#x000022D2 Synapticon GmbH SOMANET SOMANET Device SOMANET Device 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 <p>Provides information about the device.</p> DT1010ARR UDINT 32 1 1 DT1010 48 0 Number of entries USINT 8 0 ro m Elements DT1010ARR 32 16 rw m description <p>Provides the ability to save to permanent storage. Write the value <code>0x65766173</code> ("evas", or "save" spelled backwards&nbsp;in ASCII) to start the save procedure.</p> <p style="padding-left: 40px;"><strong>save all parameters</strong> - this will save the current configuration to permanent storage.</p> DT1011ARR UDINT 128 1 4 DT1011 144 0 Number of entries USINT 8 0 ro m Elements DT1011ARR 128 16 rw m description <p>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.</p> <p style="padding-left: 40px;"><strong>restore all default parameters</strong> - load the configuration from the config.csv file, stored on permanent storage</p> <p>The "default" configuration is defined as the contents of the `config.csv` file.</p> 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 240 0 SubIndex 000 USINT 8 0 rw o 1 Secondary position value UDINT 32 16 rw o 2 Secondary velocity value UDINT 32 48 rw o 3 Analog input 1 UDINT 32 80 rw o 4 Analog input 2 UDINT 32 112 rw o 5 Analog input 3 UDINT 32 144 rw o 6 Analog input 4 UDINT 32 176 rw o 7 Tuning status UDINT 32 208 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 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 #x22D2000A 32768 080E028CE8030000000000000000 0010000400140004 CiA402 Motor Control Device with SMM SOMANET CiA402 Drive with SMM SOMANET CiA402 Antrieb mit SMM 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 <p>Provides information about the device.</p> DT1010ARR UDINT 32 1 1 DT1010 48 0 Number of entries USINT 8 0 ro m Elements DT1010ARR 32 16 rw m description <p>Provides the ability to save to permanent storage. Write the value <code>0x65766173</code> ("evas", or "save" spelled backwards&nbsp;in ASCII) to start the save procedure.</p> <p style="padding-left: 40px;"><strong>save all parameters</strong> - this will save the current configuration to permanent storage.</p> DT1011ARR UDINT 128 1 4 DT1011 144 0 Number of entries USINT 8 0 ro m Elements DT1011ARR 128 16 rw m description <p>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.</p> <p style="padding-left: 40px;"><strong>restore all default parameters</strong> - load the configuration from the config.csv file, stored on permanent storage</p> <p>The "default" configuration is defined as the contents of the `config.csv` file.</p> 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 240 0 SubIndex 000 USINT 8 0 rw o 1 Secondary position value UDINT 32 16 rw o 2 Secondary velocity value UDINT 32 48 rw o 3 Analog input 1 UDINT 32 80 rw o 4 Analog input 2 UDINT 32 112 rw o 5 Analog input 3 UDINT 32 144 rw o 6 Analog input 4 UDINT 32 176 rw o 7 Tuning status UDINT 32 208 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 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 DTF050 80 0 SubIndex 000 USINT 8 0 ro Elements DTF050ARR 64 16 rw DTF050ARR UDINT 64 1 2 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 #x22D2000A #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 #x0 1 #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 5 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 #x0 1 #x0 1 #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 #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(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 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 DT0800EN08 8 64 rw SP 7 Output1 function DT0802EN08 8 72 rw SP 8 Output2 function DT0802EN08 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 DT0803EN08 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 DT0803EN08 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 DT0804EN08 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 DT0802EN08 8 16 rw SP 2 SBC DT0801EN08 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 136 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 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 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 #x0 1 #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 5 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 #x0 1 #x0 1 #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 #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 Test pulse activation USINT #x2621 5 16 Test pulse max. distance UINT #x2621 6 8 Output test pulse DT0800EN08 #x2621 7 8 Output1 function DT0802EN08 #x2621 8 8 Output2 function DT0802EN08 #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 DT0803EN08 #x2630 2 32 Encoder resolution UDINT #x2630 3 8 Encoder multiturn bits USINT #x2630 4 8 Encoder clock frequency DT0803EN08 #x2630 5 16 Encoder timeout UINT #x2631 1 8 Verification sensor source type DT0804EN08 #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 23 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 DT0802EN08 #x6641 0 1 STO restart BOOL 0 0 7 #x6661 0 16 Brake time delay UINT #x2641 2 8 SBC DT0801EN08 #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(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 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 DT0800EN08 8 64 rw SP 7 Output1 function DT0802EN08 8 72 rw SP 8 Output2 function DT0802EN08 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 DT0803EN08 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 DT0803EN08 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 DT0804EN08 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 DT0802EN08 8 16 rw SP 2 SBC DT0801EN08 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 136 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 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 DT26F0 24 0 SubIndex 000 USINT 8 0 ro Elements DT26F0ARR 2 16 rw DT26F0ARR BOOL 2 1 2 Dictionary module Object Dictionary 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 DT607XARR DINT 64 1 2 DT607X 80 0 SubIndex 000 USINT 8 0 ro o Element DT607XARR 64 16 ro o r description <p>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 in increments of the position encoder.</p> DT2003 128 0 SubIndex 000 USINT 8 0 ro m 1 Pole pairs USINT 8 16 rw m description <p>Number of magnetic pole pairs used in the motor. Please refer to your motor datasheet for this value.</p> 2 Torque constant DINT 32 24 rw o description <p>The motor's torque constant is given by the motor design and defines the torque generated by a given current.</p> 3 Phase resistance DINT 32 56 rw o description <p>The resistance between motor terminal and motor neutral point. It is equal to half of "phase to phase resistance" or "line to line resistance".</p> 4 Phase inductance DINT 32 88 rw o description <p>The inductance between motor terminal and motor neutral point. It is equal to half of "phase to phase inductance" or "line to line inductance".</p> 5 Motor phases inverted BOOL 1 120 rw o options {"No":0,"Yes":1} description <p>Use this parameter only when you have a negative velocity or feedback increment with the positive torque increment.</p> description <p>Please refer to your motor's data sheet for the specific values.</p> DT2004 200 0 SubIndex 000 USINT 8 0 ro m 1 Pull voltage UDINT 32 16 rw o description <p>Voltage required to disengage the brake. It is ignored in manual mode.</p> 2 Hold voltage UDINT 32 48 rw o description <p>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.</p> 3 Pull time UINT 16 80 rw o description <p>Time period in which <code>0x2004:3 Pull voltage</code> is applied to release the brake. It is ignored in manual mode.</p> 4 Release strategy USINT 8 96 rw o description <p>Sets the method used to control the brake. The options are:</p> <p style="padding-left: 40px;"><code>Manual output voltage</code> (0) - Select this mode to control the brake with the Output voltage and Brake status parameter.<br /><code>Clutch-style brake control</code> (1) - for brakes that will disengage even if a load is applied to them.<br /><code>Pin brake control</code> (2) - for brakes that require extra motion handling to ensure they release.</p> options {"Manual output voltage":0,"Clutch-style brake control":1,"Pin brake control":2} 5 Controller disable delay UINT 16 104 rw o description <p>Time from when the brake is commanded to engage, to when the controller is disabled. It is ignored in manual mode.</p> 6 DC bus voltage (deprecated) UINT 16 120 ro o description <p>Deprecated. Refer to <code>0x6079 DC link circuit voltage</code> instead.</p> 7 Brake status USINT 8 136 rw o 0 description <p>Reports the expected status of the brake. In manual mode, this will enable or disable the Ouput voltage.</p> <p>The options for controlling or reading this value are:</p> <p style="padding-left: 40px;"><code>Not configured</code> (0) - no action will be taken for the brake<br /><code>Engaged</code> (1) - the brake will prevent motion (Output voltage disabled in manual mode)<br /><code>Disengaged</code> (2) - the brake will not prevent motion (Output voltage applied to 4th phase in manual mode)</p> options {"Not configured":0,"Engaged":1,"Disengaged":2} 8 Minimum displacement (pin brake) UINT 16 144 rw o description <p>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.</p> 9 Maximum torque (pin brake) UINT 16 160 rw o description <p>Maximum torque applied to the brake during the release process. The units are in mNm.</p> 10 Output voltage UINT 16 176 rw o r description <p>Sets the voltage on the 4th phase when the Release strategy is set to manual mode (0), and the Brake status is set to Disengaged (2).</p> 11 Switching frequency USINT 8 192 rw m description <p>Select the switching frequency for the 4th phase (D).