Festo Can Open Cmms

CANopen for Motor Controller
CMMS/CMMD
Manual
CANopen
CMMS-ST
CMMS-AS
CMMD-AS
Manual
554 352
en 1012a
[757 730]
Original ________________________________________________________ de
Edition ____________________________________________________en 1012a
Designation____________________________________ P.BE-CMMS-CO-SW-EN
Order no. ___________________________________________________554 352
(Festo AG & Co KG., D-73726 Esslingen, Germany, 2011)

Internet:
http://www.festo.com
E-mail:
service_international@festo.com
The reproduction of this document and disclosure to third parties and the utilisation or
communication of its contents without explicit authorization is prohibited. Offenders will
be held liable for compensation of damages. All rights reserved, in particular the right to
carry out patent, utility model or ornamental design registrations.
Festo P.BE-CMMS-CO-SW-EN 1012a
Index of revisions
Author:
Festo AG & Co. KG
Name of manual:
CANopen for Motor Controller CMMS/CMMD
File name:
File saved at:
Consec. no. Description
Index of revisions
Date of amendment
001
Creation
0708NH
26.07.2007
002
Revision
1012a
17.02.2011
Trademarks
CANopen and CiA are registered brand names of the respective brand holders in certain
countries.
4
CONTENTS
CONTENTS
1.
General remarks ..................................................................................................... 8
1.1
Intended use ......................................................................................................... 8
1.2
Safety instructions ................................................................................................ 8
1.3
Target group.......................................................................................................... 9
1.4
Service .................................................................................................................. 9
1.5
Important user instructions ................................................................................... 9
2.
CANopen................................................................................................................ 12
2.1
Overview ............................................................................................................. 12
2.2
Cabling and Plug Assignment .............................................................................. 13

2.2.1
Pin allocations ..................................................................................... 13
2.2.2
Cabling Note ........................................................................................ 14
2.3
Activation of CANopen......................................................................................... 15
3.
Access Procedure .................................................................................................. 17
3.1
Introduction......................................................................................................... 17
3.2
SDO Access ......................................................................................................... 18

3.2.1
SDO Sequences for Reading and Writing ............................................. 19
3.2.2
SDO Error Messages ............................................................................ 20
3.2.3
Simulation of SDO Access via RS232 ................................................... 21
3.3
PDO Message ...................................................................................................... 22

3.3.1
Description of the Objects ................................................................... 23
3.3.2
Objects for PDO Parameter Setting ...................................................... 26
3.3.3
Activation of PDOs ............................................................................... 30
3.4
SYNC-Message .................................................................................................... 30
3.5
EMERGENCY-Message ......................................................................................... 31
3.5.1
Structure of the EMERGENCY-Message................................................ 31
3.5.2
3.6
Heartbeat / Bootup (Error Control Protocol)........................................................ 45

3.6.1
Structure of the Heartbeat Message .................................................... 45
3.6.2
Structure of the Bootup Message ........................................................ 46
3.6.3
3.7
Network Management (NMT Service) .................................................................. 47
3.8
Nodeguarding (Error Control Protocol) ................................................................ 49

3.8.1
Overview.............................................................................................. 49
3.8.2
Structure of the Nodeguarding Messages............................................ 49
3.8.3
3.9
Table of Identifiers .............................................................................................. 51
CONTENTS
4.
Setting Parameters ............................................................................................... 52
4.1
Load and Save Parameter Sets ............................................................................ 52

4.1.1
Overview.............................................................................................. 52
4.1.2
4.2
Conversion Factors (Factor Group) ...................................................................... 55

4.2.1
Overview.............................................................................................. 55
4.2.2
4.3
Output stage parameter ...................................................................................... 67

4.3.1
Overview.............................................................................................. 67
4.3.2
4.4
Current Regulator and Motor Adjustment............................................................ 69

4.4.1
Overview.............................................................................................. 69
4.4.2
4.5
Speed regulator................................................................................................... 75
4.5.1
Overview.............................................................................................. 75
4.5.2
4.6
Position Controller (Position Control Function).................................................... 77

4.6.1
Overview.............................................................................................. 77
4.6.2
4.7
Setpoint value limitation ..................................................................................... 85

4.7.1
Description of the objects .................................................................... 85
4.8
Digital inputs and outputs ................................................................................... 87

4.8.1
Overview.............................................................................................. 87
4.8.2
4.9
Limit switch ......................................................................................................... 89

4.9.1
Overview.............................................................................................. 89
4.9.2
4.10
Sampling of positions.......................................................................................... 90
4.10.1 Overview.............................................................................................. 90
4.10.2 Description of the Objects ................................................................... 90
4.11
Device Information .............................................................................................. 91

4.12
Error management............................................................................................... 95
4.12.1 Overview.............................................................................................. 95
CONTENTS
5.
Device Control ....................................................................................................... 97
5.1
Status Diagram (State Machine).......................................................................... 97

5.1.1
Overview.............................................................................................. 97
5.1.2
Status diagram of the motor controller (State Machine) ...................... 98
5.1.3
controlword (control word) ................................................................ 102
5.1.4
Read-out of the motor controller status............................................. 105
5.1.5
statusword (Status words)................................................................. 106
6.
Operating modes ................................................................................................ 111
6.1
Setting the operating mode............................................................................... 111

6.1.1
Overview............................................................................................ 111
6.1.2
Description of the Objects ................................................................. 111
6.2
Operating mode homing (Homing Mode) .......................................................... 113

6.2.1
Overview............................................................................................ 113
6.2.2
6.2.3
Reference Travel Processes ............................................................... 117
6.2.4
Control of Reference Travel................................................................ 121
6.3
Positioning Operating Mode (Profile Position Mode)......................................... 122

6.3.1
Overview............................................................................................ 122
6.3.2
6.3.3
Functional description ....................................................................... 127
6.4
Interpolated Position Mode ............................................................................... 129

6.4.1
Overview............................................................................................ 129
6.4.2
6.4.3
Functional description ....................................................................... 135
6.5
Speed adjustment operating mode (Profile Velocity Mode) .............................. 137

6.5.1
Overview............................................................................................ 137
6.5.2
6.6
Torque regulation operating mode (Profile Torque Mode) ................................ 144

