusword</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">16</td> <td style="width: 1543px; height: 18px;">[OUT] Timestamped Triggered Output</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">17</td> <td style="width: 1543px; height: 18px;">[OUT] Position Triggered Output (Pulse)</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">18</td> <td style="width: 1543px; height: 18px;">[OUT] Mimics Fault (f) Bit of Statusword</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">19</td> <td style="width: 1543px; height: 18px;">[OUT] Mimics Switched On (so) Bit of Statusword</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">20</td> <td style="width: 1543px; height: 18px;">[OUT] Mimics Ready to Switch On (rtso) Bit of Statusword</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">21</td> <td style="width: 1543px; height: 18px;">[OUT] Mimics Operation Enabled (oe) Bit of Statusword</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">22</td> <td style="width: 1543px; height: 18px;">[OUT] Mimics Voltage Enabled (ve) Bit of Statusword</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">23</td> <td style="width: 1543px; height: 18px;">[OUT] Mimics Switch On Disabled (sod) Bit of Statusword</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">24</td> <td style="width: 1543px; height: 18px;">[OUT] Mimics Quick Stop (qs) Bit of Statusword</td> </tr> <tr style="height: 18px;"> <td style="width: 96px; height: 18px;">25</td> <td style="width: 1543px; height: 18px;">[OUT] Mimics Warning (w) Bit of Statusword</td> </tr> </tbody> </table> DT2008 48 0 SubIndex 000 USINT 8 0 ro m 1 State INT 16 16 ro o description State of the cogging compensation procedure and data. Possible values: <code>NO DATA</code> (0) - No cogging data has been stored. Use the Cogging Recording opmode to record new data. <code>IN PROGRESS</code> (1) - Recording of the cogging data is in progress. <code>SAVING</code> (2) - Recording is done and the data is being saved to memory. <code>DATA EXISTS</code> (3) - Cogging data has been loaded from memory. Use the Enabled subfield to enable the data for cogging compensation. options { "NO DATA": 0, "IN PROGRESS": 1, "SAVING": 2, "DATA EXISTS": 3 } 2 Enabled INT 16 32 rw o description Enables or disables the cogging compensation feature. options { "Disabled": 0, "Enabled": 1 } description Cogging compensation is a software feature that suppresses torque ripple of electric motors to overcome vibration problems in precision applications. When cogging compensation is activated, an additional torque component is generated actively by the motor in order to compensate the cogging torque. To find the amount of compensation torque needed at each motor position, a recording procedure has to be performed before the compensation itself can be used. This object is used for reporting the state of the motor cogging data and enabling or disabling the cogging compensation feature. DT2009 152 0 SubIndex 000 USINT 8 0 ro m 1 State INT 16 16 rw o description This subitem shows the state of the commutation offset. A new offset can be found by entering the Commutation Offset Detection opmode. <code>OFFSET INVALID</code> (0) - Offset detection needs to be executed before using the torque controller. <code>IN PROGRESS</code> (1) - Commutation Sensor Offset Detection is currently in progress. <code>OFFSET VALID</code> (2) - The offset has been found and is valid. The torque controller can now be used. options { "OFFSET INVALID": 0, "IN PROGRESS": 1, "OFFSET VALID": 2 } 2 Applied percent of rated torque INT 16 32 rw o description Defines the amount of torque to be applied during the offset detection process. Specify this value in percent of rated torque. 3 Measurement method SINT 8 48 rw o description Used method for measurment of commutation angle offset Default value is 0. This method (method-0) does not need any tuning, it might rotate the motor up to 100% of a pole-pare range during phasing procedure. If 1 is selected, method-1 will be executed to find the proper value of commutation angle offset. Before using method-1 the following steps should be completed: Proper value of "phase inverted" parameter should be updated in the software. PID parameters of phasing controller should be tuned. A well tuned phasing controller will result in no visible movement during offset detection procedure. WARNING: If not tuned, the default values of "phasing controller" do not guarantee a stable situation. Before using "offset detection method 1" tune its "phasing controller" for your mechanical load. If you want to tune "phasing controller" of "offset detection method 1" make sure that your motor can freely rotate at high speeds (recommendation: start tuning by setting kp = 1, ki = 1, and kd = 0). If 2 is selected, method-2 will be executed to find the proper value of commutation angle offset. Regarding method 2 the following points should be considered: Method 2 does not need any movement on motor shaft The reliability of method 2 is a function of motor design structure. As a result, for high reliabilty applications it is always recommended to use method 0 or method 1. If Method 2 is selected, and commutation sensor has an index, then at startup the Drive uses method 2 to find a temporary offset. Once the index is found, this temporary offset will be replaced by the offset which is saved in object dictionary.     4 Phasing controller Kp REAL 32 56 rw o description Proportional constant Kp in PID phasing controller. This controller is used to hold the position during offset detection procedure. WARNING: If not tuned, the default values of "phasing controller" do not guarantee a stable situation. Before using "offset detection method 1" tune its "phasing controller" for your mechanical load. If you want to tune "phasing controller" of "offset detection method 1" make sure that your motor can freely rotate at high speeds (recommendation: start tuning by setting kp = 1, ki = 1, and kd = 0).   5 Phasing controller Ki REAL 32 88 rw o description Integral constant Ki in PID phasing controller. This controller is used to hold the position during offset detection procedure. WARNING: If not tuned, the default values of "phasing controller" do not guarantee a stable situation. Before using "offset detection method 1" tune its "phasing controller" for your mechanical load. If you want to tune "phasing controller" of "offset detection method 1" make sure that your motor can freely rotate at high speeds (recommendation: start tuning by setting kp = 1, ki = 1, and kd = 0).   6 Phasing controller Kd REAL 32 120 rw o description Derivative constant Kd in PID phasing controller. This controller is used to hold the position during offset detection procedure. WARNING: If not tuned, the default values of "phasing controller" do not guarantee a stable situation. Before using "offset detection method 1" tune its "phasing controller" for your mechanical load. If you want to tune "phasing controller" of "offset detection method 1" make sure that your motor can freely rotate at high speeds (recommendation: start tuning by setting kp = 1, ki = 1, and kd = 0).   description Used for reporting the state of the commutation offset. DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Elements DT607DARR 64 16 rw m r description Defines the absolute position limits for the <code>0x607A Target position</code> and the <code>0x6064 Position actual value</code>. Every new target and actual position are checked against these limits. The limit positions shall be always relative to the machine home position. Limits are disabled by setting them to default values, min. limit to -2147483648 and max. limit to 2147483647. The units are user-defined (increments of the position encoder by default; see <code>0x6092 Feed constant </code>to change it). DT1010ARR UDINT 32 1 1 DT1010 48 0 Number of entries USINT 8 0 ro m Elements DT1010ARR 32 16 rw m description Provides the ability to save to permanent storage. Write the value <code>0x65766173</code> ("evas", or "save" spelled backwards in ASCII) to start the save procedure. save all parameters - this will save the current configuration to permanent storage. DT1011ARR UDINT 128 1 4 DT1011 144 0 Number of entries USINT 8 0 ro m Elements DT1011ARR 128 16 rw m description Provides the ability to load from permanent storage. Write the value <code>0x64616f6c</code> ("daol", or "load" spelled backwards in ASCII) to start the restore procedure. restore all default parameters - load the configuration from the config.csv file, stored on permanent storage The "default" configuration is defined as the contents of the `config.csv` file. DT2021 56 0 SubIndex 000 USINT 8 0 ro m 1 Type USINT 8 16 rw o options {"Disabled":0,"1st order low pass":1} 2 Cutoff frequency UDINT 32 24 rw o description Measured velocity signal from the sensor can be filtered. There is only one type of filtering that the user can choose: 1st order low pass filter with formula G(s)=1/(1+sT), where T=1/(2*pi*f), The filter is implemented in discrete domain using Euler's forward difference discretization method, i.e. s=1/T*(1-z^-1). The filter is enabled by setting the filter type parameter to 1, and disabled by setting it to 0. Parameter cutoff frequency is set in [Hz]. DT6091ARR UDINT 64 1 2 DT6091 80 0 Number of entries USINT 8 0 ro m Elements DT6091ARR 64 16 rw m r description Configures the ratio of motor shaft revolutions to driving shaft revolutions. The sensor used for position control is defined to be on the driving shaft. All values are dimensionless. DT2013 600 0 SubIndex 000 USINT 8 0 ro m 1 Enabled BOOL 1 16 rw o description Enables or disables the gain scheduling feature. options {"Disabled":0,"Enabled":1} 2 Threshold velocity 0 UDINT 32 24 rw o description Velocity that determines the lower threshold. Underneath this value, controller gains set 0 is used. Beyond it, linear interpolation begins. The units are user-defined (RPM by default; see <code>0x60a9 SI unit velocity</code>  and <code>0x6092 Feed constant </code>to change it). 3 Position loop Kp 0 REAL 32 56 rw o description The P-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/inc] 4 Position loop Ki 0 REAL 32 88 rw o description The I-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/(inc*s)] 5 Position loop Kd 0 REAL 32 120 rw o description The D-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc] 6 Position loop integral limit 0 UDINT 32 152 rw o description The integrator limit of the Position Control Loop of area 0 (low velocity, below threshold velocity 0). Technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. Limit should always be set in the driving shaft units, especially important, when the gear box is used in the setup. The units are user-defined (RPM by default; see <code>0x60a9 SI unit velocity</code>  and <code>0x6092 Feed constant </code>to change it). 7 Velocity loop Kp 0 REAL 32 184 rw o description The P-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [mNm/rpm] 8 Velocity loop Ki 0 REAL 32 216 rw o description The I-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [mNm/(rpm*s)] 9 Velocity loop Kd 0 REAL 32 248 rw o description The D-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc] 10 Velocity loop integral limit 0 UDINT 32 280 rw o description The integrator limit of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0). Technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. 11 Threshold velocity 1 UDINT 32 312 rw o description Velocity that determines the upper threshold. Above this value, controller gains set 1 is used. Up to this velocity linear interpolation is performed. The units are user-defined (RPM by default; see <code>0x60a9 SI unit velocity</code>  and <code>0x6092 Feed constant </code>to change it). 12 Position loop Kp 1 REAL 32 344 rw o description The P-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm/inc] 13 Position loop Ki 1 REAL 32 376 rw o description The I-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm/(inc*s)] 14 Position loop Kd 1 REAL 32 408 rw o description The D-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm*s/inc] 15 Position loop integral limit 1 UDINT 32 440 rw o description The integrator limit of the Position Control Loop of area 1 (high velocity, above threshold velocity 1). Technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. Limit should always be set in the driving shaft units, especially important, when the gear box is used in the setup. The units are user-defined (RPM by default; see <code>0x60a9 SI unit velocity</code>  and <code>0x6092 Feed constant </code>to change it). 16 Velocity loop Kp 1 REAL 32 472 rw o description The P-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [mNm/rpm] 17 Velocity loop Ki 1 REAL 32 504 rw o description The I-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [mNm/(rpm*s)] 18 Velocity loop Kd 1 REAL 32 536 rw o description The D-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm*s/inc] 19 Velocity loop integral limit 1 UDINT 32 568 rw o description The integrator limit of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1). Technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. DT200A 72 0 Number of entries USINT 8 0 ro m 1 Enabled USINT 8 16 rw o description Enables or disables the I2t protection feature. options {"Disabled":0,"Enabled (current limit at 100%)":1,"Enabled (error at 100%)":2} 2 Peak time UDINT 32 24 rw o description This field determines how long the motor can operate while peak rms current is flowing in its windings. This time should be determined by motor manufacturer. 3 Percent max USINT 8 56 ro o description This is an index of your motor "over-heat" status. It changes between 0 and 250. At 0%, the motor is not over heated. When this value reaches 100% the motor is at its maximum allowed over heated condition, and if I2t is enabled, the maximum rms current will be limited. This limitation is going to be removed when the percentage goes down to 50% or less. 4 Protection active BOOL 1 64 ro o description As long as it is 0, i2t protection is not putting any limit on maximum rms current of your motor. Once it is 1 it means that i2t protection is limiting the "maximum rms currents" of your motor to its rated value. DT2022 56 0 Number of entries USINT 8 0 ro m 1 Type USINT 8 16 rw o options {"Disabled":0,"1st order low pass":1} 2 Cutoff frequency UDINT 32 24 rw o description Measured position signal from the sensor can be filtered. There is only one type of filtering that the user can choose: 1st order low pass filter with formula G(s)=1/(1+sT), where T=1/(2*pi*f), The filter is implemented in discrete domain using Euler's forward difference discretization method, i.e. s=1/T*(1-z^-1). The filter is enabled by setting the filter type parameter to 1, and disabled by setting it to 0. Parameter cutoff frequency is set in [Hz]. DT2031 48 0 Number of entries USINT 8 0 ro m 1 Measured temperature DINT 32 16 ro o t description Describes the temperature measured near the inverter. DT203F 80 0 SubIndex 000 USINT 8 0 ro m 1 Description STRING(8) 64 16 ro o tr description The error report object display information about a fault or warning that has occured. When a fault on the drive is reported, the drive switches into Fault reaction active state, which issues a quick-stop, brings the drive to a halt, and then disables the power stage. Thus, only one error is reported at a time. When a warning is reported, the state of the drive remains unchanged. A subsequent fault overwrites an existing warning. <table class="table table-bordered"> <thead> <tr> <th>Error Code</th> <th>Description</th> <th>Explanation</th> <th>Remedy</th> </tr> </thead> <tbody> <tr> <td>NoFault</td> <td>No fault</td> <td>Default value of the object, which means no fault is to be reported.