</p> options {"16 kHz":0,"32 kHz":1,"64 kHz":2} description <p>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.</p> <p>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.</p> <p><!--?xml version="1.0" encoding="UTF-8"?--><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 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80 1 5 DT2100 96 0 SubIndex 000 USINT 8 0 ro m Elements DT2100ARR 80 16 rw m options {"None":0,"BISS 1":8705,"BISS 2":8706,"REM 16MT":8707,"REM 14":8708,"Incremental 1":8709,"Incremental 2":8710,"HALL 1":8711,"HALL 2":8712, "SSI 1":8713, "SSI 2":8714, "A-Format":8715} description <p>Stores the index of the object containing sensor configuration.</p> description <p>Each connector ("port") can be associated with a sensor configuration object. Set the sub-items in this object to a sensor configuration object index to associate the connector with that configuration.</p> <p>For example, set <code>1:Sensor port 1</code> to the value 8709 (hex 0x2205) to tell the servo drive that an incremental encoder (with the configuration as specified in object <code>0x2205 Incremental encoder 1</code>) is mounted to the first connector.</p> DT2006 112 0 SubIndex 000 USINT 8 0 ro m 1 Undervoltage setpoint DINT 32 16 rw m description <p>Custom value for undervoltage protection.</p> 2 Overvoltage setpoint DINT 32 48 rw m description <p>Custom value for overvoltage protection.</p> 3 Overcurrent setpoint DINT 32 80 rw o description <p>Custom value for overcurrent protection.</p> description <p>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.</p> REAL 32 DT2010 312 0 SubIndex 000 USINT 8 0 ro m 1 Controller Kp (disabled) REAL 32 16 rw o description <p>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.</p> <p>Range of this torque controller gain is 0 to 100,000,000.</p> <p>&nbsp;</p> 2 Controller Ki (disabled) REAL 32 48 rw o description <p>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.</p> 3 Controller Kd (disabled) REAL 32 80 rw o description <p>&nbsp;</p> <p dir="ltr" style="line-height: 1.2; margin-top: 0pt; margin-bottom: 6pt;"><span style="font-family: Arial;"><span style="font-size: 16px; white-space: pre-wrap;">This parameter is undefined for predictive current controller.</span></span></p> <p dir="ltr" style="line-height: 1.2; margin-top: 0pt; margin-bottom: 6pt;"><span style="font-family: Arial;"><span style="font-size: 16px; white-space: pre-wrap;">Range of this torque controller gain is 0 to 100,000,000.</span></span></p> 4 Field weakening enabled UDINT 32 112 rw o description <p>In many applications, it is required to extend the velocity range of an electric motor.</p> <p>This parameter enables or disables &ldquo;Field Weakening&rdquo;, a feature that increases the speed range of a PM motor by weakening the magnetic field of the rotor linearly over the speed range.</p> <p>The user should set 3 parameters:</p> <p>1. Field Weakening Starting Speed (Subitem 6)</p> <p>2. Field Weakening Ending Speed (Subitem7)</p> <p>3. Percentage of Field Weakening (f) (Subitem 5)</p> <p>Note:</p> <p>While the field weakening feature is enabled, it is assumed that the Drive is in its normal conditions with no fault.</p> options {"Disabled":0,"Enabled":1} 5 Field weakening percentage UDINT 32 144 rw o description <p>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".</p> 6 Field weakening starting speed UDINT 32 176 rw o description <p>Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point).</p> 7 Field weakening ending speed UDINT 32 208 rw o description <p>Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point).</p> 8 Commutation angle measurement delay UDINT 32 240 rw o 9 Switching frequency USINT 8 272 rw m options {"16 kHz":0,"32 kHz":1,"64 kHz":2} description <p>Select the switching frequency for the 3 motor phases (A, B, C).</p> 10 Settling time UINT 16 280 rw o description <p>Settling time of current loop controllers. This value should be entered in [micro seconds]</p> 11 Damping ratio UINT 16 296 rw o description <p>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.</p> description <p>Range of all torque controller gains is 0 to 100,000,000</p> DT2011 144 0 SubIndex 000 USINT 8 0 ro m 1 Controller Kp REAL 32 16 rw o description <p>The P-gain of the PID Velocity Control Loop [mNm/rpm].</p> 2 Controller Ki REAL 32 48 rw o description <p>The I-gain of the PID Velocity Control Loop [mNm/(rpm*s)]</p> 3 Controller Kd REAL 32 80 rw o description <p>The D-gain of the PID Velocity Control Loop [rpm*s/inc]</p> 4 Controller integral limit UDINT 32 112 rw o description <p>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 --&gt; Integral limit DEACTIVATED), please set the maximal values for your integral limit manually.</p> description <h4>Velocity PID Tuning (objects 2011:1...2011:4)</h4> <p><strong>IMPORTANT: These values are only used in velocity control mode (not in cascaded position control)</strong></p> <h5>Controller Structure</h5> <p><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" width="539.75745" height="178.89369" style="fill: none; stroke: none; stroke-linecap: square; stroke-miterlimit: 10;"> <metadata 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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">&tau;</tspan></text> </g> <desc id="desc103">Velocity Control</desc> </svg></p> <h5>PID Parameter Range</h5> <p>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:</p> <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 272 0 SubIndex 000 USINT 8 0 ro m 1 Position loop Kp REAL 32 16 rw o description <p>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)</p> 2 Position loop Ki REAL 32 48 rw o description <p>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)</p> 3 Position loop Kd REAL 32 80 rw o description <p>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)</p> 4 Position loop integral limit UDINT 32 112 rw o description <p>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 --&gt; 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.</p> 5 Velocity loop Kp REAL 32 144 rw o description <p>The P-gain of the PID Velocity Loop Controller [mNm/rpm]</p> 6 Velocity loop Ki REAL 32 176 rw o description <p>The I-gain of the PID Velocity Controller [mNm/(rpm*s)]</p> 7 Velocity loop Kd REAL 32 208 rw o description <p>The D-gain of the PID Velocity Loop Controller [mNm*s/rpm]</p> 8 Velocity loop integral limit UDINT 32 240 rw o description <p>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 --&gt; Integral limit DEACTIVATED), please set the maximal values for your integral limit manually.</p> description <h4>Parameter Tuning Guide for Position Controller with Cascaded Structure</h4> <h5>Introduction</h5> <p>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. If a simple PID position controller is selected instead of the cascaded PID position controller, its gains are defined by the objects 2012:1 ... 2012:4.</p> <h5>Control Basics</h5> <p><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 0 679.77784 247.02426" stroke-miterlimit="10" id="svg4885" inkscape:version="0.91 r13725" sodipodi:docname="Cascaded_PID.svg" width="679.77783" height="247.02426" style="fill: none; stroke: none; stroke-linecap: square; stroke-miterlimit: 10;"> <metadata id="metadata5116"> image/svg+xml </metadata> <defs id="defs5114"></defs> <path d="m 0,0 1280,0 0,960 L 0,960 0,0 Z" id="path4888" inkscape:connector-curvature="0" style="clip-rule: 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style="font-size: 10px;">&tau;</tspan></text> <desc id="desc121">Cascaded PID</desc> </svg></p> <h5>Control Basics</h5> <p>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.</p> <h5>Tuning Concept in Brief</h5> <p>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:</p> <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> <p>In the following section, the explained tuning concept is divided in separate systematic steps.</p> <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. <strong>From this step forth, the step response of position controller should always be evaluated.</strong></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> <p>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;">&tau;_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;">&tau;_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;">&tau;</tspan></text> <desc id="desc3580">Simple PID </desc> <rect id="rect3586" width="547" height="206" x="217" y="125.04855"></rect></svg></p> <h5>Tuning Concept for Simple PID Controller</h5> <p>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:</p> <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> DT2202 248 0 SubIndex 000 USINT 8 0 ro m 1 Type USINT 8 16 ro m options {"HALL":1,"Incremental":2,"A-Format":3,"BISS":4,"REM 16MT":6,"SSI":7,"iC-MD":8, "iC-NQC":9} description <p>The implementation of the BiSS service expects an encoder that has the following frame structure:</p> <p>- SLO line high when ready.</p> <p>- Ack bit (which can be extended to multiple bits by the encoder).</p> <p>- Start bit when the encoder is ready to transmit the data.</p> <p>- CDS bit for register communication.</p> <p>- Payload (composed by Multiturn bits + Singleturn bits + Filling bits, in this order).</p> <p>- Error and warning bits, in this order.</p> <p>- 6-bit CRC.</p> <p>- Timeout.</p> 2 Function USINT 8 24 rw m options {"Disabled ":0, "Commutation & Motion Control Feedback":1, "Commutation & Monitoring (#0x230A, #0x230B)":2, "Motion Control Feedback only":3, "Monitoring only (#0x230A, #0x230B)":4, "Commutation only":5, "Position":6, "Commutation & Velocity":7} description <p>Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A &amp; #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.