6.6.1
Overview............................................................................................ 144
6.6.2
7.
Index ................................................................................................................... 149
1. General remarks
1.
General remarks
1.1
Intended use
This manual describes how the motor controller of the CMMS/CMMD series can be
integrated into a CANopen network environment. It describes setting of the physical
parameters, activation of CANopen protocol, integration into the CAN network and
communication with the motor controller. It is directed at people who are already familiar
with this motor controller series.
It contains safety instructions which must be followed.
The complete set of information can be found in the documentation
for the motor controller in question:
-
Description P.BE-CMM...-HW-...:
Mechanics electrical engineering function range overview
Note
Always observe the safety-related instructions listed in the product
manual for the motor controller being used.
1.2
Safety instructions
When commissioning and programming positioning systems, you must always observe
the safety regulations in this manual as well as those in the operating instructions for the
other components used.
The user must make sure that nobody is within the sphere of influence of the connected
actuators or axis system. Access to the potential danger area must be prevented by
suitable measures such as barriers and warning signs.
Warning
Axes can move with high force and at high speed. Collisions can
lead to serious injury to human beings and damage to components.
Make sure that nobody can reach into the sphere of influence of the
axes or other connected actuators and that no items are within the
positioning range while the system is connected to energy sources.
1. General remarks
Warning
Faults in the parametrisation can cause injury to human beings and
damage to property.
Enable the controller only if the axis system has been correctly
installed and parametrised.
1.3
Target group
This manual is intended exclusively for technicians trained in control and automation
technology, who have experience in installing, commissioning, programming and
diagnosing positioning systems.
1.4
Service
Please consult your local Festo Service or write to the following e-mail address if you have
any technical problems:
service_international@festo.com
1.5
Important user instructions
Danger categories
This description contains instructions on the possible dangers which can occur if the
product is not used correctly. These instructions are marked (Warning, Caution, etc),
printed on a shaded background and marked additionally with a pictogram.
A distinction is made between the following danger warnings:
Warning
... Means that failure to observe this instruction may result in
serious personal injury or damage to property.
Caution
personal injury or damage to property.
Note
damage to property.
1. General remarks
The following pictogram marks passages in the text which describe activities with
electrostatically sensitive devices:
Electrostatically sensitive devices: Incorrect handling can result in
damage to components.
Identification of specific information

The following pictograms designate texts that contain special information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information
Accessories:
information on necessary or useful accessories for the Festo
product.
Environment:
information on environmentally friendly use of Festo products.
Text designations
Bullet points indicate activities that may be carried out in any order.
1. Numerals denote activities which must be carried out in the numerical order specified.
-
Arrowheads indicate general lists.
About the Version

This description refers to versions corresponding to Table 1.1
10
1. General remarks
You can find the specifications on the version status as follows:
-
Hardware version and firmware version in the Festo Configuration Tool (FCT) with
active device connection under "Controller"
Controller
Firmware
Comment
CMMS-ST-...
From Version 1.3.0.1.14
Standard motor controller for stepper motors
CMMS-AS-...
Standard motor controller for servo motors
CMMD-AS-...
Standard double motor controller for servo motors
Table 1.1 Controller and firmware versions

For older versions:
Use the related older version of this document, if applicable.
Note
With newer firmware versions, check whether there is a newer
version of this description available:
www.festo.com
11
2. CANopen
2.
CANopen
2.1
Overview
CANopen is a standard worked out by the "CAN in Automation" association. A number of

device manufacturers are organised in this association. This standard has largely replaced
the current manufacturer-specific CAN protocols. As a result, the end user has a
manufacturer-independent communication interface.
The following manuals, among others, can be obtained from this association:
CiA Draft Standard 201-207:
These documents cover the general principles and embedding of CANopen into the OSI
layered architecture. The relevant points of this book are presented in this CANopen
manual, so procurement of DS201 ... 207 is generally not necessary.
CiA Draft Standard 301:
This book describes the fundamental design of the object directory of a CANopen device
and access to it. The statements of DS201 ... 207 are also made concrete. The elements of
the object directory needed for the CMMS/CMMD motor controller families and the
related access methods are described in this manual. Procurement of DS301 is
recommended but not absolutely necessary.
CiA Draft Standard 402:
This book covers concrete implementation of CANopen in drive regulators. Although all
implemented objects are also briefly documented and described in this CANopen manual,
the user should have this book available.
Source of supply:
CAN in Automation (CiA) International Headquarters
Am Weichselgarten 26
D-91058 Erlangen
Tel.: 09131-601091
Fax:
09131-601092
www.can-cia.de
The CANopen implementation of the motor controller is based on the following
standards:
12
[1] CiA Draft Standard 301,
Version 4.02,
13. February 2002
[2] CiA Draft Standard Proposal 402,
Version 2.0,
26. July 2002
2. CANopen
2.2
Cabling and Plug Assignment
2.2.1
Pin allocations
For the CMMS/CMMD family of devices, the CAN interface is already integrated into the
motor controller and thus is always available.
The CAN bus connection is designed as a 9-pole DSUB plug (on the controller side) in
accordance with standards.
1 CAN-L
2 CAN-GND
3 CAN-Shield
4 CAN-H
1
2
5 CAN-GND
Fig. 2.1 CAN plug connector for CMMS/CMMD

Note
CAN bus cabling
When cabling the motor controller via the CAN bus, you should
always comply with the following information and remarks to
obtain a stable, malfunction-free system. If cabling is improperly
done, malfunctions can occur on the CAN bus during operation.
These can cause the motor controller to shut off with an error for
safety reasons.
13
2. CANopen
2.2.2
Cabling Note
The CAN bus offers a simple, interference resistant method of networking all the
components of a system together. But the prerequisite for this is that all subsequent
cabling instructions are observed.
Fig. 2.2 Cabling example

-
The individual nodes of the network are connected point-to-point to each other, so the
CAN cable is looped from controller to controller (see Fig. 2.2).
- At both ends of the CAN cable, there must be an end resistor of exactly 120 +/- 5 %.
This is often already installed in CAN cards or PLCs and, if so, this must be taken into
account. The end resistor is activated via DIP switch 12 (see Fig. 2.3).
- For wiring, screened cable with exactly two twisted pairs of wires must be used.
A twisted pair of wires is used for connection of CAN-H and CAN-L.
The wires of the other pair are used together for CAN-GND.
For all nodes, the screening of the cable is guided to the CAN-Shield connections.
A table with the technical data of usable cables is located at the end of this chapter.
- The use of intermediate plugs is not recommended for CAN bus cabling.
If this is unavoidable, then metallic plug housings should be used to connect the cable
screening.
- To keep the disturbance coupling as low as possible, motor cable should not be laid
parallel to signal lines.
Motor cable carried out in accordance with specifications.
The motor cables must be correctly screened and earthed.
-
14
For more information on constructing interference-free CAN bus cabling, refer to the
Controller Area Network protocol specification, Version 2.0 from Robert Bosch GmbH,
1991.
Technical data, CAN bus cable:
2 pairs of 2 twisted leads, d 0.22 mm2
Loop resistance < 0.2 /m
Screened
Impedance 100-120
2. CANopen
2.3
Activation of CANopen
The CAN interface is activated with the protocol CANopen, and the node number and baud
rate are adjusted one time via the DIP switches of the motor controller.
1 DIP switches 1-7:
Node number
2 DIP switches 9-10: Bitrate