</td> <td>This error code indicates that there's no error reported, thus the drive is not in fault state. If the drive is shown in fault state and this error code is reported, this may be caused by a fault in the master/slave communication for example in the VM version OBLAC Drives. Rebooting the VM might solve the problem in this case. Another reason could be that the fault register could not be read. Otherwise please contact technical support of Synapticon.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="2">Protection faults of user-defined parameters</th> <td>Errors triggered by user-defined thresholds (for more details see object 0x2006: Protection)</td> <td>NOTE: These errors can also cause subsequent faults or be caused by other faults.</td> </tr> <tr> <td>PuOcA</td> <td>Protection User-defined Over-current Phase A</td> <td rowspan="3">The current sensor at drive phase A/B/C sensed a current exceeding the user-defined Over-current threshold (0x2006:3 Protection Overcurrent setpoint). If the user-defined threshold is higher than the hardware protection threshold, this software protection can be considered unfunctional, as long as the hardware protection is available.</td> <td rowspan="3">As the threshold is user-defined, please first check the object 0x2006:3 Overcurrent setpoint to make sure that the threshold is set appropriately. Regarding an over-current, <a href="https://doc.synapticon.com/software/44/errors_warnings/remedies/index.html">please refer to the remedy for over-current.</a></td> </tr> <tr> <td>PuOcB</td> <td>Protection User-defined Over-current Phase B</td> </tr> <tr> <td>PuOcC</td> <td>Protection User-defined Over-current Phase C</td> </tr> <tr> <td>PuUv</td> <td>Protection User-defined Under-voltage</td> <td>Indicates that the DC bus voltage is measured below the user-defined threshold (0x2006:1 Protection Undervoltage setpoint).</td> <td>As the threshold is user-defined, please first check the object 0x2006:1 Undervoltage setpoint. Then please <a href="https://doc.synapticon.com/software/44/errors_warnings/remedies/index.html">refer to the remedy for under-voltage</a>.</td> </tr> <tr> <td>PuOv</td> <td>Protection User-defined Over-voltage</td> <td>Indicates that the DC bus voltage is measured exceeding the user-defined threshold (0x2006:2 Protection Overvoltage setpoint).</td> <td>As the threshold is user-defined, please first check the object 0x2006:2 Overvoltage setpoint. Then please <a href="https://doc.synapticon.com/software/44/errors_warnings/remedies/index.html">refer to the remedy for over-voltage</a>.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="2">Hardware Protection Faults</th> <td>Errors triggered by hardware built-in protection logic.</td> <td> </td> </tr> <tr> <td>PhUdef</td> <td>Protection Hardware Undefined</td> <td>Indicates that the hardware protection reports an error not defined in the CiA 402 standard.</td> <td>Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.</td> </tr> <tr> <td>PhFault</td> <td>Protection Hardware Fault</td> <td>A generic hardware fault was detected.</td> <td>Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.</td> </tr> <tr> <td>PhWtdg</td> <td>Protection Hardware Watchdog</td> <td>The watchdog is a service that checks periodically with a timer to guarantee that the drive control logic is working in the proper frequency. This error indicates that the watchdog tick is not received on time by the hardware protection, thus the drive is not working properly.</td> <td>Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.</td> </tr> <tr> <td>PhDeadTA</td> <td>Protection Hardware Deadtime Phase A</td> <td rowspan="4">Deadtime is a common protection strategy in PWM control for avoiding a bridge shoot-through, a short-circuit accident caused by transistors on both sides being open at the same time. This error indicates that the effective deadtime is detected below the manufacturer-defined threshold.</td> <td rowspan="4">Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.</td> </tr> <tr> <td>PhDeadTB</td> <td>Protection Hardware Deadtime Phase B</td> </tr> <tr> <td>PhDeadTC</td> <td>Protection Hardware Deadtime Phase C</td> </tr> <tr> <td>PhDeadTD</td> <td>Protection Hardware Deadtime Phase D</td> </tr> <tr> <td>PhOvUvOt</td> <td>Protection Hardware Over-voltage / Under-voltage / Over-temperature</td> <td>The drive temperature which was measured close to the power MOSFETs and the DC bus voltage are checked by the same hardware protection circuit against manufacturer-defined thresholds. This error indicates that one or more of the three errors is/are triggered.</td> <td>Please <a href="https://doc.synapticon.com/software/44/errors_warnings/remedies/index.html">refer to the remedy for over-voltage, under-voltage and over-temperature.</a></td> </tr> <tr> <td>PhOc</td> <td>Protection Hardware Overcurrent</td> <td>Indicate that the phase current or the DC bus current measured is exceeding the manufacturer-defined threshold (referring to the hardware document, link), which triggers the hardware protection circuit.</td> <td>Please <a href="https://doc.synapticon.com/software/44/errors_warnings/remedies/index.html">refer to the remedy for over-current.</a></td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Safety Faults</th> </tr> <tr> <td>SfeDiIvd</td> <td>Safety Digital Input Invalid</td> <td>Invalid digital input signals received by the safety input, for example one signal of the dual-channel input is read at a different interval than the other signal. The signals must have the same state within 100 ms.</td> <td>The cause of the fault usually directs to misuse of the I/Os or faults in signal tansfer. Please refer to the documentation about safety functions of your hardware first, to check the use of the safety I/Os and of the safety functions. Check the measured inputs in 0x2611 Safety digital input diagnostics and locate the signal leading to the fault. Check and fix the wiring accordingly with assistance of tools for example with multimeter measurement.</td> </tr> <tr> <td>SfeFault</td> <td>Safety Fault</td> <td>A safety-based hardware fault detected.</td> <td>Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">BiSS Sensor Faults</th> </tr> <tr> <td>BisErBit</td> <td>BiSS Error Bit active.</td> <td>One of the bits in the BiSS frame is used to signal error. This bit is set by the encoder and read by the drive according to user-defined parameter (Status bits active value). This fault indicate that the drive receives the error bit being active.</td> <td rowspan="2">Please check the 2 cases often seen: 1. Misconfiguration of Status bits active value. The status bits (error bit and warning bit) are by default read as active low, i.e. the error bit being 0 indicates the error being active. Please check the documentation of the encoder and correctly configure the reading. 2. The encoder is indeed rasing an error/ warning. Please check the documentation of the encoder, consult the encoder manufacturer for further investigation.</td> </tr> <tr> <td>BisWnBit</td> <td>BiSS Warning Bit active.</td> <td>One of the bits in the BiSS frame is used to signal warning. This bit is set by the encoder and read by the drive according to user-defined parameter (Status bits active value). This fault indicate that the drive receives the warning bit being active.</td> </tr> <tr> <td>BisAcBit</td> <td>BiSS Acknowledge Bit not received.</td> <td>The BiSS slave is not acknowledging the request to communicate sent by the drive. This usually happens when there is some issue with the power or communication link, e.g. one of the wires is broken or not well connected.</td> <td rowspan="3">Please firstly make sure that the encoder is connected to the port which is being configured. Then check the wiring accoding to the hardware wiring instructions to make sure that, firstly the signals are transfered to the correct pins, secondly the signal transfer is stable. Assistance of measurement tools such as multimeter and oscilloscope is necessary.</td> </tr> <tr> <td>BisSrtBt</td> <td>BiSS Start Bit not received.</td> <td>The BiSS slave acknowledged the request to communicate, but it didn't sent the start bit to start the communication. This usually happens when there is some issue with the power or communication link, e.g. one of the wires is broken or not well connected.</td> </tr> <tr> <td>BisSloLo</td> <td>BiSS data (SLO) is permanently Low.</td> <td>The SLO line should be set to high by the BiSS slave when it is ready to establish communication. This error usually happens when there is some issue with the power or communication link, e.g. one of the wires is broken or not well connected.</td> </tr> <tr> <td>BisFrame</td> <td>BiSS Frame configuration error.</td> <td>The sensor configuration causes an issue related to the BiSS frame. This error is currently raised only if the BiSS frame size is higher than 64 bits.</td> <td>Please check the sensor configuration according to the documentation of the encoder manufacturer. The most relevant objects to check: 1. Resolution, unit Inc/ Revolution 2. Multiturn resolution, unit number of bits 3. Number of filling bits, unit number of bits</td> </tr> <tr> <td>BisCrc</td> <td>BiSS CRC error.</td> <td>The BiSS frame contains a CRC6 of some of the data that is being sent. This error is raised when the CRC sent by the BiSS slave is different than the CRC computed by the drive. This usually means that the drive can't read the frame properly.</td> <td>Regarding a CRC error, there are several causes often seen: 1. Misconfiguration of the sensor reading leading to the bits being read wrong. In this case the fault cannot be reset. Please check the sensor configuration according to the documentation of the encoder manufacturer. Common parameters wrongly configured are the singleturn resolution and multiturn resolution. 2. Misconfiguration of the object CRC polynom, thus the CRC is calculated wrong. In this case the fault cannot be reset. Please check the polynom in the encoder documentation. The value by default: 48 represents x^0 + x^1 + x^6, which usually doesn't need to be modified. 3. Inconsistency in signal transfer. In this case the fault can sometimes be reset, but would occur under certain circumstances. Please check the signals received by the drive with an oscilloscope under operation for better investigation. The cause can be that the signal transfer is influenced by external field, or that the signal transfer is unstable for example due to soldering quality or cable aging. Improve the situation by replacing the cables, better arranging the cables, adding shielding, etc., ensuring that the signals can be stably transfered with acceptable noise.</td> </tr> <tr> <td>BisRegEr</td> <td>BiSS register communication error</td> <td>Some BiSS encoders require the firmware to read/write some of their registers to be initialized properly. This error is triggered when any of these BiSS register transaction fail.</td> <td>Try to reconfigure the encoder that raised this error. To do so, there are two possibilities: - Set its function to Disabled and then back to the function it had. - Remove the encoder from the sensor port list (0x2100) and add it again.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">SSI Sensor Faults</th> </tr> <tr> <td>SsiFrame</td> <td>SSI Frame configuration error.</td> <td>The sensor configuration causes an issue related to the SSI frame. This error is currently raised only if the SSI frame size is higher than 256 bits.</td> <td>Please check the sensor configuration, especially the object Frame size according to the documentation of the encoder manufacturer.</td> </tr> <tr> <td>SsiDtaLo</td> <td>SSI Data is permanently Low.</td> <td>The data line should be set to high by the SSI slave when it is ready to establish communication. This error usually happens when there is some issue with the power or communication link, e.g. one of the wires is broken or not well connected.</td> <td>Please firstly make sure that the encoder is connected to the port which is being configured. Then check the wiring accoding to the hardware wiring instructions to make sure that, firstly the signals are transfered to the correct pins, secondly the signal transfer is stable. Assistance of measurement tools such as multimeter and oscilloscope is necessary.</td> </tr> <tr> <td>SsiChksm</td> <td>SSI Checksum error.</td> <td>Some SSI slaves include a ckecksum of the data in the SSI frame. Currently our drives can be configured to read a parity bit from compatible SSI encoders. This error means the parity bit computed by the firmware is different than the one sent by the SSI slave.</td> <td>Regarding a checksum error, there are several causes often seen: 1. Misconfiguration of the sensor leading to the bits being read wrong or the checksum being calculated wrong. In this case the fault cannot be reset. Please check the sensor configuration according to the documentation of the encoder manufacturer. 2. Inconsistency in signal transfer. In this case the fault can sometimes be reset, but would occur under certain circumstances. Please check the signals received by the drive with an oscilloscope under operation for better investigation. The cause can be that the signal transfer is influenced by external field, or that the signal transfer is unstable for example due to soldering quality or cable aging. Improve the situation by replacing the cables, better arranging the cables, adding shielding, etc., ensuring that the signals can be stably transfered with acceptable noise.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">REM16MT Sensor Faults</th> </tr> <tr> <td>R16WkMgF</td> <td>REM16 Weak Magnetic Field.</td> <td>Weak magnetic field. Mounting may need to be improved.</td> <td> </td> </tr> <tr> <td>R16Cont</td> <td>REM16 multiturn Counter error.</td> <td>Multiturn counter error</td> <td> </td> </tr> <tr> <td>R16CorDc</td> <td>REM16 singleturn CORDIC error</td> <td>Singleturn CORDIC error</td> <td> </td> </tr> <tr> <td>R16SpdOv</td> <td>REM16 multiturn Speed Overflow.</td> <td>Multiturn speed overflow</td> <td> </td> </tr> <tr> <td>R16FtCfg</td> <td>REM16 Filter Configuration error.</td> <td>Filter configuration error</td> <td> </td> </tr> <tr> <td>R16FtSOF</td> <td>REM16 Filter Speed Overflow error.</td> <td>Filter speed overflow error</td> <td> </td> </tr> <tr> <td>R16UnCmd</td> <td>REM16 Unknown Command.</td> <td>Unknown command</td> <td> </td> </tr> <tr> <td>R16Chksm</td> <td>REM16 Checksum error.</td> <td>Checksum error</td> <td> </td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">REM14 Sensor Faults</th> </tr> <tr> <td>R14Chksm</td> <td>REM14 Checksum error.</td> <td>Checksum error</td> <td> </td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">QEI Sensor Faults</th> </tr> <tr> <td>QeiLsTck</td> <td>QEI Lost Ticks.</td> <td>The number of ticks counted in two successive index pulses is different from the sensor resolution configured by user.</td> <td>There are several causes often seen: 1. The configured resolution is wrong. Please check the Resolution configured according to the encoder datasheet, and please pay attention to the conversion between units (Resolution = Cycles per Revolution * 4). 2. There's a loss of pulses in encoder reading, which can be due to: 2a. The encoder being improperly mounted, or the encoder ring is damaged. Please check the mounting instruction of your encoder for proper installation, and consult the encoder manufacturer for advices. 2b. Inconsistency in signal transfer. Please check the signals received by the drive with an oscilloscope under operation for better investigation. The cause can be that the signal transfer is influenced by external field, or that the signal transfer is unstable for example due to soldering quality or cable aging. Improve the situation by replacing the cables, better arranging the cables, adding shielding, etc., ensuring that the signals can be stably transfered with acceptable noise. 