&nbsp;</p> 3 Resolution UDINT 32 32 rw m description <p>For Absolute n-bit Binary Sensor: <strong>Resolution = 2^n</strong></p> 4 Zero velocity threshold UDINT 32 64 rw m description <p>Time threshold to set the velocity to 0 if no new position was received from the encoder.</p> 5 Polarity USINT 8 96 rw m description <p>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.</p> options {"Normal Polarity":0,"Inverted Polarity":1} 6 Multiturn resolution UDINT 32 104 rw m description <p>Multiturn resolution in bits.</p> <p>Corresponds to the total number of revolutions that are counted by the encoder.</p> 7 Clock frequency UDINT 32 136 rw m description <p>Frequency for the BiSS clock line (MA).</p> <p>Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter.</p> <p>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.</p> <p>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.</p> <p>For example, when setting 4000 KHz the real frequency will be 3571.43 kHz.</p> 8 Timeout UDINT 32 168 rw m description <p>Timeout at the end of each BiSS frame, it's part of the BiSS C standard.</p> <p>Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter.</p> 9 CRC polynom USINT 8 200 rw m description <p>Polynom for the CRC calculation.</p> <p>This value is obtained by representing the polynom in reverse order and with the higher exponent omitted.</p> <p>For example: x^0 + x^1 + x^3 + x^6 is 0b110100, which is equal to 52 in decimal.</p> <p>The default value of 48 (x^0 + x^1 + x^6) is the one used for most of the BiSS encoders.</p> 10 Clock port config (disabled) USINT 8 208 ro m description <p>This parameter has been disabled. Please refer to&nbsp;http://somanet.rocks/ in order to check how to connect MA and SLO.</p> 11 Data port config (disabled) USINT 8 216 ro m description <p>This parameter has been disabled. Please refer to&nbsp;http://somanet.rocks/ in order to check how to connect MA and SLO.</p> 12 Number of filling bits USINT 8 224 rw m description <p>The filling bits are bits that need to be clocked after the singleturn bits and before the error bit, but that are only used as part of the data for CRC calculation.</p> <p>Most BiSS encoders don't have filling bits.</p> 13 Number of bits to read while busy USINT 8 232 rw o description <p>This value defines the maximum number of bits that should be clocked in order to receive the start bit once the Ack bit was already received.</p> <p>If the Start bit is not received after this time, the error BisSrtBt is raised.</p> <p>If the Start bit is received before this number, the comunication continues normally.</p> <p>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.</p> 14 Status bits active value USINT 8 240 rw o description <p>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.</p> options {"Status bits active low":0,"Status bits active high":1,"Status bits ignored":2} description <p>Configuration parameters for second BISS encoder.</p> DT2203 112 0 SubIndex 000 USINT 8 0 ro m 1 Type USINT 8 16 ro o options {"HALL":1,"Incremental":2,"A-Format":3,"BISS":4,"REM 16MT":6,"SSI":7,"iC-MD":8, "iC-NQC":9} 2 Function USINT 8 24 rw o description <p>Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A &amp; #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.&nbsp;</p> options {"Disabled ":0, "Commutation & Motion Control Feedback":1, "Commutation & Monitoring (#0x230A, #0x230B)":2, "Motion Control Feedback only":3, "Monitoring only (#0x230A, #0x230B)":4, "Commutation only":5, "Position":6, "Commutation & Velocity":7} 3 Resolution UDINT 32 32 ro o description <p>The total number of increments (positions) per revolution for the REM 16MT encoder is 65536. This parameter is pre-configured.</p> 4 Zero velocity threshold UDINT 32 64 rw m description <p>Time threshold to set the velocity to 0 if no new position was received from the encoder.</p> 5 Polarity USINT 8 96 rw o description <p>Altering the default values is recommended for expert users only!</p> options {"Normal Polarity":0,"Inverted Polarity":1} 6 Filter USINT 8 104 rw o 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 <p>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. 70&micro;s).</p> description <p>Configuration parameter for REM 16MT encoder DT2205 120 0 SubIndex 000 USINT 8 0 ro m 1 Type USINT 8 16 ro m options {"HALL":1,"Incremental":2,"A-Format":3,"BISS":4,"REM 16MT":6,"SSI":7,"iC-MD":8, "iC-NQC":9} 2 Function USINT 8 24 rw m options {"Disabled ":0, "Commutation & Motion Control Feedback":1, "Commutation & Monitoring (#0x230A, #0x230B)":2, "Motion Control Feedback only":3, "Monitoring only (#0x230A, #0x230B)":4, "Commutation only":5, "Position":6, "Commutation & Velocity":7} description <p>Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A &amp; #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.&nbsp;</p> 3 Resolution UDINT 32 32 rw m description <p>Total number of quadrature edges per revolution.</p> <p>Resolution = Cycles per Revolution * 4</p> <p>&nbsp;</p> <p>Note:</p> <p>Cycles = Pulses = Lines</p> <p>Positions = Counts = Increments = 4 * Cycles</p> 4 Zero velocity threshold UDINT 32 64 rw m description <p>Time threshold to set the velocity to 0 if no new position was received from the encoder.</p> 5 Polarity USINT 8 96 rw m description <p>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.</p> options {"Normal Polarity":0,"Inverted Polarity":1} 6 Number of channels USINT 8 104 rw m description <p>Can be set as two-channels (without index) or three-channels (with index)</p> options { "2-channel (no index)": 2, "3-channel (with index)": 3 } 7 Access signal type USINT 8 112 rw o description <p>Differential (RS422) or Single-ended (TTL).</p> options { "Differential RS422": 0, "Single-ended TTL": 1 } description <p>Configuration parameter for first incremental encoder</p> DT2206 120 0 SubIndex 000 USINT 8 0 ro m 1 Type USINT 8 16 ro m options {"HALL":1,"Incremental":2,"A-Format":3,"BISS":4,"REM 16MT":6,"SSI":7,"iC-MD":8, "iC-NQC":9} 2 Function USINT 8 24 rw m options {"Disabled ":0, "Commutation & Motion Control Feedback":1, "Commutation & Monitoring (#0x230A, #0x230B)":2, "Motion Control Feedback only":3, "Monitoring only (#0x230A, #0x230B)":4, "Commutation only":5, "Position":6, "Commutation & Velocity":7} description <p>Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A &amp; #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.&nbsp;</p> 3 Resolution UDINT 32 32 rw m description <p>Total number of quadrature edges per revolution.</p> <p>Resolution = Cycles per Revolution * 4</p> <p>&nbsp;</p> <p>Note:</p> <p>Cycles = Pulses = Lines</p> <p>Positions = Counts = Increments = 4 * Cycles</p> 4 Zero velocity threshold UDINT 32 64 rw m description <p>Time threshold to set the velocity to 0 if no new position was received from the encoder.</p> 5 Polarity USINT 8 96 rw m description <p>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.</p> options {"Normal Polarity":0,"Inverted Polarity":1} 6 Number of channels USINT 8 104 rw m options { "2-channel (no index)": 2, "3-channel (with index)": 3 } description <p>Can be set as two-channels (without index) or three-channels (with index).</p> 7 Access signal type USINT 8 112 rw o description <p>Differential (RS422) or Single-ended (TTL).</p> options { "Differential RS422": 0, "Single-ended TTL": 1 } description <p>Configuration parameter for second incremental encoder</p> DT2207 104 0 SubIndex 000 USINT 8 0 ro m 1 Type USINT 8 16 ro m options {"HALL":1,"Incremental":2,"A-Format":3,"BISS":4,"REM 16MT":6,"SSI":7,"iC-MD":8, "iC-NQC":9} 2 Function USINT 8 24 rw m options {"Disabled ":0, "Commutation & Motion Control Feedback":1, "Commutation & Monitoring (#0x230A, #0x230B)":2, "Motion Control Feedback only":3, "Monitoring only (#0x230A, #0x230B)":4, "Commutation only":5, "Position":6, "Commutation & Velocity":7} description <p>Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A &amp; #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.&nbsp;</p> 3 Resolution UDINT 32 32 ro m description <p>Number of pulses in one revolution.</p> <p>For Hall sensors the pulses are extrapolated from the hall states, so that one electrical revolution has 4096 pulses.</p> <p>This value is automatically calculated using: Resolution = 4096 * motor pole pairs.</p> 4 Zero velocity threshold UDINT 32 64 rw m description <p>Time threshold to set the velocity to 0 if no new position was received from the encoder.</p> <p>This variable is currently not used for hall sensor.</p> 5 Polarity USINT 8 96 rw m description <p>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.</p> options {"Normal Polarity":0,"Inverted Polarity":1} description <p>Configuration parameter for first HALL sensor.</p> DT2208 104 0 SubIndex 000 USINT 8 0 ro m 1 Type USINT 8 16 ro m options {"HALL":1,"Incremental":2,"A-Format":3,"BISS":4,"REM 16MT":6,"SSI":7,"iC-MD":8, "iC-NQC":9} 2 Function USINT 8 24 rw m options {"Disabled ":0, "Commutation & Motion Control Feedback":1, "Commutation & Monitoring (#0x230A, #0x230B)":2, "Motion Control Feedback only":3, "Monitoring only (#0x230A, #0x230B)":4, "Commutation only":5, "Position":6, "Commutation & Velocity":7} description <p>Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A &amp; #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.&nbsp;</p> 3 Resolution UDINT 32 32 ro m description <p>Number of pulses in one revolution.</p> <p>For Hall sensors the pulses are extrapolated from the hall states, so that one electrical revolution has 4096 pulses.</p> <p>This value is automatically calculated using: Resolution = 4096 * motor pole pairs.</p> 4 Zero velocity threshold UDINT 32 64 rw m description <p>Time threshold to set the velocity to 0 if no new position was received from the encoder.