DIP switch 11:
Activation
DIP switch 12:
Terminating resistor
1
2
Fig. 2.3 DIP switches
EXAMPLE
Node number:
DIP switches
1
2
3
4
5
6
7
ON/OFF
ON
ON
OFF
ON
ON
OFF
ON
Significance
DIP switch 1 is the lowest-value bit
1011011 = 91
DIP switches
9
ON/OFF
ON
10
OFF
Significance
DIP switch 9 is the lowest-value bit
00=125 kBit/s
01=250 kBit/s (example)
10=500 kBit/s
11=1000 kBit/s
Baud rate:
15
2. CANopen
A total of 2 different parameters must be set:
-
Base node number

A node number, which may occur only once in the network, must be assigned to each
participant for unambiguous identification. The device is addressed via this node
number.
Bitrate
This parameter determines the bitrate in kbit/s used on the CAN bus. Note that high
baud rates require a low maximum cable length.
All devices present in a CANopen network send a bootup message
over the bus containing the node number of the transmitter.
Finally, the CANopen protocol in the motor controller can be activated. Observe that the
named parameters can only change if the CAN-bus is deactivated.
Note that the parameter setting of the CANopen function remains
intact after a reset if the parameter set of the motor controller was
saved.
CAN address for CMMD-AS

The two axes have a separate CAN address.
The address of axis 1 is set at the DIP switches. Axis 2 is always assigned the subsequent
address:
CAN address axis 2 = CAN address axis 1 + 1
16
3. Access Procedure
3.
Access Procedure
3.1
Introduction
CANopen makes available a simple and standardised possibility to access the parameters
of the motor controller (e.g. the maximum motor current). To achieve this, a unique
number (index and subindex) is assigned to each parameter (CAN object). The totality of
all adjustable parameters is designated an object directory.
Essentially two methods are available for accessing CAN objects via the CAN bus: a
confirmed access type, in which the motor controller acknowledges each parameter
access (via so-called SDOs), and an unconfirmed access type, in which no
acknowledgement is made (via so-called PDOs).
Control
Assignment of control
CMMS/
CMMD
CMMS/
CMMD
Control
SDO
PDO (transmit PDO)
Confirmation from the

controller
Confirmation from the

controller
Control
Data from controller
CMMS/
CMMD
PDO (receive PDO)
Fig. 3.1 Access Procedure

As a rule, the motor controller is parametrised and also controlled via SDO access. In
addition, other types of messages (so-called communication objects), which are sent
either by the motor controller or the higher-level controller, are defined for special
application cases:
SDO
Service Data Object
Are used for normal parameter setting of the

motor controller.
PDO
Process Data Object
Fast exchange of process data (e.g. actual speed)

possible.
SYNC
Synchronization
Message
Synchronisation of multiple CAN nodes
EMCY
Emergency Message
Transmission of error messages.
17
3. Access Procedure
NMT
Network Management Network service: All CAN nodes can be worked on

simultaneously, for example.
HEARTBEAT
Error Control Protocol Monitoring of the communications participants