2c. The pulses are read with an exceeding frequency. This case rarely happens, but can be possible if the encoder resolution and/or the spin speed being unusually high.</td> </tr> <tr> <td>QeiNoIdx</td> <td>QEI No Index.</td> <td>For an incremental encoder configured to be with 3 channels (usually known as ABI/ ABZ), the drive is expecting to receive an Index pulse which provides an index for the absolute singleturn position. This error indicates that the Index pulse couldn't be detected, while the drive moved the motor in order to detect it.</td> <td>Please first check whether your encoder is indeed with the Index pulse, i.e. is an ABI/ ABZ encoder. If it is an encoder without index, please choose 2-channel (no index) for Number of channels. Else, most probable causes are: 1. The encoder being improperly mounted, or the encoder ring is damaged. Please check the mounting instruction of your encoder for proper installation, and consult the encoder manufacturer for advices. 2. Inconsistency in signal transfer. Please check the signals received by the drive with an oscilloscope under operation for better investigation. The cause can be that the signal transfer is influenced by external field, or that the signal transfer is unstable for example due to soldering quality or cable aging. Improve the situation by replacing the cables, better arranging the cables, adding shielding, etc., ensuring that the signals can be stably transfered with acceptable noise.</td> </tr> <tr> <td>QeiOpnWr</td> <td>QEI Open Wire.</td> <td>Indicate that one of the differential A or B lines is disconnected. Only available on hardware that supports it.</td> <td>Please check the wiring with for example the diode mode of a multimeter, making sure that the wires are stably transfering the signals.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Hall Sensor Faults</th> </tr> <tr> <td>HallSeq</td> <td>Hall Sequence error.</td> <td>The hall sensor outputs have an invalid value (111 or 000), or the sequence between the current state and the last state is invalid.</td> <td>Please check the wiring and make sure that the signals are transfered with good consistency. If the HALL sensor is used together with an incremental encoder for commutation, it can be that the HALL sensor A/B/C pins are connected in a wrong order. Please verify the cabling, and verify the order by running offset detection with only the HALL sensor configured for commutation. If the order is correct, the result of the offset detection should be around 0, and 0x2003:5 Motor phases inverted should show 0 (No).</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">A-Format sensor faults</th> </tr> <tr> <td>AftFrame</td> <td>A-Format Frame error.</td> <td>The fixed data in the recieved A-Format frame (like sync code) is wrong. This usually means that the A-Format transmission speed is wrong.</td> <td>Please check the transmission speed configuration according to the encoder datasheet.</td> </tr> <tr> <td>AftTmout</td> <td>A-Format Timeout.</td> <td>The A-Format encoder didn't start communication after sending a request.</td> <td>Please check the wiring and make sure that the signals are transfered with good consistency. Use a oscilloscope to monitor the signal transfered for further investigation.</td> </tr> <tr> <td>AftCrc</td> <td>A-Format CRC error.</td> <td>The A-Format frame contains a CRC of some of the data that is being sent. This error is raised when the CRC sent by the encoder is different than the CRC computed by the drive. This usually means that the drive can't read the frame properly, which usually happens because of noise in the communication link.</td> <td>Please check the signals received by the drive with an oscilloscope under operation for better investigation. The cause can be that the signal transfer is influenced by external field, or that the signal transfer is unstable for example due to soldering quality or cable aging. Improve the situation by replacing the cables, better arranging the cables, adding shielding, etc., ensuring that the signals can be stably transfered with acceptable noise.</td> </tr> <tr> <td>AftBatt</td> <td>A-Format BATT status.</td> <td>The encoder is raising Battery Alarm. Check your A-Format encoder datasheet for more information.</td> <td>Please check the encoder documentation for better understanding the meaning of the Battery Alarm. The usual case is that the battery voltage is low, the battery is wrongly wired, or there's no battery connected.</td> </tr> <tr> <td>AftMTErr</td> <td>A-Format MTERR status.</td> <td>The encoder is raising MT Error. Check your A-Format encoder datasheet for more information.</td> <td>Please check the encoder documentation for better understanding the meaning of the MT Error.</td> </tr> <tr> <td>AftOvFlw</td> <td>A-Format OvFlow status.</td> <td>The encoder is raising Over Flow Alarm. Check your A-Format encoder datasheet for more information.</td> <td>Please check the encoder documentation for better understanding the meaning of the Over Flow Alarm.</td> </tr> <tr> <td>AftOvSpd</td> <td>A-Format OVSPD status.</td> <td>The encoder is raising Over Speed Alarm. Check your A-Format encoder datasheet for more information.</td> <td>Please check the encoder documentation for better understanding the meaning of the Over Speed Alarm. The usual case is that the rotation speed exceeds the speed limit of the encoder.</td> </tr> <tr> <td>AftMemEr</td> <td>A-Format MEMERR status.</td> <td>The encoder is raising Memory Error. Check your A-Format encoder datasheet for more information.</td> <td>Please check the encoder documentation for better understanding the meaning of the Memory Error.</td> </tr> <tr> <td>AftSTErr</td> <td>A-Format STERR status.</td> <td>The encoder is raising ST Error. Check your A-Format encoder datasheet for more information.</td> <td>Please check the encoder documentation for better understanding the meaning of the ST Error.</td> </tr> <tr> <td>AftPSErr</td> <td>A-Format PSERR status.</td> <td>The encoder is raising PS Error. Check your A-Format encoder datasheet for more information.</td> <td>Please check the encoder documentation for better understanding the meaning of the PS Error.</td> </tr> <tr> <td>AftBusyF</td> <td>A-Format BUSY status.</td> <td>The encoder is raising BUSY Flag. Check your A-Format encoder datasheet for more information.</td> <td>Please check the encoder documentation for better understanding the meaning of the BUSY Flag.</td> </tr> <tr> <td>AftMemBs</td> <td>A-Format MemBusy status.</td> <td>The encoder is raising MEMBUSY Flag. Check your A-Format encoder datasheet for more information.</td> <td>Please check the encoder documentation for better understanding the meaning of the MEMBUSY Flag.</td> </tr> <tr> <td>AftOvTmp</td> <td>A-Format OvTemp status.</td> <td>The encoder is raising Temperature Warning. Check your A-Format encoder datasheet for more information.</td> <td>Please check the encoder documentation for better understanding the meaning of the Temperature Warning. In case of over-temperature please <a href="https://doc.synapticon.com/software/44/errors_warnings/remedies/index.html">refer to the remedies for over-temperature.</a></td> </tr> <tr> <td>AftIncEr</td> <td>A-Format IncErr status.</td> <td>The encoder is raising Incremental Signal Error. Check your A-Format encoder datasheet for more information.</td> <td>Please check the encoder documentation for better understanding the meaning of the Incremental Signal Error.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Generic Sensor Faults</th> </tr> <tr> <td>SnsrAngl</td> <td>Sensor Angle error.</td> <td>1. The electrical angle was not completeting a whole revolution during offset detection. 2. The calculated commutation angle is out of bounds. A singleturn related configuration parameter (resolution, singleturn) with a wrong value normally causes this error. 3. The motor is not moving during the QEI index detection.</td> <td>Please firstly check whether the motor rotates during offset detection. If it doesn't please check its configuration, wiring, and mechanical mounting. Please check the encoder configuration, and make sure that while rotating the motor for one full turn, the encoder value is correctly responding to the mechanical position. You can manually rotate the motor for investigation. An alternative way is with OBLAC opening another page and ploting the position feedback of the encoder used for commutation while running offset detection.</td> </tr> <tr> <td>SnsrCfg</td> <td>Sensor Configuration error.</td> <td>1. Some encoder parameter was set with an invalid value in the Object dictionary. 2. An action that required a particular encoder function (position, velocity or commutation) was triggered, but there is no encoder configured for that function. 3. There was an issue when trying to initialize or configure an encoder.</td> <td>Please check the configuration of the sensors, especially the parameters changed lately. Make sure that all functions required (position, velocity, commutation) are configured with the sensors.</td> </tr> <tr> <td>HwRsrcEr</td> <td>Hardware Resource Error.</td> <td>The software configuration is invalid for the hardware. For example, a sensor configured is with a sensor type not supported by that port.</td> <td>Please check the sensor configurations and the digital IO settings, making sure that the setting is supported by your hardware according to the documentation.</td> </tr> <tr> <td>IvldGpio</td> <td>Invalid Gpio configuration.</td> <td>The GPIO related configuration chosen is not available. This includes voltage level, direction of the GPIO, or GPIO trigger.</td> <td>Please check the configuration of the GPIO according to the documentation.</td> </tr> <tr> <td>SnsrBatt</td> <td>Sensor battery error</td> <td>This error is raised when an encoder battery was expected, but couldn't be detected. This error is raised only by multiturn encoders that need a battery, like Circulo's Internal encoder 1 when it's configured as a multiturn encoder.</td> <td>Please check the documentation to make sure the battery is connected properly and power cycle. In case there is no battery or if the battery is not needed, select "0" or "No" to the "Multiturn resolution" parameter of this encoder.</td> </tr> <tr> <td>SkpCycls</td> <td>Serial encoder service is skipping cycles</td> <td>This error is raised when a serial encoder service is looping slower than 16 kHz, which means that the cycles are taking longer than 62.5 us. This error should not be confused with the warning of the same name, which just means that an encoder that supports 32 kHz sampling (BiSS or SSI) is looping at 16 kHz instead.</td> <td>To try to solve either the warning or the error, we should try to spend less time reading the encoder. To do so we can first try to increase the clock frequency, and then try reducing the encoder timeout (check the encoder datasheet to determine which is the minimum value).</td> </tr> <tr> <td>SwLimOut</td> <td>Software Limit Out.</td> <td>Target position is outside of the 0x607D: Software position limit defined by the user.</td> <td>Please check object 0x607D: Software position limit and make sure that they are configured as expected. Accordingly send your position target.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Brake Faults</th> </tr> <tr> <td>BrkNtRls</td> <td>Brake release failed</td> <td>Brake release procedure for pin brake failed, i.e. the configured displacement threshold (0x2004:8 Minimum displacement (pin brake)) is not reached with the configrued torque (0x2004:9 Maximum torque (pin brake)).</td> <td>Please firstly check whether the motor functions correct, for example by manually releasing the brake and running offset detection. If it doesn't please check its configuration, wiring, and mechanical mounting. While the motor functions correct, please further tune the two configuration parameters, by increasing the torque or decreasing the minimum displacement, until the brake can be released stably.</td> </tr> <tr> <td>BkHiPull</td> <td>Pull brake voltage too high</td> <td>Pull brake voltage (0x2004:1 Pull voltage) higher than measured DC bus voltage (0x6079: DC link circuit voltage).</td> <td rowspan="2">Please measure the main power supply voltage supplied to the drive, and check whether the result is close to 0x6079: DC link circuit voltage. Pay attention that the actual voltage supplied to the drive would be slightly lower than the voltage output by the power supply, because of attenuation. Check the configuration of the pull/hold voltage, which should be lower than the DC Bus voltage.</td> </tr> <tr> <td>BkHiHold</td> <td>Hold brake voltage too high</td> <td>Hold brake voltage (0x2004:2 Hold voltage) higher than measured DC bus voltage (0x6079: DC link circuit voltage).</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Open Terminal Faults</th> </tr> <tr> <td>OpnTermA</td> <td>Open Terminal A</td> <td>Drive terminal A is opened. This error can happen if motor cable is not connected to terminal A of the Drive. It can also happen if the Drive is damaged internally.</td> <td rowspan="3">Please check the motor wiring, making sure that the motor phase cable is connected to the terminal A/B/C of the Drive.</td> </tr> <tr> <td>OpnTermB</td> <td>Open Terminal B</td> <td>Drive terminal B is opened. This error can happen if motor cable is not connected to terminal B of the Drive. It can also happen if the Drive is damaged internally.</td> </tr> <tr> <td>OpnTermC</td> <td>Open Terminal C</td> <td>Drive terminal C is opened. This error can happen if motor cable is not connected to terminal C of the Drive. It can also happen if the Drive is damaged internally..</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Open FET Faults</th> </tr> <tr> <td>OpnFetAH</td> <td>Open high FET at phase A</td> <td>One of the power electronic switches of Drive is damaged (not conducting). The damaged FET is located in leg A of the inverter, and it is the high-side FET of this leg.</td> <td rowspan="6">Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.</td> </tr> <tr> <td>OpnFetBH</td> <td>Open high FET at phase B</td> <td>One of the power electronic switches of Drive is damaged (not conducting). The damaged FET is located in leg B of the inverter, and it is the high-side FET of this leg.</td> </tr> <tr> <td>OpnFetCH</td> <td>Open high FET at phase C</td> <td>One of the power electronic switches of Drive is damaged (not conducting). The damaged FET is located in leg C of the inverter, and it is the high-side FET of this leg.</td> </tr> <tr> <td>OpnFetAL</td> <td>Open low FET at phase A</td> <td>One of the power electronic switches of Drive is damaged (not conducting). The damaged FET is located in leg A of the inverter, and it is the low-side FET of this leg.</td> </tr> <tr> <td>OpnFetBL</td> <td>Open low FET at phase B</td> <td>One of the power electronic switches of Drive is damaged (not conducting). The damaged FET is located in leg B of the inverter, and it is the low-side FET of this leg.</td> </tr> <tr> <td>OpnFetCL</td> <td>Open low FET at phase C</td> <td>One of the power electronic switches of Drive is damaged (not conducting). The damaged FET is located in leg C of the inverter, and it is the low-side FET of this leg.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Parameter Faults</th> </tr> <tr> <td>IvldOfst</td> <td>Invalid offset</td> <td>The commutation offset in 0x2001: Commutation angle offset is not valid. This error comes directly from reading object 0x2009:1 Commutation offset: State.