</p> <p>This variable is currently not used for hall sensor.</p> 5 Polarity USINT 8 96 rw m description <p>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.</p> options {"Normal Polarity":0,"Inverted Polarity":1} description <p>Configuration parameter for second HALL sensor.</p> DT2210 72 0 SubIndex 000 USINT 8 0 ro m 1 Pin 1 USINT 8 16 rw o description <p>General purpose IO Pin 1</p> options { "Disabled": 0, "General Purpose Input (Pull Down)": 2, "General Purpose Output": 3, "Home Switch (Active High)": 4, "Home Switch (Active Low)": 5, "Limit Switch Positive (Active High)": 6, "Limit Switch Positive (Active Low)": 7, "Limit Switch Negative (Active High)": 8, "Limit Switch Negative(Active Low)": 9, "Disable Operation (Interlock) ": 10, "Fault Reset ": 11, "Quick Stop (Interlock) ": 12, "Target Reached ": 13, "Internal limit active ": 14, "Timestamped Rising Edge": 15, "Timestamped Triggered Output": 16, "Position Triggered Output": 17 } 2 Pin 2 USINT 8 24 rw o description <p>General purpose IO Pin 2</p> options { "Disabled": 0, "General Purpose Input (Pull Down)": 2, "General Purpose Output": 3, "Home Switch (Active High)": 4, "Home Switch (Active Low)": 5, "Limit Switch Positive (Active High)": 6, "Limit Switch Positive (Active Low)": 7, "Limit Switch Negative (Active High)": 8, "Limit Switch Negative(Active Low)": 9, "Disable Operation (Interlock) ": 10, "Fault Reset ": 11, "Quick Stop (Interlock) ": 12, "Target Reached ": 13, "Internal limit active ": 14, "Timestamped Rising Edge": 15, "Timestamped Triggered Output": 16, "Position Triggered Output": 17 } 3 Pin 3 USINT 8 32 rw o description <p>General purpose IO Pin 3</p> options { "Disabled": 0, "General Purpose Input (Pull Down)": 2, "General Purpose Output": 3, "Home Switch (Active High)": 4, "Home Switch (Active Low)": 5, "Limit Switch Positive (Active High)": 6, "Limit Switch Positive (Active Low)": 7, "Limit Switch Negative (Active High)": 8, "Limit Switch Negative(Active Low)": 9, "Disable Operation (Interlock) ": 10, "Fault Reset ": 11, "Quick Stop (Interlock) ": 12, "Target Reached ": 13, "Internal limit active ": 14, "Timestamped Rising Edge": 15, "Timestamped Triggered Output": 16, "Position Triggered Output": 17 } 4 Pin 4 USINT 8 40 rw o description <p>General purpose IO Pin 4</p> options { "Disabled": 0, "General Purpose Input (Pull Down)": 2, "General Purpose Output": 3, "Home Switch (Active High)": 4, "Home Switch (Active Low)": 5, "Limit Switch Positive (Active High)": 6, "Limit Switch Positive (Active Low)": 7, "Limit Switch Negative (Active High)": 8, "Limit Switch Negative(Active Low)": 9, "Disable Operation (Interlock) ": 10, "Fault Reset ": 11, "Quick Stop (Interlock) ": 12, "Target Reached ": 13, "Internal limit active ": 14, "Timestamped Rising Edge": 15, "Timestamped Triggered Output": 16, "Position Triggered Output": 17 } 5 Pin 5 USINT 8 48 rw o description <p>General purpose IO Pin 5</p> options { "Disabled": 0, "General Purpose Input (Pull Down)": 2, "General Purpose Output": 3, "Home Switch (Active High)": 4, "Home Switch (Active Low)": 5, "Limit Switch Positive (Active High)": 6, "Limit Switch Positive (Active Low)": 7, "Limit Switch Negative (Active High)": 8, "Limit Switch Negative(Active Low)": 9, "Disable Operation (Interlock) ": 10, "Fault Reset ": 11, "Quick Stop (Interlock) ": 12, "Target Reached ": 13, "Internal limit active ": 14, "Timestamped Rising Edge": 15, "Timestamped Triggered Output": 16, "Position Triggered Output": 17 } 6 Pin 6 USINT 8 56 rw o description <p>General purpose IO Pin 6</p> options { "Disabled": 0, "General Purpose Input (Pull Down)": 2, "General Purpose Output": 3, "Home Switch (Active High)": 4, "Home Switch (Active Low)": 5, "Limit Switch Positive (Active High)": 6, "Limit Switch Positive (Active Low)": 7, "Limit Switch Negative (Active High)": 8, "Limit Switch Negative(Active Low)": 9, "Disable Operation (Interlock) ": 10, "Fault Reset ": 11, "Quick Stop (Interlock) ": 12, "Target Reached ": 13, "Internal limit active ": 14, "Timestamped Rising Edge": 15, "Timestamped Triggered Output": 16, "Position Triggered Output": 17 } 7 Pin 7 USINT 8 64 rw o description <p>General purpose IO Pin 7</p> options { "Disabled": 0, "General Purpose Input (Pull Down)": 2, "General Purpose Output": 3, "Home Switch (Active High)": 4, "Home Switch (Active Low)": 5, "Limit Switch Positive (Active High)": 6, "Limit Switch Positive (Active Low)": 7, "Limit Switch Negative (Active High)": 8, "Limit Switch Negative(Active Low)": 9, "Disable Operation (Interlock) ": 10, "Fault Reset ": 11, "Quick Stop (Interlock) ": 12, "Target Reached ": 13, "Internal limit active ": 14, "Timestamped Rising Edge": 15, "Timestamped Triggered Output": 16, "Position Triggered Output": 17 } description <p>Configurable general purpose inputs and outputs with a 4 kHz update rate.</p> <p>For hardware that supports it, each port can be configured as follows:</p> <p style="padding-left: 40px;"><code>Disabled</code> <br /><code>General Purpose Input (Pull-down)</code><br /><code>General Purpose Output</code><br /><code>Home Switch (Active High)</code><br /><code>Home Switch (Active Low)</code> <br /><code>Limit Switch Positive (Active High)</code><br /><code>Limit Switch Positive (Active Low)</code><br /><code>Limit Switch Negative (Active High)</code><br /><code>Limit Switch Negative (Active Low)</code><br /><code>Disable Operation (Interlock)</code><br /><code>Fault Reset</code><br /><code>Quick Stop (Interlock)</code><br /><code>Target Reached</code><br /><code>Internal Limit Active</code><br /><code>Timestamped Rising Edge</code><br /><code>Timestamped Triggered Output</code><br /><code>Position Triggered Output</code></p> DT2201 248 0 SubIndex 000 USINT 8 0 ro m 1 Type USINT 8 16 ro m options {"HALL":1,"Incremental":2,"A-Format":3,"BISS":4,"REM 16MT":6,"SSI":7,"iC-MD":8, "iC-NQC":9} description <p>The implementation of the BiSS service expects an encoder that has the following frame structure:</p> <p>- SLO line high when ready.</p> <p>- Ack bit (which can be extended to multiple bits by the encoder).</p> <p>- Start bit when the encoder is ready to transmit the data.</p> <p>- CDS bit for register communication.</p> <p>- Payload (composed by Multiturn bits + Singleturn bits + Filling bits, in this order).</p> <p>- Error and warning bits, in this order.</p> <p>- 6-bit CRC.</p> <p>- Timeout.</p> 2 Function USINT 8 24 rw m options {"Disabled ":0, "Commutation & Motion Control Feedback":1, "Commutation & Monitoring (#0x230A, #0x230B)":2, "Motion Control Feedback only":3, "Monitoring only (#0x230A, #0x230B)":4, "Commutation only":5, "Position":6, "Commutation & Velocity":7} description <p>Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback, monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A &amp; #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.&nbsp; </p> 3 Resolution UDINT 32 32 rw m description <p>Number of pulses in one revolution.</p> <p>Most of the BiSS encoders have a binary resolution, which means:</p> <p>Resolution = 2^(number of singleturn bits).</p> 4 Zero velocity threshold UDINT 32 64 rw m description <p>Time threshold to set the velocity to 0 if no new position was received from the encoder.</p> 5 Polarity USINT 8 96 rw m description <p>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.</p> options {"Normal Polarity":0,"Inverted Polarity":1} 6 Multiturn resolution UDINT 32 104 rw m description <p>Multiturn resolution in bits.</p> <p>Corresponds to the total number of revolutions that are counted by the encoder.</p> 7 Clock frequency UDINT 32 136 rw m description <p>Frequency for the BiSS clock line (MA).</p> <p>Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter.</p> <p>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.</p> <p>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.</p> <p>For example, when setting 4000 KHz the real frequency will be 3571.43 kHz.</p> 8 Timeout UDINT 32 168 rw m description <p>Timeout at the end of each BiSS frame, it's part of the BiSS C standard.</p> <p>Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter.</p> 9 CRC polynom USINT 8 200 rw m description <p>Polynom for the CRC calculation.</p> <p>This value is obtained by representing the polynom in reverse order and with the higher exponent omitted.</p> <p>For example: x^0 + x^1 + x^3 + x^6 is 0b110100, which is equal to 52 in decimal.</p> <p>The default value of 48 (x^0 + x^1 + x^6) is the one used for most of the BiSS encoders.</p> 10 Clock port config (disabled) USINT 8 208 ro m description <p>This parameter has been disabled. Please refer to&nbsp;http://somanet.rocks/ in order to check how to connect MA and SLO.</p> 11 Data port config (disabled) USINT 8 216 ro m description <p>This parameter has been disabled. Please refer to&nbsp;http://somanet.rocks/ in order to check how to connect MA and SLO.</p> 12 Number of filling bits USINT 8 224 rw m description <p>The filling bits are bits that need to be clocked after the singleturn bits and before the error bit, but that are only used as part of the data for CRC calculation.</p> <p>Most BiSS encoders don't have filling bits.</p> 13 Number of bits to read while busy USINT 8 232 rw o description <p>This value defines the maximum number of bits that should be clocked in order to receive the start bit once the Ack bit was already received.</p> <p>If the Start bit is not received after this time, the error BisSrtBt is raised.</p> <p>If the Start bit is received before this number, the comunication continues normally.</p> <p>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.