through regular messages.
Every message sent on the CAN bus contains a type of address which is used to determine
the bus participant for which the message is meant. This number is designated the
identifier. The lower the identifier, the greater the priority of the message. Identifiers are
established for the above-named communication objects. The following sketch shows the
basic design of a CANopen message:
Number of data bytes (here 8)
Data bytes 0 7
601h
Len
D0 D1 D2 D3 D4 D5 D6 D7
Identifier
3.2
SDO Access
The Service Data Objects (SDO) permit access to the object directory of the motor
controller. This access is especially simple and clear. It is therefore recommended to build
up the application at first only with SDOs and only later to convert to the faster but also
more complicated Process Data Objects (PDOs).
SDO access always starts from the higher-level controller (Host). This either sends the
motor controller a write command to modify a parameter in the object directory, or a read
command (READ) to read out a parameter. For each command, the host receives an
answer that either contains the read-out value or in the case of a write command
serves as an acknowledgement.
For the motor controller to recognise that the command is meant for it, the host must send
the command with a specific identifier. This consists of the base 600h + node number of
the motor controller involved. The motor controller answers accordingly with the identifier
580h + node number.
The design of the commands or answers depends on the data type of the object to be read
or written, since either 1, 2 or 4 data bytes must be sent or received. The following data
types are supported:
18
UINT8
8 bit value without algebraic sign
255
INT8
8 bit value with algebraic sign
-128
127
UINT16
65535
INT16
-32768
32767
UINT32
(232-1)
INT32
-(231)
(231-1)
3. Access Procedure
3.2.1
SDO Sequences for Reading and Writing
To read out or describe objects of these number types, the following listed sequences are
used. The commands for writing a value into the motor controller begin with a different
identifier, depending on the data type. The answer identifier, in contrast, is always the
same. Read commands always start with the same identifier, and the motor controller
answers differently, depending on the data type returned. All numbers are kept in
hexadecimal form.
Read commands
Low byte of the main index (hex)
Write commands
Identifier for 8 bit
High byte of the main index (hex)
UINT8 / INT8
Subindex (hex)
Command
40h IX0 IX1 SU
2Fh IX0 IX1 SU DO
Answer:
4Fh IX0 IX1 SU D0
60h IX0 IX1 SU
UINT16 / INT16
Command
40h IX0 IX1 SU
2Bh IX0 IX1 SU DO D1
Answer:
4Bh IX0 IX1 SU D0 D1
60h IX0 IX1 SU
UINT32 / INT32
Command
40h IX0 IX1 SU
23h IX0 IX1 SU DO D1 D2 D3
Answer:
43h IX0 IX1 SU D0 D1 D2 D3
60h IX0 IX1 SU
EXAMPLE
Reading obj. 6061_00h
Writing obj. 1401_02h
Return data: 01h
Data: EFh
Command
40h 61h 60h 00h
2Fh 01h 14h 02h EFh
Answer:
4Fh 61h 60h 00h 01h
60h 01h 14h 02h
Return data: 1234h
Data: 03E8h
Command
40h 41h 60h 00h
2Bh 40h 60h 00h E8h 03h
Answer:
4Bh 41h 60h 00h 34h 12h
60h 40h 60h 00h
Return data: 12345678h
Data: 12345678h
Command
40h 93h 60h 01h
23h 93h 60h 01h 78h 56h 34h 12h
Answer:
43h 93h 60h 01h 78h 56h 34h 12h
60h 93h 60h 01h
UINT8 / INT8
UINT16 / INT16
UINT32 / INT32
19
3. Access Procedure
Caution
The acknowledgement from the motor controller must always be
waited for.
Only when the motor controller has acknowledged the request may
additional requests be sent.
3.2.2
SDO Error Messages
In case of an error when reading or writing (for example, because the written value is too
large), the motor controller answers with an error message instead of the
acknowledgement:
Command
IX0 IX1 SU
Answer:
80h IX0 IX1 SU F0
F1
F2
F3
Error identifier
Error code (4 byte)
Error code
F3 F2 F1 F0
Significance
06 01 00 00h
Access type is not supported.
06 02 00 00h
The addressed object does not exist in the object directory
06 04 00 41h
The object must not be entered into a PDO
06 04 00 42h
The length of the objects entered in the PDO exceeds the PDO length
06 07 00 10h
Protocol error: Length of the service parameter does not agree
06 07 00 12h
Protocol error: Length of the service parameter is too large
06 07 00 13h
Protocol error: Length of the service parameter is too small
06 09 00 11h
The addressed subindex does not exist
06 01 00 01h
Read access to an object that can only be written
06 01 00 02h
Write access to an object that can only be read
06 04 00 47h
Overflow of an internal variable / general error
06 06 00 00h
Access faulty due to a hardware problem *1)
05 03 00 00h
Protocol error: Toggle bit was not changed
05 04 00 01h
Protocol error: Client / server command specifier invalid or unknown
06 09 00 30h
The data exceed the range of values of the object
06 09 00 31h
The data are too large for the object
06 09 00 32h
The data are too small for the object
06 09 00 36h
Upper limit is less than lower limit
08 00 00 20h
Data cannot be transmitted or stored *1)
08 00 00 21h
Data cannot be transmitted or stored, since the motor controller is working locally
08 00 00 22h
Data cannot be transmitted or stored, since the motor controller for this is not in the correct
state *3)
08 00 00 23h
There is no object dictionary available *2)
20
3. Access Procedure
*1)
Returned in accordance with DS301 in case of incorrect access to store_parameters /

restore_parameters.
*2)
This error is returned, for example, when another bus system controls the motor controller or the
parameter access is not permitted.
*3)
"Status" here should be understood in general: It may be a problem of the incorrect operating
mode or a technology module that is not available or the like.
3.2.3
Simulation of SDO Access via RS232
The firmware of the motor controller offers the possibility to simulate SDO access via the
RS232 interface. In this way, after being written, objects in the test phase can be read and
checked via the CAN bus over the RS232 interface. Application creation is simplified
through use of the start-up software Festo Configuration Tool (FCT) with the related plugin.
The syntax of the commands is:
Read commands
Write commands
Main index (hex)
UINT8 / INT8
Subindex (hex)
Command
? XXXX SU
= XXXX SU: WW
Answer:
= XXXX SU: WW
= XXXX SU: WW
UINT16 / INT16
8 bit data (hex)
Command
? XXXX SU
= XXXX SU: WWWW
Answer:
= XXXX SU: WWWW
= XXXX SU: WWWW
UINT32 / INT32
16 bit data (hex)
Command
? XXXX SU
= XXXX SU: WWWWWWWW
Answer:
= XXXX SU: WWWWWWWW
= XXXX SU: WWWWWWWW
32 bit data (hex)
Note that the commands are entered as characters without any blanks.
Caution
Never use these test commands in applications!
Access via RS232 only serves test purposes and is not suitable for
real-time-capable communication.
In addition, the syntax of the test commands can be changed at any
time.
21
3. Access Procedure
3.3
PDO Message
With Process Data Objects (PDOs), data can be transmitted in an event-driven manner.
The PDO thereby transmits one or more previously established parameters. Other than
with an SDO, there is no acknowledgement when a PDO is transmitted. After PDO
activation, all recipients must therefore be able to process any arriving PDOs at any time.
This normally means a significant software effort in the host computer. This disadvantage
is offset by the advantage that the host computer does not need to cyclically query
parameters transmitted by a PDO, which leads to a strong reduction in CAN bus capacity
utilisation.
EXAMPLE
The host computer would like to know when the motor controller has
completed a positioning from A to B.
When SDOs are used, it must constantly, such as every millisecond, query
the statusword object, with which it uses up the bus capacity.
When a PDO is used, the motor controller is parametrised at the start of
the application in such a way that, with every change in the statusword
object, a PDO containing the statusword object is deposited.
Instead of constantly querying, the host computer thus automatically
receives a corresponding message as soon as the event occurs.
A distinction is made between the following types of PDOs:

Transmit-PDO................... Controller Host
Receive-PDO .................... Host
Controller
Motor controller sends PDO when a

certain event occurs
Motor controller evaluates PDO when a
certain event occurs
The motor controller has two transmit and two receive PDOs.
Almost all objects of the object directory can be entered (mapped) into the PDOs; that is,
the PDO contains all data, e.g. the actual speed, the actual position, or the like. The motor
controller must first be told which data have to be transmitted, since the PDO only
contains reference data and no information about the type of parameter. In the example
below, the actual position is transmitted in the data bytes 0 3 of the PDO and the actual
speed in the bytes 4 7.
Number of data bytes (here 8)
Start actual speed (D4 D7)
181h
Len
Identifier
D0 D1 D2 D3 D4 D5 D6 D7
Start actual position (D0 ... D3)
In this way, almost any desired data telegrams can be defined. The following chapters
describe the settings necessary for this.
22
3. Access Procedure
3.3.1
Description of the Objects
Identifier of the PDO cob_id_used_by_pdo