</td> <td>Please run offset detection before operations. Please pay attention that, the change in some fundamental configuration parameters (sensor configuration, motor configuration) can make the existing offset detection result invalid. Please redo offset detection in that case.</td> </tr> <tr> <td>IvldOpmd</td> <td>Invalid operational mode</td> <td>Requested opmode is not supported. Set a valid value in 0x6060: Modes of operation.</td> <td>Please check our documentation for the available operation modes. Please check 0x6060: Modes of operation, and make sure that the master controller is sending a correct command.</td> </tr> <tr> <td>ZeroMxI</td> <td>Max. current is zero or negative</td> <td>User-defined limit on motor max current (0x6073: Max current) is 0.</td> <td>Please configure the 0x6073: Max current to be a value larger than 0, according to your motor datasheet or your application need.</td> </tr> <tr> <td>ZeroMxT</td> <td>Max. torque is zero or negative</td> <td>User-defined limit on motor max current (0x6072: Max torque) is 0.</td> <td>Please configure the 0x6072: Max torque to be a value larger than 0, according to your motor datasheet or your application need.</td> </tr> <tr> <td>ZeroMxMS</td> <td>Max. motor speed is zero or negative</td> <td>The value of 0x6080: Max motor speed is 0, so no motion is allowed.</td> <td>Pleaes configure 0x6080: Max motor speed to a valid value larger than 0, according to your motor datasheet or your application need.</td> </tr> <tr> <td>IvldPara</td> <td>Invalid Parameter</td> <td>The value of a parameter is invalid.</td> <td>Please check the values changed lately according to the documentation.</td> </tr> <tr> <td>SiVelPfx</td> <td>Invalid velocity scaling factor</td> <td>The velocity scaling prefix defined by 0x60A9: SI unit velocity is outside of the supported range.</td> <td>Please check OBLAC Drives, which directly provides available options for the configuration of 0x60A9: SI unit velocity, and the documentation for user defined velocity units. Make sure that a valid data is write to the object.</td> </tr> <tr> <td>MxPwrLmt</td> <td>Maximum mechanical output power of the motor is reached.</td> <td>This warning appears when the limit has been reached that has been configured in object 0x200B: Max power. The warning will disappear when the absolute value of reference torque has become less than this limit.</td> <td>When this waring appears often in your setup and your application does not perform as intended please consider the following remedies: - set the limit higher if your application allows it - reconsider the size of your power-supply - choose a more powerful motor</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Communication Faults</th> </tr> <tr> <td>CyclicHb</td> <td>Cyclic heartbeat</td> <td>A communication keep-alive heartbeat was dropped. Check that the PDO messages are being sent by the master cyclically, and within 100 ms of each other.</td> <td>If the inactivity of communication is known/ intended, the occurrence of the error is expected. Do [Fault reset] to clear the fault after the communication is reestablished. Otherwise, the occurrence of the error indicates that there exists unknown issues in the communication chain. Possible causes include: - communication delay in master program, check the running status of the master machine. - disturbance in communication signal transfer, make sure that a communication cable with shielding is used or try with the cable provided by Synapticon, check the stability of cabling.</td> </tr> <tr> <td>OsCmdCol</td> <td>OS command collision</td> <td>A new OS command was sent, but the OS command response of a previous OS command was not read after it completed.</td> <td>In order to send another OS command, please read the response of the previous OS command in the object 0x1023:3. Whenever the first byte becomes 0, 1, 2 or 3, a new OS command can be sent.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">I2t Protection Errors</th> </tr> <tr> <td>I2tActv</td> <td>I2t protection is active</td> <td>I2t protection is active, which limits your maximum torque to the nominal rated values of the motor. See 0x200A: I2t for configuration parameters.</td> <td>Please check 0x200A: I2t and see whether it's configured as expected. Regarding the I2t being triggered, that indicates that the drive is protecting the motor from potential overheating. Please read our documentation of I2t for more information.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Homing errors</th> </tr> <tr> <td>HmInvMth</td> <td>Unsupported or invalid homing method</td> <td>A Homing method was selected that is not supported by SOMANET.</td> <td>Please firstly check object 0x6098: Homing method and see whether the object is written as expected. Please refer to our documentation Homing modes, and check what homing methods are supported.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Internal Errors</th> </tr> <tr> <td>Intern01</td> <td>Internal fault 1</td> <td>Internal Error Code. Please contact support.</td> <td rowspan="3">Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.</td> </tr> <tr> <td>Intern02</td> <td>Internal fault 2</td> <td>Internal Error Code. Please contact support.</td> </tr> <tr> <td>Intern03</td> <td>Internal fault 3</td> <td>Internal Error Code. Please contact support.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Filter cutoff frequency bounds</th> </tr> <tr> <td>VeFiFcLo</td> <td>Velocity filter cut-off frequency too low</td> <td>0x2021:2 Velocity feedback filter Cutoff frequency is lower than the minimum limit.</td> <td>Please check 0x2021:2 Velocity feedback filter: Cutoff frequency, and make sure that the cutoff frequency is configured higher than the limit 5 Hz. Please check the documentation of the object for latest information.</td> </tr> <tr> <td>VeFiFcHi</td> <td>Velocity filter cut-off frequency too high</td> <td>0x2021:2 Velocity feedback filter Cutoff frequency is higher than the maximum limit.</td> <td>Please check 0x2021:2 Velocity feedback filter: Cutoff frequency, and make sure that the cutoff frequency is configured lower than the limit 2000 Hz. Please check the documentation of the object for latest information.</td> </tr> <tr> <td>PoFiFcLo</td> <td>Position filter cut-off frequency too low</td> <td>0x2022:2 Position feedback filter Cutoff frequency is lower than the minimum limit.</td> <td>Please check 0x2022:2 Position feedback filter: Cutoff frequency, and make sure that the cutoff frequency is configured higher than the limit 5 Hz. Please check the documentation of the object for latest information.</td> </tr> <tr> <td>PoFiFcHi</td> <td>Position filter cut-off frequency too high</td> <td>0x2022:2 Position feedback filter Cutoff frequency is higher than the maximum limit.</td> <td>Please check 0x2022:2 Position feedback filter: Cutoff frequency, and make sure that the cutoff frequency is configured lower than the limit 2000 Hz. Please check the documentation of the object for latest information.</td> </tr> <tr> <td>VffFcLo</td> <td>Velocity feed forward filter cut-off frequency too low</td> <td>0x2015:2 Velocity feed forward Cutoff frequency is lower than the minimum limit.</td> <td>Please check 0x2015:2 Velocity feed forward: Cutoff frequency, and make sure that the cutoff frequency is configured higher than the limit 5 Hz. Please check the documentation of the object for latest information.</td> </tr> <tr> <td>VffFcHi</td> <td>Velocity feed forward filter cut-off frequency too high</td> <td>0x2015:2 Velocity feed forward Cutoff frequency is higher than the maximum limit.</td> <td>Please check 0x2015:2 Velocity feed forward: Cutoff frequency, and make sure that the cutoff frequency is configured lower than the limit 2000 Hz. Please check the documentation of the object for latest information.</td> </tr> <tr> <td>NhFiFcHi</td> <td>Notch filter center frequency too high</td> <td>0x2023:2 Notch filter Center frequency is higher than the maximum limit.</td> <td>Please check 0x2023 Notch filter, and make sure that the center frequency is configured lower than the limit 2000 Hz. Please check the documentation of the object for latest information.</td> </tr> <tr> <td>NhFiPara</td> <td>Invalid Notch filter parameters</td> <td>Invalid configuration was detected for the notch filter.</td> <td>Please check 0x2023 Notch filter, and make sure that the rejection band is set smaller than the center frequency.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Distributed Clock</th> </tr> <tr> <td>SynDifHi</td> <td>Sync difference too high</td> <td>Sync time variance of the EtherCAT distributed clock is too high (value will be ignored).This may happen if the distributed clock is poorly configured or the signal isn't consistent.</td> <td>Please check the distrubuted clock (DC) setting of your EtherCAT master.</td> </tr> <tr> <td colspan="4"> </td> </tr> <tr> <th style="text-align: left;" colspan="4">Temperature Sensor Faults</th> </tr> <tr> <td>TmpCore</td> <td> </td> <td>This fault is triggered when the temperature of the core becomes too high and crosses the error threshold (> 100 °C). This happens usually because of sustained load on the processor, high operating frequency and even high ambient temperature. High core temperature can lead to equipment damage. It can also result in irregular clock timing.</td> <td>Throttling the core is usally the remedy but as this is not possible in the case of real-time critical applications like ours, the solution would be to disable the drive until the reason for the error is resolved or use external cooling.</td> </tr> <tr> <td>TmpDrive</td> <td> </td> <td>This fault is triggered when the temperature of the drive becomes too high and crosses the error threshold (> 100 °C). This happens usually because of sustained load on the processor, current leakage from the on-board componenets, high operating frequency and even ambient temperature. High drive temperature can lead to equipment damage.</td> <td>Disable the drive until the reason for the error is resolved or use external cooling to bring down the over-all temperature.</td> </tr> </tbody> </table> description Provides further information about the error or warning reported by the <code>0x603F Error code</code> object. DT2023 56 0 Number of entries USINT 8 0 ro m 1 Enabled BOOL 1 16 rw o options {"Disabled":0,"Enabled":1} 2 Center frequency UINT 16 24 rw o 3 Rejection band UINT 16 40 rw o description Implemented as IIR 2nd order filter configured by the center frequency and the bandwidth around it. Filter is placed on the output of the velocity controller so it filters the torque demand value. Frequency prewarping is applied. Filter formula in discrete domain yk = a0 xk + a1 xk-1 + a2 xk-2 + b1 yk-1 + b2 yk-2 where  a0 = K, a1 = -2Kcos(2pi*f), a2 = K, b1 = 2Rcos(2pi*f), b2 = -R2  and K = (1 - 2Rcos(2pi*f) + R2) / (2-2cos(2pi*f))        R = 1 - 3 * BW f - center frequency and BW - bandwidth expressed relative to the sampling frequency, where f,BW = [0, 0.5]   DT2030 48 0 Number of entries USINT 8 0 ro m 1 Measured temperature DINT 32 16 ro o t description Describes the temperature measured on the Core board. DT20F3 48 0 SubIndex 000 USINT 8 0 ro m 1 DC pulse time UDINT 32 16 rw o description The time when the last DC pulse happened in clock ticks (10 ns). description Indicates the status of the selected network synchronization mechanism. DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Elements DT6099ARR 64 16 rw m r description Defines the speed at which the motor moves during homing. Two different values can be given; one is used while searching for a limit or home switch, the other is used while searching for zero position (i.e. the index pulse for QEI encoders). The units are user-defined (RPM by default; see <code>0x60a9 SI unit velocity</code>  and <code>0x6092 Feed constant </code>to change it). DT2014 48 0 Number of entries USINT 8 0 ro m 1 Value UINT 16 16 rw o description This object shall indicate the configured symmetrical range of accepted torque values relative to the target torque. If the actual torque is within the torque window, target torque shall be regarded as having been reached. The value shall be given per thousand of rated torque. If the value of the torque window is 0xFFFF, torque window monitoring will be switched off. 2 Time UINT 16 32 rw o description This object shall indicate the configured time, during which the actual torque within the torque window is measured. The value shall be given in ms. description undefined DT20E1ARR OCTET_STRING(25) 800 1 4 DT20E1 816 0 Number of entries USINT 8 0 ro m Elements DT20E1ARR 800 16 ro m t description Prototype - This object will change in future releases! High-resolution data contains all position, velocity and phase current measurements of the last millisecond. It is updated once per millisecond with the new data. There are four sub-objects, which, when concatenated, reflect the full chunk of data. The timestamp corresponds to the measurements marked "1". Time step between position/velocity values is the motion control loop period, time step between phase currents is the torque control loop period. The data is encoded as follows: <table style="width: 395px;"> <thead> <tr> <th style="width: 89px; text-align: center;">Bytes</th> <th style="width: 290px;">Value</th> </tr> </thead> <tbody> <tr> <th style="width: 89px; text-align: center;">0-3</th> <td style="width: 290px;">Timestamp (32-bit unsigned int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">4-7</th> <td style="width: 290px;">Position 1 (32-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">8-11</th> <td style="width: 290px;">Position 2 (32-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">12-15</th> <td style="width: 290px;">Position 3 (32-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">16-19</th> <td style="width: 290px;">Position 4 (32-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">20-23</th> <td style="width: 290px;">Velocity 1 (32-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">24-27</th> <td style="width: 290px;">Velocity 2 (32-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">28-31</th> <td style="width: 290px;">Velocity 3 (32-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">32-35</th> <td style="width: 290px;">Velocity 4 (32-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">36-37</th> <td style="width: 290px;">Phase Current I_b 1 (16-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">38-39</th> <td style="width: 290px;">Phase Current I_c 1 (16-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">40-41</th> <td style="width: 290px;">Phase Current I_b 2 (16-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">42-43</th> <td style="width: 290px;">Phase Current I_c 2 (16-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">...</th> <td style="width: 290px;">...</td> </tr> <tr> <th style="width: 89px; text-align: center;">96-97</th> <td>Phase Current I_b 16 (16-bit signed int)</td> </tr> <tr> <th style="width: 89px; text-align: center;">98-99</th> <td>Phase Current I_c 16 (16-bit signed int)</td> </tr> </tbody> </table>   DT2015 48 0 Number of entries USINT 8 0 ro m 1 Gain INT 16 16 rw o description Setting the gain to 0 disables the feedforward feature. Any other value configures the end gain and enables the feature. The value is given in per-mil percent of estimated velocity. 