</p> 14 Status bits active value USINT 8 240 rw o description <p>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.</p> options {"Status bits active low":0,"Status bits active high":1,"Status bits ignored":2} description <p>Configuration parameters for first BISS encoder.</p> DT2008 48 0 SubIndex 000 USINT 8 0 ro m 1 State INT 16 16 ro o description <p>State of the cogging compensation procedure and data.</p> <p>Possible values:</p> <p style="padding-left: 30px;"><code>NO DATA</code>&nbsp;(0) - No cogging data has been stored. Use the Cogging Recording opmode to record new data.<br /><code>IN PROGRESS</code> (1) - Recording of the cogging data is in progress.<br /><code>SAVING</code> (2) - Recording is done and the data is being saved to memory.<br /><code>DATA EXISTS</code> (3) - Cogging data has been loaded from memory. Use the Enabled subfield to enable the data for cogging compensation.</p> options { "NO DATA": 0, "IN PROGRESS": 1, "SAVING": 2, "DATA EXISTS": 3 } 2 Enabled INT 16 32 rw o description <p>Enables or disables the cogging compensation feature.</p> options { "Disabled": 0, "Enabled": 1 } description <p><span class="blob-code-inner">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.</span></p> DT2009 152 0 SubIndex 000 USINT 8 0 ro m 1 State INT 16 16 rw o description <p>This subitem shows the state of the commutation offset. A new offset can be found by entering the Commutation Offset Detection opmode.</p> <p style="padding-left: 30px;"><code>OFFSET INVALID</code> (0) - Offset detection needs to be executed before using the torque controller.<br /><code>IN PROGRESS</code> (1) - Commutation Sensor Offset Detection is currently in progress.<br /><code>OFFSET VALID</code> (2) - The offset has been found and is valid. The torque controller can now be used.</p> options { "OFFSET INVALID": 0, "IN PROGRESS": 1, "OFFSET VALID": 2 } 2 Applied percent of rated torque INT 16 32 rw o description <p>Defines the amount of torque to be applied during the offset detection process. Specify this value in percent of rated torque.</p> 3 Measurement method SINT 8 48 rw o description <p>Used method for measurment of commutation angle offset</p> <p>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. This method is also able to find the "phase inverted" parameter.</p> <p>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:</p> <p style="padding-left: 40px;">Proper value of "phase inverted" parameter should be updated in the software.</p> <p style="padding-left: 40px;">PID parameters of phasing controller should be tuned. A well tuned phasing controller will result in no visible movement during offset detection procedure.</p> <p>&nbsp;</p> 4 Phasing controller Kp REAL 32 56 rw o description <p>Proportional constant Kp in PID phasing controller. This controller is used to hold the position during offset detection procedure.</p> 5 Phasing controller Ki REAL 32 88 rw o description <p>Integral constant Ki in PID phasing controller. This controller is used to hold the position during offset detection procedure.</p> 6 Phasing controller Kd REAL 32 120 rw o description <p>Derivative constant Kd in PID phasing controller. This controller is used to hold the position during offset detection procedure.</p> description <p>Used for reporting the state of the commutation offset.</p> DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Elements DT607DARR 64 16 rw m r description <p>Defines the absolute position limits for the <code>0x607A&nbsp;Target position</code>. Every new target position is checked against these limits. The limit positions shall be always relative to the machine home position. The units are in increments of the position encoder.</p> DT2209 192 0 Number of entries USINT 8 0 ro m 1 Type USINT 8 16 ro m options {"HALL":1,"Incremental":2,"A-Format":3,"BISS":4,"REM 16MT":6,"SSI":7,"iC-MD":8, "iC-NQC":9} 2 Function USINT 8 24 rw m description <p>Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A &amp; #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.&nbsp;</p> options {"Disabled ":0, "Commutation & Motion Control Feedback":1, "Commutation & Monitoring (#0x230A, #0x230B)":2, "Motion Control Feedback only":3, "Monitoring only (#0x230A, #0x230B)":4, "Commutation only":5, "Position":6, "Commutation & Velocity":7} 3 Resolution UDINT 32 32 rw m description <p>Number of pulses in one revolution.</p> <p>Most of the SSI encoders have a binary resolution, which means:</p> <p>Resolution = 2^(number of singleturn bits)</p> 4 Zero velocity threshold UDINT 32 64 rw m description <p>Time threshold to set the velocity to 0 if no new position was received from the encoder.</p> 5 Polarity BOOL 1 96 rw m options {"Normal Polarity":0,"Inverted Polarity":1} description <p>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.</p> 6 Clock frequency UINT 16 104 rw m description <p>Frequency for the SSI clock line.</p> <p>Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter.</p> <p>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.</p> <p>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.</p> <p>For example, when setting 4000 KHz the real frequency will be 3571.43 kHz.</p> 7 Frame size USINT 8 120 rw m description <p><span style="background-color: transparent; font-family: Arial; font-size: 11pt; white-space: pre-wrap;">Total amount of bits transmitted by the encoder in one frame.</span></p> 8 Singleturn bits USINT 8 128 rw m description <p>Number of singleturn bits to read from the encoder.</p> 9 Singleturn first bit position USINT 8 136 rw m description <p>Position of the first bit of singleturn position on the SSI frame. Position 0 of the frame corresponds to the first bit transmitted.</p> <p>For most of the SSI encoders, this value is equal to: Multiturn bits + Multiturn first bit position.</p> 10 Multiturn bits USINT 8 144 rw m description <p>Number of multiturn bits to read from the sensor.</p> 11 Multiturn first bit position USINT 8 152 rw o description <p>Position of the first bit of multiturn&nbsp;position on the SSI frame. Position 0 of the frame corresponds to the first bit transmitted.</p> <p>Usually this value is 0, since multiturn is the first element on the frame.</p> <p>Only relevant if&nbsp;<em>Multiturn bits</em>&nbsp;is bigger than 0.</p> 12 Parity type USINT 8 160 rw m description <p><span style="font-family: Arial; font-size: 14.6667px; white-space: pre-wrap;">Type of parity read from the encoder. If there is parity, it should be the last bit on the SSI frame.</span></p> options {"No parity":0, "Odd parity":1, "Even parity":2} 13 First clock delay UINT 16 168 rw m description <p><span style="font-family: Arial; font-size: 14.6667px; white-space: pre-wrap;">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.</span></p> 14 Data ordering BOOL 1 184 rw m description <p>Select if the ordering of position is done using Natural Binary Code or Reflected Binary Code (also known as Gray code).</p> options {"Natural Binary Code":0, "Reflected Binary Code":1} 15 Endianness BOOL 1 185 rw m description <p>Order of the bits (Most Significant Bit or Least Significant Bit transmitted first).</p> <p>Usually MSB is transmitted first.</p> options {"MSB first":0,"LSB first":1} description <p>Configuration parameters for first SSI encoder.</p> 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 <p>Measured velocity signal from the sensor can be filtered. There are three different types of filtering that user can choose between: <br />1st order low pass filter with formula G(s)=1/(1+sT), where T=1/(2*pi*f),<br />2nd order low pass Butterworth filter,<br />3rd order low pass Butterworth filter.<br />Filters are implemented in discrete domain using Euler's forward difference discretization method, i.e. s=1/T*(1-z^-1).<br /><br />Filter can be used by setting the filter type parameter to 1,2 or 3 (depending on the order of the filter). Value 0 disables the filter. Parameter cutoff frequency is set in [Hz].</p> DT220A 192 0 Number of entries USINT 8 0 ro m 1 Type USINT 8 16 ro m options {"HALL":1,"Incremental":2,"A-Format":3,"BISS":4,"REM 16MT":6,"SSI":7,"iC-MD":8, "iC-NQC":9} 2 Function USINT 8 24 rw m description <p>Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A &amp; #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.&nbsp;</p> options {"Disabled ":0, "Commutation & Motion Control Feedback":1, "Commutation & Monitoring (#0x230A, #0x230B)":2, "Motion Control Feedback only":3, "Monitoring only (#0x230A, #0x230B)":4, "Commutation only":5, "Position":6, "Commutation & Velocity":7} 3 Resolution UDINT 32 32 rw m description <p>Number of pulses in one revolution.</p> <p>Most of the SSI encoders have a binary resolution, which means:</p> <p>Resolution = 2^(number of singleturn bits)</p> 4 Zero velocity threshold UDINT 32 64 rw m description <p>Time threshold to set the velocity to 0 if no new position was received from the encoder.</p> 5 Polarity BOOL 1 96 rw m options {"Normal Polarity":0,"Inverted Polarity":1} description <p>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.</p> 6 Clock frequency UINT 16 104 rw m description <p>Frequency for the SSI clock line.</p> <p>Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter.</p> <p>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.</p> <p>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.</p> <p>For example, when setting 4000 KHz the real frequency will be 3571.43 kHz.</p> 7 Frame size USINT 8 120 rw m description <p><span style="font-family: Arial; font-size: 14.6667px; white-space: pre-wrap;">Total amount of bits transmitted by the encoder in one frame.</span></p> 8 Singleturn bits USINT 8 128 rw m description <p>Number of singleturn bits to read from the encoder.