In the object cob_id_used_by_pdo, the identifier in which the
respective PDO is sent or received is entered. If bit 31 is set, the
respective PDO is deactivated. This is the default setting for all
PDOs.
The COB-ID may only be changed if the PDO is deactivated, that is,
bit 31 is set. Therefore, the following process must be followed to
change the COB-ID:
-
Reading the COB-ID
Writing the read COB-ID + 80000000h
Writing the new COB-ID + 80000000h
Writing the newCOB-ID, the PDO is active again.
The set bit 30 shows when the identifier is read that the object
cannot be queried by a remote frame. This bit is ignored during
writing and is always set during reading.
Number of objects
to be transmitted
number_of_mapped_objects
This object specifies how many objects should be mapped into the
corresponding PDO. The following limitations must be observed:
A maximum of 4 objects can be mapped per PDO.
A PDO may have a maximum of 64 bits (8 bytes).
Objects to be
transmitted
first_mapped_object fourth_mapped_object
For each object contained in the PDO, the motor controller must be
told the corresponding index, subindex and length. The stated
length must agree with the stated length in the object dictionary.
Parts of an object cannot be mapped.
The mapping information has the following format:
Main index of the object to be mapped (hex)
Subindex of the object to be mapped (hex)
Length of the object
xxx_mapped_object
Index
Sub-index
(16 bits) (8 bits)
Length
(8 bits)
23
3. Access Procedure
To simplify the mapping, the following procedure is established:

1. The number of mapped objects is set to 0.
2. The parameters first_mapped_object fourth_mapped_object
may be written (The overall length of all objects is not relevant
in this time).
3. The number of mapped objects is set to a value between 1 ... 4.
The length of all these objects must now not exceed 64 bits.
Type of
transmission
transmission_type und inhibit_time

Which event results in sending (transmit PDO) or evaluation
(receive PDO) of a message can be determined for each PDO:
Value
Significance
Permitted with
00h F0h
SYNC-Message
TPDOs
The numerical value specifies how many SYNCMessages are ignored between transmissions
before the PDO is
RPDOs
FEh
sent (T-PDO) or
evaluated (R-PDO).
Cyclical
TPDOs
The transfer PDO is cyclically updated and sent by

the motor controller. The time period is set by the
object inhibit_time.
(RPDOs)
Receive PDOs, in contrast, are evaluated

immediately after reception.
FFh
TPDOs
Change
The transfer PDO is sent when at least 1 bit has
changed in the data of the PDO.
With inhibit_time, the minimum interval between
sending two PDOs can also be established in
100s steps.
The use of all other values is not permitted.

Masking
transmit_mask_high und transmit_mask_low

If "change" is selected as the transmission_type, the TPDO is
always sent when at least 1 bit of the TPDO changes. But frequently
it is necessary that the TPDO should only be sent when certain bits
have changed. Therefore, the TPDO can be equipped with a mask:
Only the bits of the TPDO that are set to "1" in the mask are used
to evaluate whether the PDO has changed. Since this function is
manufacturer-specific, all bits of the masks are set as default value.
24
3. Access Procedure
EXAMPLE
The following objects should be transmitted in one PDO:
Name of the object
Index_Subindex Significance
statusword
6041h_00h
Controller regulation
modes_of_operation_display
6061h_00h
Operating mode
digital_inputs
60FDh_00h
Digital inputs
The first transmit PDO (TPDO 1) should be used, which should always be
sent whenever one of the digital inputs changes, but at a maximum of
every 10 ms. As identifier for this PDO, 187h should be used.
1.)
Deactivating PDO
If the PDO is active, it must first be deactivated.
Reading out of the identifier:
40000181h = cob_id_used_by_pdo
Setting of bit 31 (deactivate):
cob_id_used_by_pdo = C0000181h
Deleting number of objects

Set the number of objects to zero
in order to be able to change the
number_of_mapped_objects = 0
object mapping.
3.) Setting parameters for objects that are to be mapped
The above-listed objects must be
combined into a 32 bit value:
Index =6041h Subin. = 00h Length = 10h first_mapped_object = 60410010h
Index =6061h Subin. = 00h Length = 08h second_mapped_object = 60610008h
Index =60FDh Subin. = 00h Length = 20h third_mapped_object = 60FD0020h
2.)
4.)
Setting parameters for number of objects

The PDO should contain 3 objects
number_of_mapped_objects =
3h
5.) Setting parameters for transmission type
The PDO should be sent when
changes (to the digital inputs)
transmission_type =
FFh
are sent.
To ensure that only changes to the
digital inputs result in
transmit_mask_high =
00FFFF00h
transmission, the PDO is masked so
transmit_mask_low
=
00000000h
that only the 16 bits of the
object 60FDh "come through".
The PDO should be sent no more
inhibit_time =
64h
than every 10 ms (100100 s).
6.) Setting identifier parameters
The PDO should be sent with identifier 187h.
Writing new identifier:
cob_id_used_by_pdo =
Activating by deletion of bit 31: cob_id_used_by_pdo =
C0000187h
40000187h
Note that parameter setting of the PDOs may generally only be

changed when the network status (NMT) is not operational.
See also chapter 3.3.3
25
3. Access Procedure
3.3.2
Objects for PDO Parameter Setting
The motor controllers of the CMMS/CMMD series contain a total of two transmit and two
receive PDOs. The individual objects for setting parameters for these PDOs are the same
for all TPDOs and all RPDOs in each case. For that reason, only the parameter description
of the first TPDO is explicitly listed. The meaning can also be used for the other PDOs,
which are listed in table form in the following:
Index
1800h
Name
transmit_pdo_parameter_tpdo1
Object Code
RECORD
No. of Elements
Sub-Index
01h
Description
cob_id_used_by_pdo_tpdo1
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
Value Range
181h ... 1FFh, Bit 30 and 31 may be set
Default Value
C0000181h
Sub-Index
02h
Description
transmission_type_tpdo1
Data Type
UINT8
Access
rw
PDO Mapping
no
Units
Value Range
0 ... 8Ch, FEh, FFh
Default Value
FFh
Sub-Index
03h
Description
inhibit_time_tpdo1
Data Type
UINT16
Access
rw
PDO Mapping
no
Units
100 s (i.e. 10 = 1ms)
Value Range
--
Default Value
26
3. Access Procedure
Index
1A00h
Name
transmit_pdo_mapping_tpdo1
Object Code
RECORD
No. of Elements
Sub-Index
00h
Description
number_of_mapped_objects_tpdo1
Data Type
UINT8
Access
rw
PDO Mapping
no
Units
--
Value Range
0 ... 4
Default Value
see table
Sub-Index
01h
Description
first_mapped_object_tpdo1
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
--
Value Range
--
Default Value
see table
Sub-Index
02h
Description
second_mapped_object_tpdo1
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
--
Value Range
--
Default Value
see table
27
3. Access Procedure
Sub-Index
03h
Description
third_mapped_object_tpdo1
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
--
Value Range
--
Default Value
see table
Sub-Index
04h
Description
fourth_mapped_object_tpdo1
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
--
Value Range
--
Default Value
see table
Observe that the object groups transmit_pdo_parameter_xxx and