2 Cutoff frequency UINT 16 32 rw o description Cutoff frequency of the 1st order low pass filter that filters the calculated velocity. description Velocity feed-forward takes the derivative of the target position and filters the result by using the 1st order low pass filter. The output of the filter is then multiplied by the configured gain. The end result is added as an additional input to the velocity controller in cascaded position control mode. DT1016ARR DINT 32 1 1 DT1016 48 0 Number of entries USINT 8 0 ro m Elements DT1016ARR 32 16 rw m DT1400 72 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description The COB-ID is stored here. For PDO mappings 1–4, the CAN-ID is fixed depending on the node-ID and only the valid bit (bit 31) can be set in the COB-ID. A COB-ID change does not take effect until the controller or communication is restarted. 2 Transmission type USINT 8 48 rw o description A number is stored in this subindex that defines the time at which the received data become valid. 3 Inhibit time UINT 16 56 rw o description This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs.  description Indicates the communication parameters for the RPDO 1. DT1800 96 0 SubIndex 000 USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description The COB-ID is stored here. For PDO mappings 1–4, the CAN-ID is fixed depending on the node-ID and only the valid bit (bit 31) can be set in the COB-ID. A COB-ID change does not take effect until the controller or communication is restarted. 2 Transmission type USINT 8 48 rw o description A number is stored in this subindex that defines the time at which the data are to be copied into the PDO message and when this is to be sent.  3 Inhibit time UINT 16 56 rw o description This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs. 4 reserved USINT 8 72 ro o description This subindex has no function and exists only for compatibility reasons. 5 Event timer UINT 16 80 rw o description This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO. description Indicates the communication parameters for the TPDO 1. DT2038 360 0 Number of entries USINT 8 0 ro m 1 Scaled measurement value REAL 32 16 ro o t description Scaled value of the selected analog input after applying the selected 5th order polynomial. 2 Analog input USINT 8 48 rw o options {"Internal":0,"Analog input 1":1,"Analog input 2":2,"Analog input 3":3,"Analog input 4":4} description Select the scaled measurement source. 3 Resistance UDINT 32 56 rw o description Select the pull-up resistor connected to the selected analog input. In case there is no pull-up resistor "0" should be selected. In that case, the polynomial would be applied to the ADC count directly (range: 0 - 4095). Otherwise, it will be assume the user connected a pull-down resistor to create a voltage divider. The pull-down resistor value will be calculated and the polynomial will be applied to that value. 4 Constant a0 REAL 32 88 rw o description Constant a0 of the polynomial (Offset) 5 Constant a1 REAL 32 120 rw o description Constant a1 of the polynomial (1st order coefficient) 6 Constant a2 REAL 32 152 rw o description Constant a2 of the polynomial (2nd order coefficient) 7 Constant a3 REAL 32 184 rw o description Constant a3 of the polynomial (3rd order coefficient) 8 Constant a4 REAL 32 216 rw o description Constant a4 of the polynomial (4th order coefficient) 9 Constant a5 REAL 32 248 rw o description Constant a5 of the polynomial (5th order coefficient) 10 Cutoff frequency UINT 16 280 rw o description Cutoff frequency (Hz) for the LP filter for external scaled analog measurements. 11 Upper error threshold REAL 32 296 rw o description Upper error threshold for the external scaled measurements. When the scaled measurement value exceeds this threshold, a fault is generated. It is also used to generate a warning when the scaled measurement value is within 5% of the error threshold.  The default value corresponds to the equivalent int representation of the float value 65535.0 12 Lower error threshold REAL 32 328 rw o description Lower error threshold for the external scaled measurements. When the scaled measurement value goes lower than this threshold, a fault is generated. It is also used to generate a warning when the scaled measurement value is within 5% of the error threshold.  description Feature that takes an analog input and transforms it to an output as defined by a 5th order polynomial. DT2611ARR BOOL 2 1 2 DT2611 18 0 Number of entries USINT 8 0 ro m Elements DT2611ARR 2 16 ro m description Digital Inputs on Safety Module DT6621ARR USINT 16 1 2 DT6621 32 0 Number of entries USINT 8 0 ro m Elements DT6621ARR 16 16 ro m description Status of STO and SBC. STO is the 8th bit of the first byte, SBC is the 8th bit of the second byte DT1401 72 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description The COB-ID is stored here. For PDO mappings 1–4, the CAN-ID is fixed depending on the node-ID and only the valid bit (bit 31) can be set in the COB-ID. A COB-ID change does not take effect until the controller or communication is restarted. 2 Transmission type USINT 8 48 rw o description A number is stored in this subindex that defines the time at which the received data become valid. 3 Inhibit time UINT 16 56 rw o description This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs.  description Indicates the communication parameters for the RPDO 2. DT1801 96 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description The COB-ID is stored here. For PDO mappings 1–4, the CAN-ID is fixed depending on the node-ID and only the valid bit (bit 31) can be set in the COB-ID. A COB-ID change does not take effect until the controller or communication is restarted. 2 Transmission type USINT 8 48 rw o description A number is stored in this subindex that defines the time at which the data are to be copied into the PDO message and when this is to be sent.  3 Inhibit time UINT 16 56 rw o description This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs.  4 reserved USINT 8 72 ro o description This subindex has no function and exists only for compatibility reasons. 5 Event timer UINT 16 80 rw o description This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO. description Indicates the communication parameters for the TPDO 2. DT2211 48 0 Number of entries USINT 8 0 ro m 1 Timestamp setpoint UDINT 32 16 rw o r description Timestamp at which the GPIO should trigger in case "Timestamp triggered" is selected. The unit is in 10 ns. description Configuration to set the value in the Digital Output object to the corresponding GPIO when a certain event happens. The GPIO has to be enabled in 0x2210 GPIO. Configurable events are: Timestamp triggered: Output at a certain timestamp. Target reached: Output when target is reached. This mimics bit 10 (tr) of the Statusword. Internal limit active: Output when internal limit is active. This mimics bit 11 (ila) of the Statusword. DT2212 48 0 Number of entries USINT 8 0 ro m 1 Timestamp on rising edge UDINT 32 16 ro o t description Timestamp at which the last rising edge happened in case "Timestamped rising edge" is selected. The unit is in 10 ns. description Configure an input GPIO to perform a certain action depending on its value. The GPIO has to be enabled in 0x2210 GPIO. Configurable actions are: Timestamped rising edge: Report timestamp of selected GPIO last rising edge. Disable operation: Clear bit 3 (eo) of controlword when the selected GPIO is high. Quick stop: Clear bit 2 (qs) of controlword when the selected GPIO is high. Fault reset: Set bit 7 (fr) of controlword when the selected GPIO is high. DT2213 64 0 SubIndex 000 USINT 8 0 ro m 1 Position setpoint DINT 32 16 rw o r description Position value at which the GPIO should be triggered. 2 Target encoder USINT 8 48 rw o description Encoder whose position is used for this feature. options {"No encoder selected":0,"Encoder 1":1,"Encoder 2":2} 3 Pulse width USINT 8 56 rw o description Width of the pulse when the GPIO is triggered. description Configure a GPIO to output a width-configurable pulse everytime certain encoder position is reached. DT1402 72 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description The COB-ID is stored here. For PDO mappings 1–4, the CAN-ID is fixed depending on the node-ID and only the valid bit (bit 31) can be set in the COB-ID. A COB-ID change does not take effect until the controller or communication is restarted. 2 Transmission type USINT 8 48 rw o description A number is stored in this subindex that defines the time at which the received data become valid. 3 Inhibit time UINT 16 56 rw o description This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs. description Indicates the communication parameters for the RPDO 3. DT1403 72 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description The COB-ID is stored here. For PDO mappings 1–4, the CAN-ID is fixed depending on the node-ID and only the valid bit (bit 31) can be set in the COB-ID. A COB-ID change does not take effect until the controller or communication is restarted. 2 Transmission type USINT 8 48 rw o description A number is stored in this subindex that defines the time at which the received data become valid. 3 Inhibit time UINT 16 56 rw o description This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs.  description Indicates the communication parameters for the RPDO 4. DT1802 96 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description The COB-ID is stored here. For PDO mappings 1–4, the CAN-ID is fixed depending on the node-ID and only the valid bit (bit 31) can be set in the COB-ID. A COB-ID change does not take effect until the controller or communication is restarted.   2 Transmission type USINT 8 48 rw o description A number is stored in this subindex that defines the time at which the data are to be copied into the PDO message and when this is to be sent.  3 Inhibit time UINT 16 56 rw o description This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs.  4 reserved USINT 8 72 rw o description This subindex has no function and exists only for compatibility reasons. 5 Event timer UINT 16 80 rw o description This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO. description Indicates the communication parameters for the TPDO 3. DT1803 96 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description The COB-ID is stored here. For PDO mappings 1–4, the CAN-ID is fixed depending on the node-ID and only the valid bit (bit 31) can be set in the COB-ID. A COB-ID change does not take effect until the controller or communication is restarted. 2 Transmission type USINT 8 48 rw o description A number is stored in this subindex that defines the time at which the data are to be copied into the PDO message and when this is to be sent. 3 Inhibit time UINT 16 56 rw o description This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs.  4 reserved USINT 8 72 rw o description This subindex has no function and exists only for compatibility reasons. 5 Event timer UINT 16 80 rw o description This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO. description Indicates the communication parameters for the TPDO 4. DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro m Elements DT60FEARR 64 16 rw o r description The manufacturer-specific bits allow to set the state of the Drive's digital outputs. Bit 0: Manual Brake Operation (0=Engage, 1=Disengage) Bit 1 to 15: Reserved Bit 16: Digital output 1 Bit 17: Digital output 2 : Bit 31: Digital output 16   To change the state of an output, the corresponding bit in the Bit mask has to be set to 1. For example, to drive Digtal Output 1 only: First enable the corresponding mask bit by writting 65536 (0x10000) in Bit mask Then Writing 65536 (0x10000) in Physical outputs will drive the digital output 1 High. Writing 0 (0x0) in Physical outputs will drive the digital output 1 Low. DT2214 24 0 Number of entries USINT 8 0 ro m 1 Voltage level USINT 8 16 rw o description Select the global voltage level of GPIO ports. options {"3.3 volts":1,"5.0 volts":2} description undefined DT1023 152 0 Number of entries USINT 8 0 ro m 1 Command OCTET_STRING(8) 64 16 rw m 2 Status USINT 8 80 ro m description 0: last command completed, no errors, no reply. 1: last command completed, no errors, reply there. 2: last command completed, error, no reply. 3: last command completed, error, reply there. 100-200: indicates how much of the command has been executed (in %, 100 = 0%, 200 = 100%). 255: command is executing (if the percentage display is not supported). 3 Response OCTET_STRING(8) 64 88 ro m description Byte 0: See SubIndex 2. Byte 1: Unused. 2-n: Command specific response data. description undefined DT2027 32 0 SubIndex 000 USINT 8 0 ro m 1 Enabled BOOL 1 16 rw o description Set to 1 to enable the control input FIR filter. options {"Disabled":0,"Enabled":1} 2 Order USINT 8 24 rw o description The order or length of the FIR filter. Order of the filter means the maximum number of delay elements used in the filter circuit. description <div class="ql-indent-1">FIR filter (boxcar)</div> <div class="ql-indent-1">Depending on the mode of operation, this filter acts on the position or velocity demand values sent from the master. The sampling frequency is the same as the cycle time of the position controller (4 kHz). It can be used as an input profiler (or "shaper") to realize linear interpolation between successive commands (see documentation), or to limit the jerk of the profilers (see documentation). The default value is suited for masters operating at 1 kHz.</div> DT2017 24 0 SubIndex 000 USINT 8 0 ro m 1 Position following error option code USINT 8 16 rw o description Configures drive's response in case of Position following error event. <table style="border-collapse: collapse; width: 100%; height: 54px;" border="1"> <tbody> <tr style="height: 18px;"> <td style="width: 10.4222%; height: 18px;">Value</td> <td style="width: 89.5778%; height: 18px;"> Definition</td> </tr> <tr style="height: 18px;"> <td style="width: 10.4222%; height: 18px;">0</td> <td style="width: 89.5778%; height: 18px;">Drive will report Following error in statusword (bit 13) and stay in operational state</td> </tr> <tr style="height: 18px;"> <td style="width: 10.4222%; height: 18px;">1</td> <td style="width: 89.5778%; height: 18px;">Drive will report Following error in statusword (bit 13), perform a quick stop and enter a fault state</td> </tr> <tr> <td style="width: 10.4222%;">2</td> <td style="width: 89.5778%;">Drive will report Following error in statusword (bit 13) and immediately enter a fault state</td> </tr> </tbody> </table>   options {"Raise Following error bit and stay in operational state":0,"Raise Following error bit, perform quick stop and enter a fault state":1,"Raise Following error bit and immediately enter a fault state":2} description undefined DT2110 312 0 SubIndex 000 USINT 8 0 ro m 1 Sensor port USINT 8 16 rw o description <h4>All encoders</h4> The sensor port on which this encoder is connected. options {"No sensor port":0,"Sensor port 1":1,"Sensor port 2":2,"Sensor port 3":3,"Sensor port 4":4,"Sensor port 5":5} 2 Type USINT 8 24 rw o description <h4>All encoders</h4> Select the type of encoder you want to use. options {"None": 0, "Hall sensor":1,"Incremental encoder":2,"Nikon A-format":3,"BiSS":4,"REM 16MT":6,"SSI":7,"SinCos module":9} 3 Resolution UDINT 32 32 rw o description <h4>BiSS/SSI</h4> Number of pulses in one revolution. Most of BiSS/SSI encoders have a binary resolution, which means: Resolution = 2^(subindex 12 Singleturn bits). <h4>Incremental encoder</h4> Total number of quadrature edges per revolution. Resolution = Cycles per Revolution * 4 <h4>Hall sensor/Nikon A-Format/REM16MT/SinCos module</h4> For these encoders this parameter is configured automatically. 4 Zero velocity threshold UDINT 32 64 rw o description <h4>Incremental encoder</h4> Time threshold to set the velocity to 0 if no new position was received from the encoder. 