</p> 9 Singleturn first bit position USINT 8 136 rw m description <p>Position of the first bit of singleturn position on the SSI frame. Position 0 of the frame corresponds to the first bit transmitted.</p> <p>For most of the SSI encoders, this value is equal to: Multiturn bits + Multiturn first bit position.</p> 10 Multiturn bits USINT 8 144 rw m description <p>Number of multiturn bits to read from the sensor.</p> 11 Multiturn first bit position USINT 8 152 rw o description <p>Position of the first bit of multiturn&nbsp;position on the SSI frame. Position 0 of the frame corresponds to the first bit transmitted.</p> <p>Usually this value is 0, since multiturn is the first element on the frame.</p> <p>Only relevant if&nbsp;<em>Multiturn bits</em>&nbsp;is bigger than 0.</p> 12 Parity type USINT 8 160 rw m description <p><span style="font-family: Arial; font-size: 14.6667px; white-space: pre-wrap;">Type of parity read from the encoder. If there is parity, it should be the last bit on the SSI frame.</span></p> options {"No parity":0, "Odd parity":1, "Even parity":2} 13 First clock delay UINT 16 168 rw m description <p><span style="font-family: Arial; font-size: 14.6667px; white-space: pre-wrap;">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.</span></p> 14 Data ordering BOOL 1 184 rw m description <p>Select if the ordering of position is done using Natural Binary Code or Reflected Binary Code (also known as Gray code).</p> <p>&nbsp;</p> options {"Natural Binary Code":0, "Reflected Binary Code":1} 15 Endianness BOOL 1 185 rw m description <p>Order of the bits (Most Significant Bit or Least Significant Bit transmitted first).</p> <p>Usually MSB is transmitted first.</p> options {"MSB first":0,"LSB first":1} description <p>Configuration parameters for second SSI encoder.</p> DT6091ARR UDINT 64 1 2 DT6091 80 0 Number of entries USINT 8 0 ro m Elements DT6091ARR 64 16 rw m r description <p>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.</p> DT2013 600 0 SubIndex 000 USINT 8 0 ro m 1 Enabled BOOL 1 16 rw o description <p>Enables or disables the gain scheduling feature.</p> options {"Disabled":0,"Enabled":1} 2 Threshold velocity 0 UDINT 32 24 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">Velocity that determines the lower threshold. Underneath this value, controller gains set 0 is used. Beyond it, linear interpolation begins.</span></p> 3 Position loop Kp 0 REAL 32 56 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The P-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/inc]</span></p> 4 Position loop Ki 0 REAL 32 88 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The I-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/(inc*s)]</span></p> 5 Position loop Kd 0 REAL 32 120 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The D-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc]</span></p> 6 Position loop integral limit 0 UDINT 32 152 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The integrator limit of the Position Control Loop of area 0 (low velocity, below threshold velocity 0). </span><span class="blob-code-inner blob-code-marker-deletion">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.</span></p> 7 Velocity loop Kp 0 REAL 32 184 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The P-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [mNm/rpm]</span></p> 8 Velocity loop Ki 0 REAL 32 216 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The I-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [mNm/(rpm*s)]</span></p> 9 Velocity loop Kd 0 REAL 32 248 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The D-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc]</span></p> 10 Velocity loop integral limit 0 UDINT 32 280 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The integrator limit of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0). </span><span class="blob-code-inner blob-code-marker-deletion"><span class="blob-code-inner blob-code-marker-deletion">Technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. <br /></span></span></p> 11 Threshold velocity 1 UDINT 32 312 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">Velocity that determines the upper threshold. Above this value, controller gains set 1 is used. Up to this velocity linear interpolation is performed.</span></p> 12 Position loop Kp 1 REAL 32 344 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The P-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm/inc]</span></p> 13 Position loop Ki 1 REAL 32 376 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The I-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm/(inc*s)]</span></p> 14 Position loop Kd 1 REAL 32 408 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The D-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm*s/inc]</span></p> 15 Position loop integral limit 1 UDINT 32 440 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The integrator limit of the Position Control Loop of area 1 (high velocity, above threshold velocity 1). </span><span class="blob-code-inner blob-code-marker-deletion"><span class="blob-code-inner blob-code-marker-deletion">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.</span></span></p> 16 Velocity loop Kp 1 REAL 32 472 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The P-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [mNm/rpm]</span></p> 17 Velocity loop Ki 1 REAL 32 504 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The I-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [mNm/(rpm*s)]</span></p> 18 Velocity loop Kd 1 REAL 32 536 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The D-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm*s/inc]</span></p> 19 Velocity loop integral limit 1 UDINT 32 568 rw o description <p><span class="blob-code-inner blob-code-marker-deletion">The integrator limit of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1). </span><span class="blob-code-inner blob-code-marker-deletion"><span class="blob-code-inner blob-code-marker-deletion">Technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds.<br /></span></span></p> DT200A 72 0 Number of entries USINT 8 0 ro m 1 Enabled USINT 8 16 rw o description <p>Enables or disables the I2t protection feature.</p> options {"Disabled":0,"Enabled (current limit at 100%)":1,"Enabled (error at 100%)":2} 2 Peak time UDINT 32 24 rw o description <p>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.</p> 3 Percent max USINT 8 56 ro o description <p>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.</p> 4 Protection active BOOL 1 64 ro o description <p>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.</p> 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 <p>Measured position signal from the sensor can be filtered. There are three different types of filtering that user can choose between: <br />1st order low pass filter with formula G(s)=1/(1+sT), where T=1/(2*pi*f),<br />2nd order low pass Butterworth filter,<br />3rd order low pass Butterworth filter.<br />Filters are implemented in discrete domain using Euler's forward difference discretization method, i.e. s=1/T*(1-z^-1).<br /><br />Filter can be used by setting the filter type parameter to 1,2 or 3 (depending on the order of the filter). Value 0 disables the filter. Parameter cutoff frequency is set in [Hz].</p> DT2031 48 0 Number of entries USINT 8 0 ro m 1 Measured temperature DINT 32 16 ro o t description <p>Describes the temperature measured near the inverter.</p> DT203F 80 0 SubIndex 000 USINT 8 0 ro m 1 Description STRING(8) 64 16 ro o tr description <p>Contains a short ASCII description of the error or warning in human-readable format. Please refer to our documentation for further details about any particular code.</p> description <p>Provides further information about the error or warning reported by the <code>0x603F Error code</code> object.</p> 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 <p>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</p> <p>y<sub>k</sub> = a<sub>0</sub> x<sub>k</sub> + a<sub>1</sub> x<sub>k-1</sub> + a<sub>2</sub> x<sub>k-2</sub> + b<sub>1</sub> y<sub>k-1</sub> + b<sub>2</sub> y<sub>k-2</sub><sub><br /></sub></p> <p>where&nbsp; a<sub>0</sub> = K, a<sub>1</sub> = -2Kcos(2pi*f), a2 = K, b1 = 2Rcos(2pi*f), b2 = -R<sup>2</sup>&nbsp;</p> <p>and K = (1 - 2Rcos(2pi*f) + R<sup>2</sup>) / (2-2cos(2pi*f))</p> <p>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; R = 1 - 3 * BW</p> <p>f - center frequency and BW - bandwidth expressed relative to the sampling frequency, where f,BW = [0, 0.5]</p> <p>&nbsp;</p> DT2030 48 0 Number of entries USINT 8 0 ro m 1 Measured temperature DINT 32 16 ro o t description <p>Describes the temperature measured on the Core board.</p> DT20F3 48 0 SubIndex 000 USINT 8 0 ro m 1 DC pulse time UDINT 32 16 ro o description <p>The time when the last DC pulse happened in clock ticks (10 ns).</p> description <p>Indicates the status of the selected network synchronization mechanism.</p> DT220B 128 0 Number of entries USINT 8 0 ro m 1 Type USINT 8 16 ro m options {"HALL":1,"Incremental":2,"A-Format":3,"BISS":4,"REM 16MT":6,"SSI":7,"iC-MD":8, "iC-NQC":9} 2 Function USINT 8 24 rw m description <p>Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A &amp; #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.&nbsp;</p> options {"Disabled ":0, "Commutation & Motion Control Feedback":1, "Commutation & Monitoring (#0x230A, #0x230B)":2, "Motion Control Feedback only":3, "Monitoring only (#0x230A, #0x230B)":4, "Commutation only":5, "Position":6, "Commutation & Velocity":7} 3 Resolution UDINT 32 32 ro m description <p>Number of pulses in one revolution.</p> <p>This value is automatically calculated using the value of "Singleturn resolution".