transmit_pdo_mapping_xxx can only be written when the PDO is
deactivated (bit 31 in cob_id_used_by_pdo_xxx set)
1. Transmit-PDO
28
Index
Comment
Type
Acc.
Default Value
1800h_00h
number of entries
UINT8
ro
03h
1800h_01h
COB-ID used by PDO
UINT32
rw
C0000181h
1800h_02h
transmission type
UINT8
rw
FFh
1800h_03h
inhibit time (100 s)
UINT16
rw
0000h
1A00h_00h
number of mapped objects
UINT8
rw
01h
1A00h_01h
first mapped object
UINT32
rw
60410010h
1A00h_02h
second mapped object
UINT32
rw
00000000h
1A00h_03h
third mapped object
UINT32
rw
00000000h
1A00h_04h
fourth mapped object
UINT32
rw
00000000h
3. Access Procedure
2. Transmit-PDO
Index
Comment
Type
Acc.
Default Value
1801h_00h
number of entries
UINT8
ro
03h
1801h_01h
COB-ID used by PDO
UINT32
rw
C0000281h
1801h_02h
transmission type
UINT8
rw
FFh
1801h_03h
inhibit time (100 s)
UINT16
rw
0000h
1A01h_00h
UINT8
rw
02h
1A01h_01h
first mapped object
UINT32
rw
60410010h
1A01h_02h
second mapped object
UINT32
rw
60610008h
1A01h_03h
third mapped object
UINT32
rw
00000000h
1A01h_04h
UINT32
rw
00000000h
Index
Comment
Type
2014h_00h
number of entries
UINT8
ro
02h
2014h_01h
tpdo_1_transmit_mask_low
UINT32
rw
FFFFFFFFh
2014h_02h
tpdo_1_transmit_mask_high
UINT32
rw
FFFFFFFFh
Index
Comment
Type
2015h_00h
number of entries
UINT8
ro
02h
2015h_01h
tpdo_2_transmit_mask_low
UINT32
rw
FFFFFFFFh
2015h_02h
tpdo_2_transmit_mask_high
UINT32
rw
FFFFFFFFh
Index
Comment
Type
1400h_00h
number of entries
UINT8
ro
02h
1400h_01h
COB-ID used by PDO
UINT32
rw
C0000201h
1400h_02h
transmission type
UINT8
rw
FFh
1600h_00h
UINT8
rw
01h
1600h_01h
first mapped object
UINT32
rw
60400010h
1600h_02h
Second mapped object
UINT32
rw
00000000h
1600h_03h
third mapped object
UINT32
rw
00000000h
1600h_04h
UINT32
rw
00000000h
tpdo_1_transmit_mask
Acc.
Default Value
tpdo_2_transmit_mask
Acc.
Default Value
1. Receive-PDO
Acc.
Default Value
29
3. Access Procedure
2. Receive-PDO
3.3.3
Index
Comment
Type
Acc.
Default Value
1401h_00h
number of entries
UINT8
ro
02h
1401h_01h
COB-ID used by PDO
UINT32
rw
C0000301h
1401h_02h
transmission type
UINT8
rw
FFh
1601h_00h
UINT8
rw
02h
1601h_01h
first mapped object
UINT32
rw
60400010h
1601h_02h
Second mapped object
UINT32
rw
60600008h
1601h_03h
third mapped object
UINT32
rw
00000000h
1601h_04h
UINT32
rw
00000000h
Activation of PDOs
For the motor controller to send or receive PDOs, the following points must be met:
-
The object number_of_mapped_objects must not equal zero.
In the object cob_id_used_for_pdos, bit 31 must be deleted.
The communication status of the motor controller must be operational

(see chapter 3.7 Network Management: NMT Service)
For parameters to be set for PDOs, the following points must be met:
-
The communication status of the motor controller must not be operational.
3.4
SYNC-Message
Several devices of a system can be synchronised with each other. To do this, one of the
devices (usually the higher-order controller) periodically sends out synchronisation
messages. All connected controllers receive these messages and use them for treatment
of the PDOs (see chapter 0).
Identifier: 80h
80h
0
Data length
The identifier on which the motor controller receives the SYNC message is set
permanently to 80h. The identifier can be read via the object cob_id_sync.
30
3. Access Procedure
Index
1005h
Name
cob_id_sync
Object Code
VAR
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
--
Value Range
80000080h, 00000080h
Default Value
00000080h
3.5
EMERGENCY-Message
The motor controller monitors the function of its major assemblies. These include the
power supply, output stage, angle encoder evaluation and technology connections.
In addition, the motor (temperature, angle encoder) and limit switch are checked.
Incorrect parameter setting can also result in error messages (division by zero, etc.).
When an error occurs, the error number is shown in the motor controller's display.
If several error messages occur simultaneously, the message with the highest priority
(lowest number) is always shown in the display.
3.5.1
Structure of the EMERGENCY-Message
When an error occurs, the motor controller transmits an EMERGENCY message.

The identifier of this message is put together from the identifier 80h and node number of
the affected motor controller.
The EMERGENCY message consists of eight data bytes, whereby the first two bytes
contain an error_code, which is listed in the following table. An additional error code is in
the third byte (object 1001h). The remaining five bytes contain zeros.
Identifier: 80h +
error_code
node number
81h
error_register (Obj. 1001h)
E0 E1 R0
Data length
31
3. Access Procedure
The following error codes can occur:

Error message
error
code
(hex)
Display
Message
Causes
Measures
Error
reaction 1)
2311
E311
It error
controller
(It at 100 %)
It monitoring of the
controller has been
triggered.
Check power dimensioning of

drive package.
PS off 2)
2312
E310
It error motor
(It at 100 %)
It monitoring of the
controller has been
triggered.
Motor/mechanics blocked or
hard to move?
Warn 2)
2320
E060
Overload
current,
intermediate
circuit /
output stage
Motor defective?
Short-circuit in cable?
Check motor, cable and

controller.
PS off
It at 80 %
Common error:
Motor/mechanics blocked or
hard to move?
Warn 2)
PS off
2380
E190
Output stage
defective?
80 % of the maximum
It workload from the
controller or motor
has been achieved.
3210
3220
E070
E020
Overvoltage
in the
intermediate
circuit
Voltage energy
recovery through
motor application.
Braking of larges
masses.
Check the connection to the

braking resistor.
Undervoltage
intermediate
circuit
Intermediate voltage
drops below the
parametrised
threshold.
Quick discharge due to

switched-off mains supply.
Check design (application).
PS off 2)
Check power supply.