5 Polarity BOOL 1 96 rw o description <h4>All encoders</h4> Invert the direction of movement of the encoder. This is the equivalent of physically flipping the encoder, so the commutation angle offset will not be valid after changing this parameter. If you have an axis with two encoders (one for commutation and one for position and velocity), the direction of each encoder must match for control stability. This polarity parameter can be used for flipping the direction of the position or velocity encoder relative to the sensor used for commutation. options {"Normal polarity":0,"Inverted polarity":1} 6 Singleturn offset UDINT 32 104 rw o description <h4>Absolute encoders (BiSS/SSI/Nikon A-format/REM 16MT)</h4> This value is substracted from the singleturn value received from the encoder. It is the equivalent of physically moving the encoder, so the commutation angle offset will not be valid after changing this parameter. This parameter has to be lower than the resolution of the encoder. The singleturn offset is applied after the subindex 5 Polarity has been applied. 7 Access signal type BOOL 1 136 rw o description <h4>Incremental encoder</h4> Select if the encoder signal is differential (RS422) or single-ended (TTL). options {"Differential RS422":0,"Single-ended TTL":1} 8 Clock frequency UINT 16 144 rw o description <h4>BiSS/SSI</h4> Frequency of the SSI clock line or BiSS MA line. Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter. The drive can only clock at some discrete frequencies. If the user enters a frequency that is not within these discrete frequencies, it will be set to the next possible lower frequency. To calculate what's the real frequency that will be used, you can round up the result of 25000 / Clock frequency. Then divide 25000 by the rounded value obtained before. For example, when setting 4000 KHz the real frequency will be 3571.43 kHz. The maximum value that can be set is 5000 kHz. <h4>Nikon A-format</h4> Select the transmission speed of the encoder. The only possible values are 2500, 4000, 6670, 8000 and 16000 kbps. See encoder datasheet for more information. 9 Frame size USINT 8 160 rw o description <h4>BiSS</h4> The BiSS service expects an encoder that has the following frame structure: - SLO line high when encoder is ready to start communicating. - Ack bit (which can be extended to multiple bits by the encoder). - Start bit when the encoder is ready to transmit the data. - CDS bit for register communication. - Payload (any data can be sent here, but the only data that can be processed is Multiturn and singleturn position). - Error and warning bits, in this order. - Variable length CRC. - Timeout. This parameter specifies the number of bits transmited as Payload. <h4>SSI</h4> This parameter specifies the number of bits transmited in one encoder frame. 10 Multiturn bits USINT 8 168 rw o description <h4>BiSS/SSI/Nikon A-format</h4> Number of multiturn bits to read from the encoder. 11 Multiturn first bit position USINT 8 176 rw o description <h4>BiSS/SSI</h4> Position of the first bit of multiturn position on the frame. Position 0 of the frame corresponds to the first bit transmitted within the frame size specified in subindex 9 Frame size. Usually this value is 0, since multiturn is the first element on the frame. Only relevant if subindex 10 Multiturn bits is bigger than 0. 12 Singleturn bits USINT 8 184 rw o description <h4>BiSS/SSI</h4> Number of singleturn bits to read from the encoder. <h4>Nikon A-format</h4> Number of singleturn bits to read from the encoder. The only possible values are 17, 20, 22 and 24. 13 Singleturn first bit position USINT 8 192 rw o description <h4>BiSS/SSI</h4> Position of the first bit of singleturn position on the frame. Position 0 of the frame corresponds to the first bit transmitted within the frame size specified in subindex 9 Frame size. For most of the BiSS/SSI encoders, this value is equal to: subindex 10 Multiturn bits + subindex 11 Multiturn first bit position. 14 Timeout USINT 8 200 rw o description <h4>BiSS/SSI</h4> Timeout that will be sent by the drive at the end of each BiSS/SSI frame, which informs the encoder that the frame is over. Refer to your encoder datasheet to check what is the minimum value for this parameter. 15 CRC polynomial USINT 8 208 rw o description <h4>BiSS</h4> Polynomial for the CRC calculation of the sensor data (SCD). This value is obtained by writing the polynomial in binary representation. For example: x^6 + x^3 + x^1 + x^0 is 0b1001011 = 0x4B = 75. The default value of 67 (x^6 + x^1 + x^0 = 0b1000011 = 0x43) is the one used for most of the BiSS encoders. 16 Maximum tbusy USINT 8 216 rw o description <h4>BiSS</h4> This value defines the maximum time to wait for the Start bit once the Ack bit was already received. If the Start bit is not sent after this time, the error BisSrtBt is raised. Check your encoder datasheet to find what's the typical or maximum value for this parameter. It is advised to try to increase this number in case the error BisSrtBt appears, which is likely to happen because the encoder needed more time to process the data before sending the Start bit. 17 Status bits active value USINT 8 224 rw o description <h4>BiSS</h4> Value of the status bits when active. The BiSS-C standard recommends that these bits are active low, so most encoders should work with the default value. options {"Status bits active low":0,"Status bits active high":1} 18 Parity type USINT 8 232 rw o description <h4>SSI</h4> Type of parity read from the encoder. If there is parity, it should be the last bit on the SSI frame. options {"No parity":0, "Odd parity":1, "Even parity":2} 19 First clock delay UINT 16 240 rw o description <h4>SSI</h4> Delay after first clock edge. This is compatible only with some encoders (will be specified in the encoder datasheet). If your encoder supports this function, it's normally used to be able to increase the maximum allowable clock frequency. 20 Data ordering BOOL 1 256 rw o description <h4>SSI</h4> Select if the ordering of position is done using Natural Binary Code or Reflected Binary Code (also known as Gray code). options {"Natural Binary Code":0, "Reflected Binary Code":1} 21 Endianness BOOL 1 257 rw o description <h4>SSI</h4> Order of the bits (Most Significant Bit or Least Significant Bit transmitted first). Usually MSB is transmitted first. options {"MSB first":0,"LSB first":1} 22 Index availability BOOL 1 258 rw o description <h4>Incremental encoder/SinCos module</h4> Define if the connected encoder has an index or not. For SinCos encoders the index is often called "reference". Incremental encoders without index are often called AB encoders, while incremental encoders with index are often called ABI encoders. options {"Encoder without index":0, "Encoder with index":1} 23 Hall sensor port USINT 8 264 rw o description <h4>Incremental encoder</h4> This parameter is used to define to which Sensor port the Hall sensor is connected in case of using it together with an incremental encoder in order to have an approximate absolute position while the incremental encoder index is not yet found. options {"No sensor port":0,"Sensor port 1":1,"Sensor port 2":2,"Sensor port 3":3,"Sensor port 4":4,"Sensor port 5":5} 24 Sinewave cycles per revolution UINT 16 272 rw o description <h4>SinCos module</h4> Number of sinewaves cycles in one motor revolution. This value is going to be used to calculate the singleturn resolution (subindex 3 Resolution). 25 Sinewave resolution USINT 8 288 rw o description <h4>SinCos module</h4> Select desired number of pulses in one sinewave. This value is going to be used to calculate the singleturn resolution (sunindex 3 Resolution). options {"8":13, "16":12, "32":11, "64":10, "128":9, "256":8, "512":7, "1024":6, "2048":5, "4096":4, "8192":3} 26 Sinusoidal output voltage USINT 8 296 rw o description <h4>SinCos module</h4> Differential voltage in the Sin/Cos outputs peak to peak. It is often abreviated as Vpp. options {"up to 50 mVpp":15, "up to 60 mVpp":14, "up to 75 mVpp":13, "up to 0.1 Vpp":12, "up to 0.12 Vpp":11, "up to 0.14 Vpp":10, "up to 0.15 Vpp":9, "up to 0.2 Vpp":8, "up to 0.28 Vpp":7, "up to 0.4 Vpp":6, "up to 0.5 Vpp":5, "up to 0.6 Vpp":4, "up to 0.75 Vpp":3, "up to 1 Vpp":2, "up to 1.2 Vpp":1, "up to 1.5 Vpp":0} 27 Filter USINT 8 304 rw o description <h4>REM 16MT</h4> The filter with strength F of the sensor. The estimated step response time of the filter is Ts*2^F (Ts is the sampling time, ca. 70µs). options {"Disabled":0,"Filter strength 2 (weakest)":2,"Filter strength 3":3,"Filter strength 4":4,"Filter strength 5":5,"Filter strength 6":6,"Filter strength 7":7,"Filter strength 8":8,"Filter strength 9 (strongest)":9} description All configuration options for Encoder 1 DT2112 312 0 SubIndex 000 USINT 8 0 ro m 1 Sensor port USINT 8 16 rw o description <h4>All encoders</h4> The sensor port on which this encoder is connected. options {"No sensor port":0,"Sensor port 1":1,"Sensor port 2":2,"Sensor port 3":3,"Sensor port 4":4,"Sensor port 5":5} 2 Type USINT 8 24 rw o description <h4>All encoders</h4> Select the type of encoder you want to use. options {"None": 0, "Hall sensor":1,"Incremental encoder":2,"Nikon A-format":3,"BiSS":4,"REM 16MT":6,"SSI":7,"SinCos module":9} 3 Resolution UDINT 32 32 rw o description <h4>BiSS/SSI</h4> Number of pulses in one revolution. Most of BiSS/SSI encoders have a binary resolution, which means: Resolution = 2^(subindex 12 Singleturn bits). <h4>Incremental encoder</h4> Total number of quadrature edges per revolution. Resolution = Cycles per Revolution * 4 <h4>Hall sensor/Nikon A-Format/REM16MT/SinCos module</h4> For these encoders this parameter is configured automatically. 4 Zero velocity threshold UDINT 32 64 rw o description <h4>Incremental encoder</h4> Time threshold to set the velocity to 0 if no new position was received from the encoder. 5 Polarity BOOL 1 96 rw o description <h4>All encoders</h4> Invert the direction of movement of the encoder. This is the equivalent of physically flipping the encoder, so the commutation angle offset will not be valid after changing this parameter. If you have an axis with two encoders (one for commutation and one for position and velocity), the direction of each encoder must match for control stability. This polarity parameter can be used for flipping the direction of the position or velocity encoder relative to the sensor used for commutation. options {"Normal polarity":0,"Inverted polarity":1} 6 Singleturn offset UDINT 32 104 rw o description <h4>Absolute encoders (BiSS/SSI/Nikon A-format/REM 16MT)</h4> This value is substracted from the singleturn value received from the encoder. It is the equivalent of physically moving the encoder, so the commutation angle offset will not be valid after changing this parameter. This parameter has to be lower than the resolution of the encoder. The singleturn offset is applied after the subindex 5 Polarity has been applied. 7 Access signal type BOOL 1 136 rw o description <h4>Incremental encoder</h4> Select if the encoder signal is differential (RS422) or single-ended (TTL). options {"Differential RS422":0,"Single-ended TTL":1} 8 Clock frequency UINT 16 144 rw o description <h4>BiSS/SSI</h4> Frequency of the SSI clock line or BiSS MA line. Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter. The drive can only clock at some discrete frequencies. If the user enters a frequency that is not within these discrete frequencies, it will be set to the next possible lower frequency. To calculate what's the real frequency that will be used, you can round up the result of 25000 / Clock frequency. Then divide 25000 by the rounded value obtained before. For example, when setting 4000 KHz the real frequency will be 3571.43 kHz. The maximum value that can be set is 5000 kHz. <h4>Nikon A-format</h4> Select the transmission speed of the encoder. The only possible values are 2500, 4000, 6670, 8000 and 16000 kbps. See encoder datasheet for more information. 9 Frame size USINT 8 160 rw o description <h4>BiSS</h4> The BiSS service expects an encoder that has the following frame structure: - SLO line high when encoder is ready to start communicating. - Ack bit (which can be extended to multiple bits by the encoder). - Start bit when the encoder is ready to transmit the data. - CDS bit for register communication. - Payload (any data can be sent here, but the only data that can be processed is Multiturn and singleturn position). - Error and warning bits, in this order. - Variable length CRC. - Timeout. This parameter specifies the number of bits transmited as Payload. <h4>SSI</h4> This parameter specifies the number of bits transmited in one encoder frame. 10 Multiturn bits USINT 8 168 rw o description <h4>BiSS/SSI/Nikon A-format</h4> Number of multiturn bits to read from the encoder. 11 Multiturn first bit position USINT 8 176 rw o description <h4>BiSS/SSI</h4> Position of the first bit of multiturn position on the frame. Position 0 of the frame corresponds to the first bit transmitted within the frame size specified in subindex 9 Frame size. Usually this value is 0, since multiturn is the first element on the frame. Only relevant if subindex 10 Multiturn bits is bigger than 0. 12 Singleturn bits USINT 8 184 rw o description <h4>BiSS/SSI</h4> Number of singleturn bits to read from the encoder. <h4>Nikon A-format</h4> Number of singleturn bits to read from the encoder. The only possible values are 17, 20, 22 and 24. 13 Singleturn first bit position USINT 8 192 rw o description <h4>BiSS/SSI</h4> Position of the first bit of singleturn position on the frame. Position 0 of the frame corresponds to the first bit transmitted within the frame size specified in subindex 9 Frame size. For most of the BiSS/SSI encoders, this value is equal to: subindex 10 Multiturn bits + subindex 11 Multiturn first bit position. 14 Timeout USINT 8 200 rw o description <h4>BiSS/SSI</h4> Timeout that will be sent by the drive at the end of each BiSS/SSI frame, which informs the encoder that the frame is over. Refer to your encoder datasheet to check what is the minimum value for this parameter. 15 CRC polynomial USINT 8 208 rw o description <h4>BiSS</h4> Polynomial for the CRC calculation of the sensor data (SCD). This value is obtained by writing the polynomial in binary representation. For example: x^6 + x^3 + x^1 + x^0 is 0b1001011 = 0x4B = 75. The default value of 67 (x^6 + x^1 + x^0 = 0b1000011 = 0x43) is the one used for most of the BiSS encoders. 16 Maximum tbusy USINT 8 216 rw o description <h4>BiSS</h4> This value defines the maximum time to wait for the Start bit once the Ack bit was already received. If the Start bit is not sent after this time, the error BisSrtBt is raised. Check your encoder datasheet to find what's the typical or maximum value for this parameter. It is advised to try to increase this number in case the error BisSrtBt appears, which is likely to happen because the encoder needed more time to process the data before sending the Start bit. 17 Status bits active value USINT 8 224 rw o description <h4>BiSS</h4> Value of the status bits when active. The BiSS-C standard recommends that these bits are active low, so most encoders should work with the default value. options {"Status bits active low":0,"Status bits active high":1} 18 Parity type USINT 8 232 rw o description <h4>SSI</h4> Type of parity read from the encoder. If there is parity, it should be the last bit on the SSI frame. options {"No parity":0, "Odd parity":1, "Even parity":2} 19 First clock delay UINT 16 240 rw o description <h4>SSI</h4> Delay after first clock edge. This is compatible only with some encoders (will be specified in the encoder datasheet). If your encoder supports this function, it's normally used to be able to increase the maximum allowable clock frequency. 