</p> 4 Zero velocity threshold UDINT 32 64 rw m description <p>Time threshold to set the velocity to 0 if no new position was received from the encoder.</p> 5 Polarity USINT 8 96 rw m description <p>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.</p> options {"Normal Polarity":0,"Inverted Polarity":1} 6 Transmission speed USINT 8 104 rw m options {"2.5 Mbps":0,"4 Mbps":1,"6.67 Mbps":2,"8 Mbps":3,"16 Mbps":4} description <p>See encoder datasheet for more information.</p> 7 Singleturn resolution USINT 8 112 rw m options {"17 bits":0,"20 bits":1,"22 bits":2,"24 bits":3} description <p>See encoder datasheet for more information.</p> 8 Absolute encoder type BOOL 1 120 rw m description <p>Select if the encoder has only singleturn data (ST-ABS) or both multiturn and singleturn data (MT-ABS). See encoder datasheet for more information.</p> options {"ST-ABS":0,"MT-ABS":1} description <p>Configuration parameters for A-Format encoder.</p> DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Elements DT6099ARR 64 16 rw m r description <p>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).</p> DT2014 48 0 Number of entries USINT 8 0 ro m 1 Value UINT 16 16 rw o description <p>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. <span class="blob-code-inner blob-code-marker" data-code-marker="+">If the value of the <span class="x x-first x-last">torque</span> window is <span class="x x-first x-last">0xFFFF, torque </span>window <span class="x x-first x-last">monitoring will</span> be switched off.</span></p> 2 Time UINT 16 32 rw o description <p>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.</p> 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 <p><strong>Prototype - This object will change in future releases!</strong></p> <p>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.</p> <p>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:</p> <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> <p>&nbsp;</p> DT2015 48 0 Number of entries USINT 8 0 ro m 1 Gain INT 16 16 rw o description <p>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.</p> 2 Cutoff frequency UINT 16 32 rw o description <p>Cutoff frequency of the 1st order low pass filter that filters the calculated velocity.</p> description <p>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.</p> <p>The end result is added as an additional input to the velocity controller in cascaded position control mode.</p> DT220C 112 0 Number of entries USINT 8 0 ro m 1 Type USINT 8 16 ro m options {"HALL":1,"Incremental":2,"A-Format":3,"BISS":4,"REM 16MT":6,"SSI":7,"iC-MD":8, "iC-NQC":9} 2 Function USINT 8 24 rw m description <p>Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A &amp; #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.&nbsp;</p> options {"Disabled ":0, "Commutation & Motion Control Feedback":1, "Commutation & Monitoring (#0x230A, #0x230B)":2, "Motion Control Feedback only":3, "Monitoring only (#0x230A, #0x230B)":4, "Commutation only":5, "Position":6, "Commutation & Velocity":7} 3 Resolution UDINT 32 32 rw m description <p>Total number of quadrature edges per revolution.</p> <p>Resolution = Cycles per Revolution * 4</p> <p>&nbsp;</p> <p>Note:</p> <p>Cycles = Pulses = Lines</p> <p>Positions = Counts = Increments = 4 * Cycles</p> 4 Zero velocity threshold UDINT 32 64 rw m description <p>Time threshold to set the velocity to 0 if no new position was received from the encoder.</p> 5 Polarity USINT 8 96 rw m description <p>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.</p> options {"Normal Polarity":0,"Inverted Polarity":1} 6 Signal type BOOL 1 104 rw m description <p>The input for the incremental signals ABZ is configurable as single-ended TTL and differential (RS-422).</p> options { "Differential RS422": 0, "Single-ended TTL": 1 } 7 Index availability BOOL 1 105 rw m options {"AB encoder (without index)":0, "ABI encoder (with index)":1} description <p>Define if the connected encoder has an index (ABI) or not (AB).</p> 8 Index-A configuration BOOL 1 106 rw m description <p>Specifiy what is the value of the A line when the index is active. This value needs to be configured according to the connected ABI sensor for the adapter to work properly.</p> <p>This parameter is not relevant if the encoder connected doesn't have an index.</p> options {"Z active when A=1":0, "Z active when A=0":1} 9 Index-B configuration BOOL 1 107 rw m description <p>Specifiy what is the value of the B line when the index is active. This value needs to be configured according to the connected ABI sensor for the adapter to work properly.</p> <p>This parameter is not relevant if the encoder connected doesn't have an index.</p> options {"Z active when B=1":0, "Z active when B=0":1} 10 Index inverted BOOL 1 108 rw m description <p>The index (Z) signal can be inverted (Z=0 active) using this parameter.</p> <p>This parameter is not relevant if the encoder connected doesn't have an index.</p> options {"Non inverted":0, "Inverted":1} description <p>Configuration parameters for Fast ABI Module.</p> DT60E3ARR SINT 32 1 4 DT60E3 48 0 Number of entries USINT 8 0 ro m Elements DT60E3ARR 32 16 ro m description <p>List of the homing methods supported by the drive.</p> 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 <p>The COB-ID is stored here. For PDO mappings 1&ndash;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.</p> 2 Transmission type USINT 8 48 rw o description <p>A number is stored in this subindex that defines the time at which the received data become valid.</p> 3 Inhibit time UINT 16 56 rw o description <p>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.&nbsp;</p> description <p>Indicates the communication parameters for the RPDO 1.</p> DT1800 96 0 SubIndex 000 USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description <p>The COB-ID is stored here. For PDO mappings 1&ndash;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.</p> 2 Transmission type USINT 8 48 rw o description <p>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.&nbsp;</p> 3 Inhibit time UINT 16 56 rw o description <p>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.</p> 4 reserved USINT 8 72 ro o description <p>This subindex has no function and exists only for compatibility reasons.</p> 5 Event timer UINT 16 80 rw o description <p>This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO.</p> description <p>Indicates the communication parameters for the TPDO 1.</p> DT220E 144 0 Number of entries USINT 8 0 ro m 1 Type USINT 8 16 ro m options {"HALL":1,"Incremental":2,"A-Format":3,"BISS":4,"REM 16MT":6,"SSI":7,"iC-MD":8, "iC-NQC":9} 2 Function USINT 8 24 rw m description <p>Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A &amp; #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.&nbsp;</p> options {"Disabled ":0, "Commutation & Motion Control Feedback":1, "Commutation & Monitoring (#0x230A, #0x230B)":2, "Motion Control Feedback only":3, "Monitoring only (#0x230A, #0x230B)":4, "Commutation only":5, "Position":6, "Commutation & Velocity":7} 3 Resolution UDINT 32 32 ro m description <p>Number of pulses in one revolution.</p> <p>This value is automatically calculated using the value of "Sinewave cycles per revolution" and "Sinewave resolution" as:</p> <p>Resolution = Sinewave cycles per revolution * Sinewave resolution</p> 4 Zero velocity threshold UDINT 32 64 rw m description <p>Time threshold to set the velocity to 0 if no new position was received from the encoder.</p> 5 Polarity USINT 8 96 rw m options {"Normal Polarity":0,"Inverted Polarity":1} description <p>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.</p> 6 Sinewave cycles per revolution UINT 16 104 rw m description <p>Number of sinewaves cycles in one motor revolution.</p> <p>This value is going to be used to calculate the singleturn resolution (Resolution).</p> 7 Sinewave resolution USINT 8 120 rw m description <p>Select desired number of pulses in one sinewave.</p> <p>This value is going to be used to calculate the singleturn resolution (Resolution).</p> options {"8":13, "16":12, "32":11, "64":10, "128":9, "256":8, "512":7, "1024":6, "2048":5, "4096":4, "8192":3} 8 Sinusoidal output voltage USINT 8 128 rw m 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} description <p>Differential voltage in the Sin/Cos outputs peak to peak.</p> <p>It is often abreviated as Vpp.</p> 9 Index availability BOOL 1 136 rw m options {"Encoder without index":0, "Encoder with index":1} description <p>Define if the connected encoder has an index or not.</p> <p>The index is often called "reference".</p> description <p>Configuration parameters for SinCos Module.</p> DT2038 328 0 Number of entries USINT 8 0 ro m 1 Scaled measurement value REAL 32 16 ro o t description <p>Scaled value of the selected analog input after applying the selected 5th order polynomial.</p> 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 <p>Select the scaled measurement source.</p> 3 Resistance UDINT 32 56 rw o description <p>Select the pull-up resistor connected to the selected analog input.</p> <p>In case there is no pull-up resistor "0" should be selected. In that case, the polynom would be applied to the ADC count directly (range: 0 - 4095).</p> <p>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.</p> 4 Constant a0 REAL 32 88 rw o description <p>Constant a0 of the polynomial (Offset)</p> 5 Constant a1 REAL 32 120 rw o description <p>Constant a1 of the polynomial (1st order coefficient)</p> 6 Constant a2 REAL 32 152 rw o description <p>Constant a2 of the polynomial (2nd order coefficient)</p> 7 Constant a3 REAL 32 184 rw o description <p>Constant a3 of the polynomial (3rd order coefficient)</p> 8 Constant a4 REAL 32 216 rw o description <p>Constant a4 of the polynomial (4th order coefficient)</p> 9 Constant a5 REAL 32 248 rw o description <p>Constant a5 of the polynomial (5th order coefficient)</p> 10 Cutoff frequency UINT 16 280 rw o description <p>Cutoff frequency (Hz) for the LP filter for external scaled analog measurements.