Couple intermediate circuits if
technically permissible.
Check intermediate circuit
voltage (measure).
Check undervoltage monitor
(threshold value).
3280
E320
Only
CMMS-AS/
CMMD-AS:
Intermediate circuit
could not be charged
(UZK < 150V)
Check mains voltage.
Error,
IC pre-charge
32
3. Access Procedure
Error message
error
code
(hex)
Display
Message
Causes
Measures
3285
E328
Only
CMMS-AS/
CMMD-AS:
Power failure with

granted controller
enable
Check mains voltage.
Error
reaction 1)
Error,
controller
enable
without IC
4210
E040
Excess/low
temperature
of power
electronics
Device is overheated.
Device overloaded.
Temperature display
plausible?
Check installation conditions

(cooling: via the housing
surface, the integrated heat
sink and back wall)
PS off 2)
4280
E181
Output stage
temperature
5 C below
maximum
CMMS-ST:
The output stage
temperature is greater
than 80 C
Check installation conditions

(cooling: via the housing
surface, the integrated heat
sink and back wall)
PS off 2)
Check parametrisation (current

regulator, current limit values)
If the error remains even when
the sensor is bridged: Device
defective.
PS off
CMMS-AS/CMMD-AS:
The output stage
temperature is greater
than 90 C
4310
E030
Temperature
monitoring,
motor
Motor too hot?

Suitable sensor?
Broken cable?
Sensor defective?
4310
E031
Temperature
monitoring,
motor
Error, dig. motor

temperature sensor.
Check parametrisation (current

regulator, current limit values)
If the error remains even when
the sensor is bridged:
Device defective.
PS off 2)
4380
E180
Motor
temperature
5 C below
maximum
The motor
temperature is less
than 5 C under the
parametrised
maximum
temperature
Check parameters
(current regulator, current
limits)
Ignore 2)
33
3. Access Procedure
Error message
error
code
(hex)
Display
Message
Causes
Measures
Error
reaction 1)
5114
E050
5 V supply
Monitoring of the
The fault cannot be rectified
PS off
fault
internal power supply
automatically.
has recognised
Send motor controller to the
undervoltage.
manufacturer.
Either an internal
defect or an overload
5115
E051
Error, 24V
16V < U24V < 32V =
Separate device from the
power supply
OK, otherwise NOK
entire peripheral equipment

and check whether the error is
(out of range)
5116
E052
PS off
Error, 12 V
11V < U12V < 13V =
still present after reset. If yes,
electronic
OK, otherwise NOK
there is an internal defect and
PS off
a repair by the manufacturer is
power supply
necessary
5210
E210
Error, offset
The controller
If the error occurs repeatedly,
current
performs offset
the hardware is defective.
measurement
compensation of the
Send motor controller to the
current measurement.
manufacturer.
PS off
Tolerances that are

too large result in an
error.
5581
E261
Checksum
Checksum error of a
Load factory settings. If the
error
parameter set
error remains, the hardware
PS off
may be defective.
6081
E251
Hardware
Motor controller and
fault
firmware are not
Update the firmware.
PS off
PS off
compatible
6180
E010
Stack
Incorrect firmware?
Load an enabled firmware.
overflow
Sporadic high
Reduce calculation load.
calculation load due

to cycle time that is
too short and special
Contact the technical support

team.
calculation-intensive
processes (save
parameter set, etc.)
6183
E163
Unexpected
The software has
In case of repetition, load
status /
taken an unexpected
firmware again. If the error
programming
status.
occurs repeatedly, the
error
34
PS off
hardware is defective.
3. Access Procedure
Error message
error
code
(hex)
Display
Message
Causes
Measures
Error
reaction 1)
6187
E162
Initialization
error
Error in initializing the

default parameters.
In case of repetition, load

firmware again. If the error
occurs repeatedly, the
hardware is defective.
PS off
6191
E429
Error in
position
record
Common error:
Check parametrisation and

sequence control, correct if
necessary.
PS off
1. An attempt is being
made to start an
unknown or
deactivated position
record.
2. The set acceleration
is too small for the
permissible maximum
speed. (Danger of a
calculation overflow in
the trajectory
calculation)
6192
E419
Error, jump
destination
route
program
Jump to a position
record outside the
permitted range
Check parametrisation
PS off
6193
E418
Error, record
continuation,
unknown
command
Unknown command
found during record
continuation
PS off
6195
E702
General
arithmetic
error
The FHPP factor group

cannot be calculated
correctly.
Check the factor group
PS off
6197
E149
Error, motor
identification
Error in automatic
determination of the
motor parameters.
Ensure sufficient intermediate

circuit voltage.
PS off
Encoder cable connected to

the right motor?
Motor blocked, e.g. holding
brake does not release?
35
3. Access Procedure
Error message
error
code
(hex)
Display
Message
Causes
Measures
Error
reaction 1)
6199
E351
Time out for

quick stop
The parametrised time

for quick stop has
been exceeded
PS off
6380
E703
Operating
mode error
Unallowed change of
the operating mode.
Check your application. It may

be that not every change is
permissible.
PS off 2)
- Test with another encoder
PS off
For example, torque

control for CMMS-ST
in the controlled mode
or parametrisation
mode under FHPP,
change of the
operating mode with
enabled output stage.
7380
E082
Encoder
supply fault
4V < U_Encoder < 6V =

OK, otherwise NOK
- Test with another encoder

cable
- Test with another controller
7386
E086
Only
CMMS-AS/
CMMD-AS:
SINCOSRS485
communication error
Communication to
serial angle encoders
faulty
(EnDatencoder,
HIPERFACEencoder,
BiSSencoder).
Angle encoder
connected?
Angle encoder cable
defective?
Check configuration of angle

encoder interface: procedure
corresponding to a) to c):
PS off
a) Serial encoder parametrised

but not connected?
Incorrect serial protocol
selected?
b) Encoder signals faulty?
c) Test with another encoder.
Angle encoder
defective?
36
3. Access Procedure
Error message
error
code
(hex)
Display
Message
Causes
Measures
Error
reaction 1)
7388
E088
Only
CMMS-AS/
CMMD-AS:
Alarm bit set in the