20 Data ordering BOOL 1 256 rw o description <h4>SSI</h4> Select if the ordering of position is done using Natural Binary Code or Reflected Binary Code (also known as Gray code). options {"Natural Binary Code":0, "Reflected Binary Code":1} 21 Endianness BOOL 1 257 rw o description <h4>SSI</h4> Order of the bits (Most Significant Bit or Least Significant Bit transmitted first). Usually MSB is transmitted first. options {"MSB first":0,"LSB first":1} 22 Index availability BOOL 1 258 rw o description <h4>Incremental encoder/SinCos module</h4> Define if the connected encoder has an index or not. For SinCos encoders the index is often called "reference". Incremental encoders without index are often called AB encoders, while incremental encoders with index are often called ABI encoders. options {"Encoder without index":0, "Encoder with index":1} 23 Hall sensor port USINT 8 264 rw o description <h4>Incremental encoder</h4> This parameter is used to define to which Sensor port the Hall sensor is connected in case of using it together with an incremental encoder in order to have an approximate absolute position while the incremental encoder index is not yet found. options {"No sensor port":0,"Sensor port 1":1,"Sensor port 2":2,"Sensor port 3":3,"Sensor port 4":4,"Sensor port 5":5} 24 Sinewave cycles per revolution UINT 16 272 rw o description <h4>SinCos module</h4> Number of sinewaves cycles in one motor revolution. This value is going to be used to calculate the singleturn resolution (subindex 3 Resolution). 25 Sinewave resolution USINT 8 288 rw o description <h4>SinCos module</h4> Select desired number of pulses in one sinewave. This value is going to be used to calculate the singleturn resolution (sunindex 3 Resolution). options {"8":13, "16":12, "32":11, "64":10, "128":9, "256":8, "512":7, "1024":6, "2048":5, "4096":4, "8192":3} 26 Sinusoidal output voltage USINT 8 296 rw o description <h4>SinCos module</h4> Differential voltage in the Sin/Cos outputs peak to peak. It is often abreviated as Vpp. options {"up to 50 mVpp":15, "up to 60 mVpp":14, "up to 75 mVpp":13, "up to 0.1 Vpp":12, "up to 0.12 Vpp":11, "up to 0.14 Vpp":10, "up to 0.15 Vpp":9, "up to 0.2 Vpp":8, "up to 0.28 Vpp":7, "up to 0.4 Vpp":6, "up to 0.5 Vpp":5, "up to 0.6 Vpp":4, "up to 0.75 Vpp":3, "up to 1 Vpp":2, "up to 1.2 Vpp":1, "up to 1.5 Vpp":0} 27 Filter USINT 8 304 rw o description <h4>REM 16MT</h4> The filter with strength F of the sensor. The estimated step response time of the filter is Ts*2^F (Ts is the sampling time, ca. 70µs). options {"Disabled":0,"Filter strength 2 (weakest)":2,"Filter strength 3":3,"Filter strength 4":4,"Filter strength 5":5,"Filter strength 6":6,"Filter strength 7":7,"Filter strength 8":8,"Filter strength 9 (strongest)":9} description All configuration options for Encoder 2 DT2111 112 0 SubIndex 000 USINT 8 0 ro m 1 Raw position UDINT 32 16 ro o t description The position value directly read from the encoder. 2 Adjusted position DINT 32 48 ro o t description The position value after applying the Singleturn offset and the Sensor polarity and the location of the index. This is an absolute value. 3 Velocity DINT 32 80 ro o t description Feedback of the encoder configured as Encoder 1 DT2113 112 0 SubIndex 000 USINT 8 0 ro m 1 Raw position UDINT 32 16 ro o t description The position value directly read from the encoder. 2 Adjusted position DINT 32 48 ro o t description The position value after applying the Singleturn offset and the Sensor polarity and the location of the index. This is an absolute value. 3 Velocity DINT 32 80 ro o t description Feedback of the encoder configured as Encoder 2 DT2005 88 0 SubIndex 000 USINT 8 0 ro m 1 Home Position DINT 32 16 ro o description Home Position (Encoder position at home), from which axis is referenced. 2 Restore Home Position when loading configuration USINT 8 48 rw o description   <table style="border-collapse: collapse; width: 100%; height: 67px;" border="1"> <tbody> <tr style="height: 18px;"> <td style="width: 7.76081%; height: 18px; text-align: center;">Value</td> <td style="width: 92.2392%; height: 18px; text-align: center;">Definition</td> </tr> <tr style="height: 18px;"> <td style="width: 7.76081%; height: 18px; text-align: center;">0</td> <td style="width: 92.2392%; height: 18px;">No - Home Position will not be persistent after powercycle, user would need to home again.</td> </tr> <tr style="height: 36px;"> <td style="width: 7.76081%; height: 31px; text-align: center;">1</td> <td style="width: 92.2392%; height: 31px;">Yes - Home Position will be persistent after powercycle, axis will be referenced with the home position saved in config.</td> </tr> </tbody> </table>   options {"NO":0,"YES":1} 3 Torque Threshold for Homing on end stop UINT 16 56 rw o description Absolute value of the torque threshold (in &permil; of rated torque) at which the controller will consider that the end stop has been met. Used for methods -1 to -4. 4 Offset From Endstop UINT 16 72 rw o description Absolute position value from Endstop where the axis needs to be homed. Used with methods -3 and -4 description undefined DT6092ARR UDINT 64 1 2 DT6092 80 0 SubIndex 000 USINT 8 0 ro m Elements DT6092ARR 64 16 rw m tr description This object shall indicate the configured feed constant, this is the measurement distance per one revolution of the output shaft of the gearbox. The feed constant shall be calculated by the following formula: <math display="block" xmlns="http://www.w3.org/1998/Math/MathML"><mrow><mi>feed constant</mi><mo>=</mo><mfrac><mi>feed</mi><mi>driving shaft revolutions</mi></mfrac></mrow></math> The feed shall be given in user-defined position units, and the driving shaft revolution shall be dimensionless. If the feed is 0xFFFFFFFF, user-defined position unit is equal to position encoder ticks. DT2215 48 0 SubIndex 000 USINT 8 0 ro m 1 LED value UDINT 32 16 rw o description 24-bit value that will be applied to all the LEDs in the string. Refer to Worldsemi datasheet for more information about this value. description undefined DTF000 48 0 Number of entries USINT 8 0 ro 1 Index distance UINT 16 16 rw 2 Maximum number of modules UINT 16 32 rw DTF010 80 0 SubIndex 000 USINT 8 0 ro Elements DTF010ARR 64 16 rw DTF010ARR UDINT 64 1 2 DTF030 48 0 SubIndex 000 USINT 8 0 rw Elements DTF030ARR 32 16 rw DTF030ARR UDINT 32 1 1 DTF050 48 0 SubIndex 000 USINT 8 0 ro Elements DTF050ARR 32 16 rw DTF050ARR UDINT 32 1 1 DTF980 32 0 Number of entries USINT 8 0 ro 1 FSoE Address UINT 16 16 rw

Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO Mapping 1 #x6040 0 16 Controlword UINT #x6060 0 8 Modes of operation SINT #x6071 0 16 Target Torque INT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x60B2 0 16 Torque offset INT #x2701 0 32 Tuning command UDINT #x1601 RxPDO Mapping 2 #x60FE 1 32 Physical outputs UDINT #x60FE 2 32 Bit mask UDINT #x1602 RxPDO Mapping 3 #x2703 0 32 User MOSI UDINT #x60B1 0 32 Velocity offset DINT #x1a00 TxPDO Mapping 1 #x6041 0 16 Statusword UINT #x6061 0 8 Modes of operation display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 Velocity actual value DINT #x6077 0 16 Torque actual value INT #x1a01 TxPDO Mapping 2 #x230A 0 32 Secondary position value DINT #x230B 0 32 Secondary velocity value DINT #x2401 0 16 Analog input 1 UINT #x2402 0 16 Analog input 2 UINT #x2403 0 16 Analog input 3 UINT #x2404 0 16 Analog input 4 UINT #x2702 0 32 Tuning status UDINT #x1a02 TxPDO Mapping 3 #x60FD 0 32 Digital inputs UDINT #x1a03 TxPDO Mapping 4 #x2704 0 32 User MISO UDINT #x20F0 0 32 Timestamp UDINT #x60FC 0 32 Position demand internal value DINT #x606B 0 32 Velocity demand value DINT #x6074 0 16 Torque demand INT Synchron SM-Synchron #x0 0 0 0 0 DC DC-Synchron #x300 0 0 0 0 #x22D20001 #x22D20002 32768 080E028CE8030000000000000000 0010000400140004 424DE6000000000000007600000028000000100000000E00000001000400000000007000000000000000000000001000000010000000520FE4005513E4006D34E8007A47EA008B5EED009870EF00AE8FF200B498F300BEA4F500CAB6F700D4C3F80000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000333333333333100099999999999A610011124544444691000017988888883000001975555555555500026777777777770000000000000000000000000000000000000000000000000000000000000000 FSoE Module Safe Data #x1700 Control (PLC to Drive) #x6770 1 8 FSoE Command USINT #x6640 0 1 STO BOOL #x6650 1 1 SS1 BOOL #x6670 1 1 SS2 BOOL #x6668 1 1 SOS BOOL #x0 1 #x0 1 #x0 1 #x6632 0 1 Error acknowledge BOOL #x6690 1 1 SLS Instance 1 BOOL #x6690 2 1 SLS Instance 2 BOOL #x6690 3 1 SLS Instance 3 BOOL #x6690 4 1 SLS Instance 4 BOOL #x6630 0 1 Restart acknowledge BOOL #x6660 0 1 SBC command BOOL #x26A0 0 1 Reset position BOOL #x0 1 #x6770 3 16 FSoE CRC_0 UINT #x0 8 #x0 1 #x0 1 #x0 1 #x0 1 #x26F0 1 1 Safe output 1 BOOL #x26F0 2 1 Safe output 2 BOOL #x0 1 #x0 1 #x6770 4 16 FSoE CRC_1 UINT #x6770 2 16 FSoE ConnectionID UINT #x1B00 Status (Drive to PLC) #x6760 1 8 FSoE Command USINT #x6640 0 1 STO state BOOL #x0 1 #x0 1 #x6668 1 1 SOS state BOOL #x0 1 #x0 1 #x0 1 #x6632 0 1 Error state BOOL #x6650 1 1 SS1 state BOOL #x6670 1 1 SS2 state BOOL #x0 1 #x0 1 #x6690 1 1 SLS Instance 1 state BOOL #x6690 2 1 SLS Instance 2 state BOOL #x6690 3 1 SLS Instance 3 state BOOL #x6690 4 1 SLS Instance 4 state BOOL #x6760 3 16 FSoE CRC_0 UINT #x6630 0 1 Restart acknowledge required BOOL #x6660 0 1 SBC state BOOL #x2600 0 1 Temperature warning BOOL #x2601 0 1 Safe position valid BOOL #x2602 0 1 Safe speed valid BOOL #x0 1 #x0 1 #x0 1 #x2603 1 1 Safe input 1 BOOL #x2603 2 1 Safe input 2 BOOL #x2603 3 1 Safe input 3 BOOL #x2603 4 1 Safe input 4 BOOL #x2604 1 1 Safe output monitor 1 BOOL #x2604 2 1 Safe output monitor 2 BOOL #x2605 1 1 Analog diagnostic active (single channel) BOOL #x2605 2 1 Analog value valid BOOL #x6760 4 16 FSoE CRC_1 UINT #x6611 0 16 Safe position actual value UINT #x6760 5 16 FSoE CRC_2 UINT #x0 16 #x6760 6 16 FSoE CRC_3 UINT #x6613 0 16 Safe velocity actual value UINT #x6760 7 16 FSoE CRC_4 UINT #x0 16 #x6760 8 16 FSoE CRC_5 UINT #x2605 3 16 Safe analog value (scaled) UINT #x6760 9 16 FSoE CRC_6 UINT #x6760 2 16 FSoE ConnectionID UINT #x1E00 #xE901 7 16 Length Of Communication UINT #xE901 4 16 Watchdog Time UINT #xE901 8 16 Length of Application Parameter UINT 790 #xB5 #x4B5 Increments Inc #xB6 #x4B6 Bits Bit BOOL 1 SINT 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 STRING(2) 16 STRING(5) 40 STRING(16) 128 STRING(24) 192 DT0800EN08 USINT 8 Disabled 0 Activated 255 DT0801EN08 USINT 8 Not used 0 Safe input 1 (SIN1) 1 Safe input 2 (SIN2) 2 Safe input 3 (SIN3) 3 Safe input 4 (SIN4) 4 DT0802EN08 USINT 8 INPUT_PULSE_ACTIVE_NONE 0 INPUT_PULSE_ACTIVE_INPUT1 1 INPUT_PULSE_ACTIVE_INPUT2 2 INPUT_PULSE_ACTIVE_INPUT1_2 3 INPUT_PULSE_ACTIVE_INPUT3 4 INPUT_PULSE_ACTIVE_INPUT1_3 5 INPUT_PULSE_ACTIVE_INPUT2_3 6 INPUT_PULSE_ACTIVE_INPUT1_2_3 7 INPUT_PULSE_ACTIVE_INPUT4 8 INPUT_PULSE_ACTIVE_INPUT1_4 9 INPUT_PULSE_ACTIVE_INPUT_2_4 10 INPUT_PULSE_ACTIVE_INPUT1_2_4 11 INPUT_PULSE_ACTIVE_INPUT3_4 12 INPUT_PULSE_ACTIVE_INPUT1_3_4 13 INPUT_PULSE_ACTIVE_INPUT2_3_4 14 INPUT_PULSE_ACTIVE_INPUT1_2_3_4 15 DT0803EN08 USINT 8 OUTPUT_SOURCE_OUTPUT_UNUSED 0 OUTPUT_SOURCE_OUTPUT_STO 1 OUTPUT_SOURCE_OUTPUT_SS1 2 OUTPUT_SOURCE_OUTPUT_SS2 3 OUTPUT_SOURCE_OUTPUT_SOS 4 OUTPUT_SOURCE_OUTPUT_SLS_1 5 OUTPUT_SOURCE_OUTPUT_SLS_2 6 OUTPUT_SOURCE_OUTPUT_SLS_3 7 OUTPUT_SOURCE_OUTPUT_SLS_4 8 OUTPUT_SOURCE_OUTPUT_SMS 9 OUTPUT_SOURCE_OUTPUT_SBC 10 OUTPUT_SOURCE_OUTPUT_FIELDBUS_1 11 OUTPUT_SOURCE_OUTPUT_FIELDBUS_2 12 OUTPUT_SOURCE_OUTPUT_OUTPUT_HIGH 13 DT0804EN08 USINT 8 ENDCODERIF_NONE 0 ENDCODERIF_CONNECTOR_1_BISS 1 ENDCODERIF_CONNECTOR_1_SINCOS 2 ENDCODERIF_CONNECTOR_1_ABI 3 ENDCODERIF_CONNECTOR_1_BISS_SINCOS 4 ENDCODERIF_CONNECTOR_2_BISS 5 ENDCODERIF_CONNECTOR_2_SINCOS 6 ENDCODERIF_CONNECTOR_2_ABI 7 ENDCODERIF_CONNECTOR_2_BISS_SINCOS 8 ENDCODERIF_CONNECTOR_3_BISS 9 DT0805EN08 USINT 8 ENCODER_CLOCK_1000KHZ 0 ENCODER_CLOCK_1041KHZ 1 ENCODER_CLOCK_1086KHZ 2 ENCODER_CLOCK_1136KHZ 3 ENCODER_CLOCK_1190KHZ 4 ENCODER_CLOCK_1250KHZ 5 ENCODER_CLOCK_1315KHZ 6 ENCODER_CLOCK_1388KHZ 7 ENCODER_CLOCK_1470KHZ 8 ENCODER_CLOCK_1562KHZ 9 ENCODER_CLOCK_1666KHZ 10 ENCODER_CLOCK_1785KHZ 11 ENCODER_CLOCK_1923KHZ 12 ENCODER_CLOCK_2083KHZ 13 ENCODER_CLOCK_2272KHZ 14 ENCODER_CLOCK_2500KHZ 15 ENCODER_CLOCK_2777KHZ 16 ENCODER_CLOCK_3125KHZ 17 ENCODER_CLOCK_3571KHZ 18 ENCODER_CLOCK_4166KHZ 19 ENCODER_CLOCK_5000KHZ 20 DT0806EN08 USINT 8 ENCODER_VERIFICATION_NONE 0 ENCODER_VERIFICATION_RELATIVE_POSITION 1 ENCODER_VERIFICATION_ESTIMATED_MOTOR_SPEED 2 DT0807EN08 USINT 8 SDF_REACTION_STO 2 SDF_REACTION_SS1 3 SDF_REACTION_SS2 4 SDF_REACTION_SOS 5 DT0808EN32 UDINT 32 LIMIT_VIOLATION_STO 1715470337 LIMIT_VIOLATION_SS1 1716518913 LIMIT_VIOLATION_SS2 1718616065 LIMIT_VIOLATION_SOS 1718091777 DT0809EN08 USINT 8 OUTPUT_PULSE_ACTIVE_NONE 0 OUTPUT_PULSE_ACTIVE_OUTPUT1 1 OUTPUT_PULSE_ACTIVE_OUTPUT2 2 OUTPUT_PULSE_ACTIVE_OUTPUT1_2 3 DT2610 232 0 Number of entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro SP 2 Device Type STRING(5) 40 48 ro SP 3 Device Version STRING(2) 16 88 ro SP 4 Serial Number STRING(16) 128 104 ro SP DT2620 232 0 Number of entries USINT 8 0 ro 1 Drive safety name STRING(24) 192 16 rw SP 2 Safe fieldbus DT0800EN08 8 208 rw SP 3 Safe address UINT 16 216 rw SP DT2621 88 0 Number of entries USINT 8 0 ro 1 Acknowledge via drive DT0800EN08 8 16 rw SP 2 Acknowledgement input DT0801EN08 8 24 rw SP 3 Input test pulse detection DT0802EN08 8 32 rw SP 4 Input filter time USINT 8 40 rw SP 5 Test pulse max. distance UINT 16 48 rw SP 6 Output test pulse DT0809EN08 8 64 rw SP 7 Output1 function DT0803EN08 8 72 rw SP 8 Output2 function DT0803EN08 8 80 rw SP DT2625 144 0 Number of entries USINT 8 0 ro 1 Analog input1 Gain DINT 32 16 rw SP 2 Analog input1 Offset INT 16 48 rw SP 3 Analog input2 Gain DINT 32 64 rw SP 4 Analog input2 Offset INT 16 96 rw SP 5 Analog allowed error UDINT 32 112 rw SP DT2630 88 0 Number of entries USINT 8 0 ro 1 Encoder source type DT0804EN08 8 16 rw SP 2 Encoder resolution UDINT 32 24 rw SP 3 Encoder multiturn bits USINT 8 56 rw SP 4 Encoder clock frequency DT0805EN08 8 64 rw SP 5 Encoder timeout UINT 16 72 rw SP DT2631 64 0 Number of entries USINT 8 0 ro 1 Verification sensor source type DT0806EN08 8 16 rw SP 2 Verification sensor resolution UDINT 32 24 rw SP 3 Verification sensor multiturn bits USINT 8 56 rw SP DT2635 152 0 Number of entries USINT 8 0 ro 1 Speed window USINT 8 16 rw SP 2 Absolute position DT0800EN08 8 24 rw SP 3 Position reset input DT0801EN08 8 32 rw SP 4 Absolute position on reset UDINT 32 40 rw SP 5 Allowed position discrepancy UINT 16 72 rw SP 6 Allowed speed discrepancy UINT 16 88 rw SP 7 Discrepancy timer UINT 16 104 rw SP 8 Verification scaling numerator INT 16 120 rw SP 9 Verification scaling denominator UINT 16 136 rw SP DT2641 32 0 Number of entries USINT 8 0 ro 1 STO input DT0801EN08 8 16 rw SP 2 SBC DT0800EN08 8 24 rw SP DT2650 32 0 Number of entries USINT 8 0 ro 1 SS1 input DT0801EN08 8 16 rw SP 2 SS1: Deceleration monitoring DT0800EN08 8 24 rw SP DT2668 40 0 Number of entries USINT 8 0 ro 1 SOS input DT0801EN08 8 16 rw SP 2 t_D_SOS UINT 16 24 rw SP DT2670 24 0 Number of entries USINT 8 0 ro 1 SS2 input DT0801EN08 8 16 rw SP DT2690 48 0 Number of entries USINT 8 0 ro 1 SLS1 input DT0801EN08 8 16 rw SP 2 SLS2 input DT0801EN08 8 24 rw SP 3 SLS3 input DT0801EN08 8 32 rw SP 4 SLS4 input DT0801EN08 8 40 rw SP DT6653 48 0 SubIndex 000 USINT 8 0 ro SP Elements DT6653ARR 32 16 rw SP DT6653ARR UDINT 32 1 1 DT6654 32 0 SubIndex 000 USINT 8 0 ro SP Elements DT6654ARR 16 16 rw SP DT6654ARR UINT 16 1 1 DT6655 48 0 SubIndex 000 USINT 8 0 ro SP Elements DT6655ARR 32 16 rw SP DT6655ARR UDINT 32 1 1 DT6657 32 0 SubIndex 000 USINT 8 0 ro SP Elements DT6657ARR 16 16 rw SP DT6657ARR UINT 16 1 1 DT666A 48 0 SubIndex 000 USINT 8 0 ro SP Elements DT666AARR 32 16 rw SP DT666AARR UDINT 32 1 1 DT666C 48 0 SubIndex 000 USINT 8 0 ro SP Elements DT666CARR 32 16 rw SP DT666CARR UDINT 32 1 1 DT6671 32 0 SubIndex 000 USINT 8 0 ro SP Elements