</p> 11 Error threshold UDINT 32 296 rw o description <p>Error threshold for the scaled external sensor measurements on the analog inputs.</p> description <p>Feature that takes an analog input and transforms it to an output as defined by a 5th order polynomial.</p> DT2611ARR BOOL 2 1 2 DT2611 18 0 Number of entries USINT 8 0 ro m Elements DT2611ARR 2 16 ro m description <p>Digital Inputs on Safety Module</p> DT6621ARR USINT 16 1 2 DT6621 32 0 Number of entries USINT 8 0 ro m Elements DT6621ARR 16 16 ro m description <p>Status of STO and SBC.&nbsp;<span style="color: #24292e; font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Helvetica, Arial, sans-serif, 'Apple Color Emoji', 'Segoe UI Emoji', 'Segoe UI Symbol';">STO is the 8th bit of the first byte, SBC is the 8th bit of the second byte</span></p> DT1401 72 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description <p>The COB-ID is stored here. For PDO mappings 1&ndash;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.</p> 2 Transmission type USINT 8 48 rw o description <p>A number is stored in this subindex that defines the time at which the received data become valid.</p> 3 Inhibit time UINT 16 56 rw o description <p>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.&nbsp;</p> description <p>Indicates the communication parameters for the RPDO 2.</p> DT1801 96 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description <p>The COB-ID is stored here. For PDO mappings 1&ndash;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.</p> 2 Transmission type USINT 8 48 rw o description <p>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.&nbsp;</p> 3 Inhibit time UINT 16 56 rw o description <p>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.&nbsp;</p> 4 reserved USINT 8 72 ro o description <p>This subindex has no function and exists only for compatibility reasons.</p> 5 Event timer UINT 16 80 rw o description <p>This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO.</p> description <p>Indicates the communication parameters for the TPDO 2.</p> DT2211 48 0 Number of entries USINT 8 0 ro m 1 Timestamp setpoint UDINT 32 16 rw o r description <p>Timestamp at which the GPIO should trigger in case "Timestamp triggered" is selected. The unit is in 10 ns.</p> description <p>Configuration to set the value in the <em>Digital Output</em> object to the corresponding GPIO when a certain event happens.</p> <p>The GPIO has to be enabled in&nbsp;<em>0x2210 GPIO</em>.</p> <p>Configurable events are:</p> <p style="padding-left: 40px;"><span style="font-family: monospace; background-color: #bfe6ff;">Timestamp triggered</span>: Output at a certain timestamp.</p> <p style="padding-left: 40px;"><span style="font-family: monospace; background-color: #bfe6ff;">Target reached</span>: Output when target is reached. This mimics bit 10 (tr) of the Statusword.</p> <p style="padding-left: 40px;"><span style="font-family: monospace; background-color: #bfe6ff;">Internal limit active</span>: Output when internal limit is active. This mimics bit 11 (ila) of the Statusword.</p> DT2212 48 0 Number of entries USINT 8 0 ro m 1 Timestamp on rising edge UDINT 32 16 ro o t description <p>Timestamp at which the last rising edge happened in case "Timestamped rising edge" is selected. The unit is in 10 ns.</p> description <p>Configure an input GPIO to perform a certain action depending on its value.</p> <p>The GPIO has to be enabled in&nbsp;<em>0x2210 GPIO</em>.</p> <p>Configurable actions are:</p> <p style="padding-left: 40px;"><span style="font-family: monospace; background-color: #bfe6ff;">Timestamped rising edge</span>: Report timestamp of selected GPIO last rising edge.</p> <p style="padding-left: 40px;"><span style="font-family: monospace; background-color: #bfe6ff;">Disable operation</span>: Clear bit 3 (eo) of controlword when the selected GPIO is high.</p> <p style="padding-left: 40px;"><span style="font-family: monospace; background-color: #bfe6ff;">Quick stop</span>: Clear bit 2 (qs) of controlword when the selected GPIO is high.</p> <p style="padding-left: 40px;"><span style="font-family: monospace; background-color: #bfe6ff;">Fault reset</span>: Set bit 7 (fr) of controlword when the selected GPIO is high.</p> DT2213 64 0 SubIndex 000 USINT 8 0 ro m 1 Position setpoint UDINT 32 16 rw o r description <p>Position value at which the GPIO shpould be triggered.</p> 2 Encoder connector USINT 8 48 rw o description <p>Connector where the encoder whose position is used for this feature is connected.</p> options {"Encoder Connector 1":0,"Encoder Connector 2":1,"Encoder Connector 3":2,"Encoder Connector 4":3} 3 Pulse width USINT 8 56 rw o description <p>Width of the pulse when the GPIO is triggered.</p> description <p>Configure a GPIO to output a width-configurable pulse everytime certain encoder position is reached.</p> DT1402 72 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description <p>The COB-ID is stored here. For PDO mappings 1&ndash;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.</p> 2 Transmission type USINT 8 48 rw o description <p>A number is stored in this subindex that defines the time at which the received data become valid.</p> 3 Inhibit time UINT 16 56 rw o description <p>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.</p> description <p>Indicates the communication parameters for the RPDO 3.</p> DT1403 72 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description <p>The COB-ID is stored here. For PDO mappings 1&ndash;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.</p> 2 Transmission type USINT 8 48 rw o description <p>A number is stored in this subindex that defines the time at which the received data become valid.</p> 3 Inhibit time UINT 16 56 rw o description <p>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.&nbsp;</p> description <p>Indicates the communication parameters for the RPDO 4.</p> DT1802 96 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description <p>The COB-ID is stored here. For PDO mappings 1&ndash;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.</p> <p>&nbsp;</p> 2 Transmission type USINT 8 48 rw o description <p>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.&nbsp;</p> 3 Inhibit time UINT 16 56 rw o description <p>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.&nbsp;</p> 4 reserved USINT 8 72 rw o description <p>This subindex has no function and exists only for compatibility reasons.</p> 5 Event timer UINT 16 80 rw o description <p>This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO.</p> description <p>Indicates the communication parameters for the TPDO 3.</p> DT1803 96 0 Number of entries USINT 8 0 ro m 1 COB-ID used by PDO UDINT 32 16 rw o description <p>The COB-ID is stored here. For PDO mappings 1&ndash;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.</p> 2 Transmission type USINT 8 48 rw o description <p>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.</p> 3 Inhibit time UINT 16 56 rw o description <p>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.&nbsp;</p> 4 reserved USINT 8 72 rw o description <p>This subindex has no function and exists only for compatibility reasons.</p> 5 Event timer UINT 16 80 rw o description <p>This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO.</p> description <p>Indicates the communication parameters for the TPDO 4.</p> DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro m Elements DT60FEARR 64 16 rw o r description <p>The manufacturer-specific bits allow to set the state of the Drive's digital outputs.</p> <p>Bit 16: Digital output 1</p> <p>Bit 17: Digital output 2</p> <p>:</p> <p>Bit 31: Digital output 16</p> <p>&nbsp;</p> <p>In order to be able to change the state of an output, the corresponding bit in the <em>Bit mask</em> has to be set to 1.</p> DT2214 24 0 Number of entries USINT 8 0 ro m 1 Voltage level USINT 8 16 rw o description <p>Select the global voltage level of GPIO ports.</p> options {"3.3 volts":1,"5.0 volts":2} 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 <p>0: last command completed, no errors, no reply.</p> <p>1: last command completed, no errors, reply there.</p> <p>2: last command completed, error, no reply.</p> <p>3: last command completed, error, reply there.</p> <p>100-200: indicates how much of the command has been executed (in %, 100 = 0%, 200 = 100%).</p> <p>255: command is executing (if the percentage display is not supported).</p> 3 Response OCTET_STRING(8) 64 88 ro m description <p>Byte 0: See SubIndex 2.</p> <p>Byte 1: Unused.</p> <p>2-n: Command specific response data.</p> DT2027 32 0 SubIndex 000 USINT 8 0 ro m 1 Enabled BOOL 1 16 rw o description <p>Set to 1 to enable the control input FIR filter.</p> options {"Disable":0,"Enable":1} 2 Order USINT 8 24 rw o description <p>The order or length of the FIR filter. Order of the filter means the maximum number of delay elements used in the filter circuit.</p> description <p>Boxcar FIR filter (uses rectangular gains); equivalent to a moving average filter.</p> <p>Defines the interpolation window length in multiples of 250 us (e.g. 4 for a 1 ms window) in the `order` sub-object.&nbsp;<br />Each 4 kHz cycle, the values in the buffer are summed up and divided by the buffer length to produce the output.<br />When the filter order is equal to the number of control cycles per target update period, the result is a linearly interpolated command.</p>