DT6671ARR 16 16 rw SP DT6671ARR UINT 16 1 1 DT6672 32 0 SubIndex 000 USINT 8 0 ro SP Elements DT6672ARR 16 16 rw SP DT6672ARR UINT 16 1 1 DT6674 48 0 SubIndex 000 USINT 8 0 ro SP Elements DT6674ARR 32 16 rw SP DT6674ARR UDINT 32 1 1 DT6675 32 0 SubIndex 000 USINT 8 0 ro SP Elements DT6675ARR 16 16 rw SP DT6675ARR UINT 16 1 1 DT6676 24 0 SubIndex 000 USINT 8 0 ro SP Elements DT6676ARR 1 16 rw SP DT6676ARR BOOL 1 1 1 DT6677 48 0 SubIndex 000 USINT 8 0 ro SP Elements DT6677ARR 32 16 rw SP DT6677ARR UDINT 32 1 1 DT6691 80 0 SubIndex 000 USINT 8 0 ro Elements DT6691ARR 64 16 rw SP DT6691ARR UINT 64 1 4 DT6692 144 0 SubIndex 000 USINT 8 0 ro Elements DT6692ARR 128 16 rw SP DT6692ARR UDINT 128 1 4 DT6694 80 0 SubIndex 000 USINT 8 0 ro Elements DT6694ARR 64 16 rw SP DT6694ARR UINT 64 1 4 DT6695 80 0 SubIndex 000 USINT 8 0 ro Elements DT6695ARR 64 16 rw SP DT6695ARR UINT 64 1 4 DT6696 144 0 SubIndex 000 USINT 8 0 ro Elements DT6696ARR 128 16 rw SP DT6696ARR UDINT 128 1 4 DT6698 144 0 SubIndex 000 USINT 8 0 ro Elements DT6698ARR 128 16 rw SP DT6698ARR UDINT 128 1 4 DT6760 152 0 Number of entries USINT 8 0 1 FSoE Command USINT 8 16 2 FSoE ConnectionID UINT 16 24 3 FSoE CRC_0 UINT 16 40 4 FSoE CRC_1 UINT 16 56 5 FSoE CRC_2 UINT 16 72 6 FSoE CRC_3 UINT 16 88 7 FSoE CRC_4 UINT 16 104 8 FSoE CRC_5 UINT 16 120 9 FSoE CRC_6 UINT 16 136 DT6770 72 0 Number of entries USINT 8 0 1 FSoE Command USINT 8 16 2 FSoE ConnectionID UINT 16 24 3 FSoE CRC_0 UINT 16 40 4 FSoE CRC_1 UINT 16 56 DTE901 288 0 Number of Subindex USINT 8 0 ro 1 Version STRING(2) 16 16 rw 2 SafetyAddress UINT 16 32 rw 3 FSoE Connection ID UINT 16 48 rw 4 Watchdog Time UINT 16 64 rw 5 Unique Device ID STRING(16) 128 80 rw 6 Connection Type UINT 16 208 rw 7 Communication Parameter Length UINT 16 224 rw 8 Application Parameter Length UINT 16 240 rw 9 SRA CRC UDINT 32 256 rw DT6650 24 0 SubIndex 000 USINT 8 0 ro Elements DT6650ARR 1 16 rw DT6650ARR BOOL 1 1 1 DT6670 24 0 SubIndex 000 USINT 8 0 ro Elements DT6670ARR 1 16 rw DT6670ARR BOOL 1 1 1 DT6668 24 0 SubIndex 000 USINT 8 0 ro Elements DT6668ARR 1 16 rw DT6668ARR BOOL 1 1 1 DT6690 24 0 SubIndex 000 USINT 8 0 ro Elements DT6690ARR 1 16 rw DT6690ARR BOOL 1 1 1 DT2603 24 0 SubIndex 000 USINT 8 0 ro Elements DT2603ARR 4 16 rw DT2603ARR BOOL 4 1 4 DT2604 24 0 SubIndex 000 USINT 8 0 ro Elements DT2604ARR 2 16 rw DT2604ARR BOOL 2 1 2 DT2605 48 0 SubIndex 000 USINT 8 0 ro 1 Analog diagnostic active BOOL 1 16 rw 2 Analog value valid BOOL 1 24 rw 3 Safe analog value UINT 16 32 rw DT26F0 24 0 SubIndex 000 USINT 8 0 ro Elements DT26F0ARR 2 16 rw DT26F0ARR BOOL 2 1 2

FSoE Module with Parameter Safe Data #x1700 Control (PLC to Drive) #x6770 1 8 FSoE Command USINT #x6640 0 1 STO BOOL #x6650 1 1 SS1 BOOL #x6670 1 1 SS2 BOOL #x6668 1 1 SOS BOOL #x0 1 #x0 1 #x0 1 #x6632 0 1 Error acknowledge BOOL #x6690 1 1 SLS Instance 1 BOOL #x6690 2 1 SLS Instance 2 BOOL #x6690 3 1 SLS Instance 3 BOOL #x6690 4 1 SLS Instance 4 BOOL #x6630 0 1 Restart acknowledge BOOL #x6660 0 1 SBC command BOOL #x26A0 0 1 Reset position BOOL #x0 1 #x6770 3 16 FSoE CRC_0 UINT #x0 8 #x0 1 #x0 1 #x0 1 #x0 1 #x26F0 1 1 Safe output 1 BOOL #x26F0 2 1 Safe output 2 BOOL #x0 1 #x0 1 #x6770 4 16 FSoE CRC_1 UINT #x6770 2 16 FSoE ConnectionID UINT #x1B00 Status (Drive to PLC) #x6760 1 8 FSoE Command USINT #x6640 0 1 STO state BOOL #x0 1 #x0 1 #x6668 1 1 SOS state BOOL #x0 1 #x0 1 #x0 1 #x6632 0 1 Error state BOOL #x6650 1 1 SS1 state BOOL #x6670 1 1 SS2 state BOOL #x0 1 #x0 1 #x6690 1 1 SLS Instance 1 state BOOL #x6690 2 1 SLS Instance 2 state BOOL #x6690 3 1 SLS Instance 3 state BOOL #x6690 4 1 SLS Instance 4 state BOOL #x6760 3 16 FSoE CRC_0 UINT #x6630 0 1 Restart acknowledge required BOOL #x6660 0 1 SBC state BOOL #x2600 0 1 Temperature warning BOOL #x2601 0 1 Safe position valid BOOL #x2602 0 1 Safe speed valid BOOL #x0 1 #x0 1 #x0 1 #x2603 1 1 Safe input 1 BOOL #x2603 2 1 Safe input 2 BOOL #x2603 3 1 Safe input 3 BOOL #x2603 4 1 Safe input 4 BOOL #x2604 1 1 Safe output monitor 1 BOOL #x2604 2 1 Safe output monitor 2 BOOL #x2605 1 1 Analog diagnostic active (single channel) BOOL #x2605 2 1 Analog value valid BOOL #x6760 4 16 FSoE CRC_1 UINT #x6611 0 16 Safe position actual value UINT #x6760 5 16 FSoE CRC_2 UINT #x0 16 #x6760 6 16 FSoE CRC_3 UINT #x6613 0 16 Safe velocity actual value UINT #x6760 7 16 FSoE CRC_4 UINT #x0 16 #x6760 8 16 FSoE CRC_5 UINT #x2605 3 16 Safe analog value (scaled) INT #x6760 9 16 FSoE CRC_6 UINT #x6760 2 16 FSoE ConnectionID UINT #x1E00 #xE901 7 16 Length Of Communication UINT #xE901 4 16 Watchdog Time UINT #xE901 8 16 Length of Application Parameter UINT #xE901 9 32 SRA Parameter CRC UDINT #x1E01 #x2620 1 192 Drive name STRING(24) #x2621 1 8 Acknowledge via drive DT0800EN08 #x2621 2 8 Acknowledge input DT0800EN08 #x2621 3 8 Input test pulse detection DT0802EN08 #x2621 4 8 Input filter time USINT #x2621 5 16 Test pulse max. distance UINT #x2621 6 8 Output test pulse DT0809EN08 #x2621 7 8 Output1 function DT0803EN08 #x2621 8 8 Output2 function DT0803EN08 #x2625 1 32 Analog input1 Gain DINT #x2625 2 16 Analog input1 Offset INT #x2625 3 32 Analog input2 Gain DINT #x2625 4 16 Analog input2 Offset INT #x2625 5 32 Analog allowed error UDINT #x2630 1 8 Encoder source type DT0804EN08 #x2630 2 32 Encoder resolution UDINT #x2630 3 8 Encoder multiturn bits USINT #x2630 4 8 Encoder clock frequency DT0805EN08 #x2630 5 16 Encoder timeout UINT #x2631 1 8 Verification sensor source type DT0806EN08 #x2631 2 32 Verification sensor resolution UDINT #x2631 3 8 Verification sensor multiturn bits USINT #x2635 1 8 Speed window USINT #x2635 3 8 Position reset input DT0801EN08 #x2635 4 32 Absolute position on reset UDINT #x2635 5 16 Allowed position discrepancy UINT #x2635 6 16 Allowed speed discrepancy UINT #x2635 7 16 Discrepancy timer UINT #x2635 8 16 Verification scaling numerator INT #x2635 9 16 Verification scaling denominator UINT #x2641 1 8 STO input DT0801EN08 #x6641 0 1 STO restart BOOL 0 0 7 #x6661 0 16 Brake time delay UINT #x2641 2 8 SBC DT0800EN08 #x2668 1 8 SOS input DT0801EN08 #x2668 2 16 t_D_SOS UINT #x666C 1 32 n_Zero_SOS UDINT #x666A 1 32 s_Zero_SOS UDINT #x6676 1 1 SOS restart BOOL 0 0 7 #x2650 1 8 SS1 input DT0801EN08 #x6651 0 16 t_SS1 UINT #x2650 2 8 SS1: Deceleration monitoring DT0800EN08 #x6657 1 16 t_D_SS1 UINT #x6654 1 16 t_L_SS1 UINT #x6655 1 32 a_SS1 DINT #x6653 1 32 n_Zero_SS1 DINT #x2670 1 8 SS2 input DT0801EN08 #x6671 1 16 t_SS2 UINT #x6675 1 16 t_D_SS2 UINT #x6672 1 16 t_L_SS2 UINT #x6674 1 32 a_SS2 DINT #x6677 1 32 SS2 limit violation reaction UDINT #x2690 1 8 SLS1 input DT0801EN08 #x2690 2 8 SLS2 input DT0801EN08 #x2690 3 8 SLS3 input DT0801EN08 #x2690 4 8 SLS4 input DT0801EN08 #x6691 1 16 t_SLS1 UINT #x6691 2 16 t_SLS2 UINT #x6691 3 16 t_SLS3 UINT #x6691 4 16 t_SLS4 UINT #x6695 1 16 t_D_SLS1 UINT #x6695 2 16 t_D_SLS2 UINT #x6695 3 16 t_D_SLS3 UINT #x6695 4 16 t_D_SLS4 UINT #x6694 1 16 t_L_SLS1 UINT #x6694 2 16 t_L_SLS2 UINT #x6694 3 16 t_L_SLS3 UINT #x6694 4 16 t_L_SLS4 UINT #x6696 1 32 a_SLS1 UDINT #x6696 2 32 a_SLS2 UDINT #x6696 3 32 a_SLS3 UDINT #x6696 4 32 a_SLS4 UDINT #x6692 1 32 n_SLS1 UDINT #x6692 2 32 n_SLS2 UDINT #x6692 3 32 n_SLS3 UDINT #x6692 4 32 n_SLS4 UDINT #x6698 1 32 SLS1 Limit violation reaction DT0808EN32 #x6698 2 32 SLS2 Limit violation reaction DT0808EN32 #x6698 3 32 SLS3 Limit violation reaction DT0808EN32 #x6698 4 32 SLS4 Limit violation reaction DT0808EN32 #x66AA 0 32 n_pos_max DINT #x66A9 0 32 n_neg_max DINT #x66AD 0 32 SMS Limit violation reaction DT0808EN32 790 #xB5 #x4B5 Increments Inc #xB6 #x4B6 Bits Bit BOOL 1 SINT 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 STRING(2) 16 STRING(5) 40 STRING(16) 128 STRING(24) 192 DT0800EN08 USINT 8 Disabled 0 Activated 255 DT0801EN08 USINT 8 Not used 0 Safe input 1 (SIN1) 1 Safe input 2 (SIN2) 2 Safe input 3 (SIN3) 3 Safe input 4 (SIN4) 4 DT0802EN08 USINT 8 INPUT_PULSE_ACTIVE_NONE 0 INPUT_PULSE_ACTIVE_INPUT1 1 INPUT_PULSE_ACTIVE_INPUT2 2 INPUT_PULSE_ACTIVE_INPUT1_2 3 INPUT_PULSE_ACTIVE_INPUT3 4 INPUT_PULSE_ACTIVE_INPUT1_3 5 INPUT_PULSE_ACTIVE_INPUT2_3 6 INPUT_PULSE_ACTIVE_INPUT1_2_3 7 INPUT_PULSE_ACTIVE_INPUT4 8 INPUT_PULSE_ACTIVE_INPUT1_4 9 INPUT_PULSE_ACTIVE_INPUT_2_4 10 INPUT_PULSE_ACTIVE_INPUT1_2_4 11 INPUT_PULSE_ACTIVE_INPUT3_4 12 INPUT_PULSE_ACTIVE_INPUT1_3_4 13 INPUT_PULSE_ACTIVE_INPUT2_3_4 14 INPUT_PULSE_ACTIVE_INPUT1_2_3_4 15 DT0803EN08 USINT 8 OUTPUT_SOURCE_OUTPUT_UNUSED 0 OUTPUT_SOURCE_OUTPUT_STO 1 OUTPUT_SOURCE_OUTPUT_SS1 2 OUTPUT_SOURCE_OUTPUT_SS2 3 OUTPUT_SOURCE_OUTPUT_SOS 4 OUTPUT_SOURCE_OUTPUT_SLS_1 5 OUTPUT_SOURCE_OUTPUT_SLS_2 6 OUTPUT_SOURCE_OUTPUT_SLS_3 7 OUTPUT_SOURCE_OUTPUT_SLS_4 8 OUTPUT_SOURCE_OUTPUT_SMS 9 OUTPUT_SOURCE_OUTPUT_SBC 10 OUTPUT_SOURCE_OUTPUT_FIELDBUS_1 11 OUTPUT_SOURCE_OUTPUT_FIELDBUS_2 12 OUTPUT_SOURCE_OUTPUT_OUTPUT_HIGH 13 DT0804EN08 USINT 8 ENDCODERIF_NONE 0 ENDCODERIF_CONNECTOR_1_BISS 1 ENDCODERIF_CONNECTOR_1_SINCOS 2 ENDCODERIF_CONNECTOR_1_ABI 3 ENDCODERIF_CONNECTOR_1_BISS_SINCOS 4 ENDCODERIF_CONNECTOR_2_BISS 5 ENDCODERIF_CONNECTOR_2_SINCOS 6 ENDCODERIF_CONNECTOR_2_ABI 7 ENDCODERIF_CONNECTOR_2_BISS_SINCOS 8 ENDCODERIF_CONNECTOR_3_BISS 9 DT0805EN08 USINT 8 ENCODER_CLOCK_1000KHZ 0 ENCODER_CLOCK_1041KHZ 1 ENCODER_CLOCK_1086KHZ 2 ENCODER_CLOCK_1136KHZ 3 ENCODER_CLOCK_1190KHZ 4 ENCODER_CLOCK_1250KHZ 5 ENCODER_CLOCK_1315KHZ 6 ENCODER_CLOCK_1388KHZ 7 ENCODER_CLOCK_1470KHZ 8 ENCODER_CLOCK_1562KHZ 9 ENCODER_CLOCK_1666KHZ 10 ENCODER_CLOCK_1785KHZ 11 ENCODER_CLOCK_1923KHZ 12 ENCODER_CLOCK_2083KHZ 13 ENCODER_CLOCK_2272KHZ 14 ENCODER_CLOCK_2500KHZ 15 ENCODER_CLOCK_2777KHZ 16 ENCODER_CLOCK_3125KHZ 17 ENCODER_CLOCK_3571KHZ 18 ENCODER_CLOCK_4166KHZ 19 ENCODER_CLOCK_5000KHZ 20 DT0806EN08 USINT 8 ENCODER_VERIFICATION_NONE 0 ENCODER_VERIFICATION_RELATIVE_POSITION 1 ENCODER_VERIFICATION_ESTIMATED_MOTOR_SPEED 2 DT0807EN08 USINT 8 SDF_REACTION_STO 2 SDF_REACTION_SS1 3 SDF_REACTION_SS2 4 SDF_REACTION_SOS 5 DT0808EN32 UDINT 32 LIMIT_VIOLATION_STO 1715470337 LIMIT_VIOLATION_SS1 1716518913 LIMIT_VIOLATION_SS2 1718616065 LIMIT_VIOLATION_SOS 1718091777 DT0809EN08 USINT 8 OUTPUT_PULSE_ACTIVE_NONE 0 OUTPUT_PULSE_ACTIVE_OUTPUT1 1 OUTPUT_PULSE_ACTIVE_OUTPUT2 2 OUTPUT_PULSE_ACTIVE_OUTPUT1_2 3 DT2610 232 0 Number of entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro SP 2 Device Type STRING(5) 40 48 ro SP 3 Device Version STRING(2) 16 88 ro SP 4 Serial Number STRING(16) 128 104 ro SP DT2620 232 0 Number of entries USINT 8 0 ro 1 Drive safety name STRING(24) 192 16 rw SP 2 Safe fieldbus DT0800EN08 8 208 rw SP 3 Safe address UINT 16 216 rw SP DT2621 88 0 Number of entries USINT 8 0 ro 1 Acknowledge via drive DT0800EN08 8 16 rw SP 2 Acknowledgement input DT0801EN08 8 24 rw SP 3 Input test pulse detection DT0802EN08 8 32 rw SP 4 Input filter time USINT 8 40 rw SP 5 Test pulse max. distance UINT 16 48 rw SP 6 Output test pulse DT0809EN08 8 64 rw SP 7 Output1 function DT0803EN08 8 72 rw SP 8 Output2 function DT0803EN08 8 80 rw SP DT2625 144 0 Number of entries USINT 8 0 ro 1 Analog input1 Gain DINT 32 16 rw SP 2 Analog input1 Offset INT 16 48 rw SP 3 Analog input2 Gain DINT 32 64 rw SP 4 Analog input2 Offset INT 16 96 rw SP 5 Analog allowed error UDINT 32 112 rw SP DT2630 88 0 Number of entries USINT 8 0 ro 1 Encoder source type DT0804EN08 8 16 rw SP 2 Encoder resolution UDINT 32 24 rw SP 3 Encoder multiturn bits USINT 8 56 rw SP 4 Encoder clock frequency DT0805EN08 8 64 rw SP 5 Encoder timeout UINT 16 72 rw SP DT2631 64 0 Number of entries USINT 8 0 ro 1 Verification sensor source type DT0806EN08 8 16 rw SP 2 Verification sensor resolution UDINT 32 24 rw SP 3 Verification sensor multiturn bits USINT 8 56 rw SP DT2635 152 0 Number of entries USINT 8 0 ro 1 Speed window USINT 8 16 rw SP 2 Absolute position DT0800EN08 8 24 rw SP 3 Position reset input DT0801EN08 8 32 rw SP 4 Absolute position on reset UDINT 32 40 rw SP 5 Allowed position discrepancy UINT 16 72 rw SP 6 Allowed speed discrepancy UINT 16 88 rw SP 7 Discrepancy timer UINT 16 104 rw SP 8 Verification scaling numerator INT 16 120 rw SP 9 Verification scaling denominator UINT 16 136 rw SP DT2641 32 0 Number of entries USINT 8 0 ro 1 STO input DT0801EN08 8 16 rw SP 2 SBC DT0800EN08 8 24 rw SP DT2650 32 0 Number of entries USINT 8 0 ro 1 SS1 input DT0801EN08 8 16 rw SP 2 SS1: Deceleration monitoring DT0800EN08 8 24 rw SP DT2668 40 0 Number of entries USINT 8 0 ro 1 SOS input DT0801EN08 8 16 rw SP 2 t_D_SOS UINT 16 24 rw SP DT2670 24 0 Number of entries USINT 8 0 ro 1 SS2 input DT0801EN08 8 16 rw SP DT2690 48 0 Number of entries USINT 8 0 ro 1 SLS1 input DT0801EN08 8 16 rw SP 2 SLS2 input DT0801EN08 8 24 rw SP 3 SLS3 input DT0801EN08 8 32 rw SP 4 SLS4 input DT0801EN08 8 40 rw SP DT6653 48 0 SubIndex 000 USINT 8 0 ro SP Elements DT6653ARR 32 16 rw SP DT6653ARR UDINT 32 1 1 DT6654 32 0 SubIndex 000 USINT 8 0 ro SP Elements DT6654ARR 16 16 rw SP DT6654ARR UINT 16 1 1 DT6655 48 0 SubIndex 000 USINT 8 0 ro SP Elements DT6655ARR 32 16 rw SP DT6655ARR UDINT 32 1 1 DT6657 32 0 SubIndex 000 USINT 8 0 ro SP Elements DT6657ARR 16 16 rw SP DT6657ARR UINT 16 1 1 DT666A 48 0 SubIndex 000 USINT 8 0 ro SP Elements DT666AARR 32 16 rw SP DT666AARR UDINT 32 1 1 DT666C 48 0 SubIndex 000 USINT 8 0 ro SP Elements DT666CARR 32 16 rw SP DT666CARR UDINT 32 1 1 DT6671 32 0 SubIndex 000 USINT 8 0 ro SP Elements DT6671ARR 16 16 rw SP DT6671ARR UINT 16 1 1 DT6672 32 0 SubIndex 000 USINT 8 0 ro SP Elements DT6672ARR 16 16 rw SP DT6672ARR UINT 16 1 1 DT6674 48 0 SubIndex 000 USINT 8 0 ro SP Elements DT6674ARR 32 16 rw SP DT6674ARR UDINT 32 1 1 DT6675 32 0 SubIndex 000 USINT 8 0 ro SP Elements DT6675ARR 16 16 rw SP DT6675ARR UINT 16 1 1 DT6676 24 0 SubIndex 000 USINT 8 0 ro SP Elements DT6676ARR 1 16 rw SP DT6676ARR BOOL 1 1 1 DT6677 48 0 SubIndex 000 USINT 8 0 ro SP Elements DT6677ARR 32 16 rw SP DT6677ARR UDINT 32 1 1 DT6691 80 0 SubIndex 000 USINT 8 0 ro Elements DT6691ARR 64 16 rw SP DT6691ARR UINT 64 1 4 DT6692 144 0 SubIndex 000 USINT 8 0 ro Elements DT6692ARR 128 16 rw SP DT6692ARR UDINT 128 1 4 DT6694 80 0 SubIndex 000 USINT 8 0 ro Elements DT6694ARR 64 16 rw SP DT6694ARR UINT 64 1 4 DT6695 80 0 SubIndex 000 USINT 8 0 ro Elements DT6695ARR 64 16 rw SP DT6695ARR UINT 64 1 4 DT6696 144 0 SubIndex 000 USINT 8 0 ro Elements DT6696ARR 128 16 rw SP DT6696ARR UDINT 128 1 4 DT6698 144 0 SubIndex 000 USINT 8 0 ro Elements DT6698ARR 128 16 rw SP DT6698ARR UDINT 128 1 4 DT6760 152 0 Number of entries USINT 8 0 1 FSoE Command USINT 8 16 2 FSoE ConnectionID UINT 16 24 3 FSoE CRC_0 UINT 16 40 4 FSoE CRC_1 UINT 16 56 5 FSoE CRC_2 UINT 16 72 6 FSoE CRC_3 UINT 16 88 7 FSoE CRC_4 UINT 16 104 8 FSoE CRC_5 UINT 16 120 9 FSoE CRC_6 UINT 16 136 DT6770 72 0 Number of entries USINT 8 0 1 FSoE Command USINT 8 16 2 FSoE ConnectionID UINT 16 24 3 FSoE CRC_0 UINT 16 40 4 FSoE CRC_1 UINT 16 56 DTE901 288 0 Number of Subindex USINT 8 0 ro 1 Version STRING(2) 16 16 rw 2 SafetyAddress UINT 16 32 rw 3 FSoE Connection ID UINT 16 48 rw 4 Watchdog Time UINT 16 64 rw 5 Unique Device ID STRING(16) 128 80 rw 6 Connection Type UINT 16 208 rw 7 Communication Parameter Length UINT 16 224 rw 8 Application Parameter Length UINT 16 240 rw 9 SRA CRC UDINT 32 256 rw DT6650 24 0 SubIndex 000 USINT 8 0 ro Elements DT6650ARR 1 16 rw DT6650ARR BOOL 1 1 1 DT6670 24 0 SubIndex 000 USINT 8 0 ro Elements DT6670ARR 1 16 rw DT6670ARR BOOL 1 1 1 DT6668 24 0 SubIndex 000 USINT 8 0 ro Elements DT6668ARR 1 16 rw DT6668ARR BOOL 1 1 1 DT6690 24 0 SubIndex 000 USINT 8 0 ro Elements DT6690ARR 1 16 rw DT6690ARR BOOL 1 1 1 DT2603 24 0 SubIndex 000 USINT 8 0 ro Elements DT2603ARR 4 16 rw DT2603ARR BOOL 4 1 4 DT2604 24 0 SubIndex 000 USINT 8 0 rw Elements DT2604ARR 2 16 rw DT2604ARR BOOL 2 1 2 DT2605 48 0 SubIndex 000 USINT 8 0 ro 1 Analog diagnostic active BOOL 1 16 rw 2 Analog value valid BOOL 1 24 rw 3 Safe analog value UINT 16 32 rw DT26F0 24 0 SubIndex 000 USINT 8 0 ro Elements DT26F0ARR 2 16 rw DT26F0ARR BOOL 2 1 2