EnDat encoder.
Possible causes:
PS off
Internal angle
encoder error
Encoder- or manufacturerspecific, e.g. a declining

illumination intensity for
optical encoders or excessive
speed. If the error occurs
permanently:
Test with another (error-free)
encoder (also replace the
connecting cable).
Encoder presumably
permanently defective.
7500
E220
PROFIBUS
faulty
initialization
Extension module
defective?
Please contact Technical

Support.
PS off 2)
7500
E222
PROFIBUS
Communication fault
Faulty initialization of
the Profibus
technology module.
Technology module
defective?
Check slave address set
PS off 2)
RS232
communication error
Overflow during
reception of RS232
commands
Check wiring.
7510
E790
Check bus termination

Check wiring
PS off 2)
Check of the transmitted data.
7582
E642
DeviceNet
communication error
Input buffer
overflowed
Too many messages
received within a short
period.
Reduce the scan rate.
PS off 2)
7582
E643
DeviceNet
communication error
Transmission buffer
overflowed
Not sufficient free
space on the CAN bus
for sending messages.
Increase the baud rate, reduce

the number of nodes or reduce
the scan rate.
PS off 2)
37
3. Access Procedure
Error message
error
code
(hex)
Display
Message
Causes
Measures
Error
reaction 1)
7582
E644
DeviceNet
communication error
IO-message could not

be sent
Check that the network is

connected correctly and has no
faults.
PS off 2)
7582
E645
DeviceNet
communication error
Bus off
Check that the network is

connected correctly and has no
faults.
PS off 2)
7582
E646
DeviceNet
communication error
Overflow in the CAN

controller
Increase the baud rate, reduce

the number of nodes or reduce
the scan rate.
PS off 2)
7582
E651
DeviceNet
communication error
Timeout of the I/O

connection
No I/O message
received within the
expected time.

Support.
PS off 2)
7583
E651
DeviceNet
initialisation
error
Node number on hand

twice
Check the configuration
PS off 2)
7584
E641
DeviceNet
general error
No 24 V bus voltage
In addition to the motor

controller, connect the
DeviceNet module to 24 VDC.
PS off 2)
7584
E650
DeviceNet
general error
Common error:
PS off 2)
Communication is
activated although no
technology module is
plugged in.
The DeviceNet
technology module is
attempting to read
unknown CO.
Unknown
DeviceNet error.
7680
E290
SD card
not available
Tried to access
missing SD card.
Check:
Warn 2)
- whether SD card is plugged in

correctly
- whether SD card is formatted
- whether compatible SD card
is plugged in.
38
3. Access Procedure
Error message
error
code
(hex)
Display
Message
Causes
Measures
Error
reaction 1)
7681
E291
SD card
initialization
error
Error on initialization /
communication not
possible
Plug card back in.
PS off 2)
Check card (file format FAT).

If necessary, format card.
7682
E292
SD card
parameter set
error
Checksum wrong /
File not available /
File format wrong /
Error saving the
parameter file on the
SD card
Check content (data) of the SD

card.
PS off 2)
8000
E052
Error, driver
power supply
Error in the plausibility

check of the driver
power supply
(reliable halt)
Separate device from the

entire peripheral equipment
and check if the fault is still
present after reset. If yes,
there is an internal defect and
a repair by the manufacturer is
required.
PS off
8000
E450
Error, driver
power supply
The driver supply is

still active despite the
"Safe Halt".
The internal logic might

malfunction due to highfrequency switching
operations at the input for the
safe halt.
PS off
Check activation; the error

must not recur.
If the error occurs repeatedly
when the safe halt is activated:
check firmware (released
version?).
If all above possibilities have
been excluded, the hardware
of the motor controller is
defective.
39
3. Access Procedure
Error message
error
code
(hex)
Display
Message
Causes
Measures
Error
reaction 1)
8000
E451
Error, driver
power supply
The driver supply is

activated again, even
though the
"Safe Halt" is still
requested.
The internal logic might

malfunction due to highfrequency switching
operations at the input for the
safe halt.
PS off
Check activation; the error

must not recur.
when the safe halt is activated:
check firmware
(released version?).
If all above possibilities have
been excluded, the hardware
of the motor controller is
defective.
8000
E452
Error, driver
power supply
The driver supply does

not go on again, even
though the
"Safe Halt" signal is
no longer active.

when safe halt is being
deactivated, the hardware of
the motor controller is
defective.
PS off
8087
E453
Error
plausibility
DIN4 (output
stage enable)
Error in the plausibility

check of the output
stage enable

Support.
PS off
8100
E760
Only
CMMD-AS:
Common error:
Check wiring.
Check whether the screening
of the motor cables is correctly
set up (EMC problem).
If the SSIO communication is
not necessarily needed
(e.g. no fieldbus module is
used, and the axes are
controlled separately over
I/Os, so this error may be
ignored.)
PS off 2)
Error SSIO
communication
(axis 1
axis 2)
40
1. Checksum error
during transfer of the
SSIO protocol
2. Timeout during
transmission
3. Access Procedure
Error message
error
code
(hex)
Display
Message
Causes
Measures
Error
reaction 1)
8100
E761
Only
CMMD-AS:
SSIO partner has

error 760
The error is triggered when the

other axis has reported an
SSIO communication error.
For example, if axis 2 reports
the error 76-0, the axis 1 of the
error 76-1 is triggered.
Measures and description of
the error response as with
error 76-0.
PS off 2)
Common error:
Check wiring:
PS off 2)
1. Error when sending

a message
(e.g. no bus
connected)
Cable specifications complied

with, broken cable, maximum
cable length exceeded,
terminating resistors correct,
cable screening earthed, all
signals displayed?
Replace device on a test basis.
If another device works
correctly with the same wiring,
send device to the
manufacturer for testing.
Check start sequence of the
application.
Error SSIO
communication (axis 2)
8181
E122
CAN
communication error
2. Timeout during
reception of the SYNC
messages in the
interpolated position
mode
8488
E424
Homing
required
No positioning
possible without
homing. Homing run
must be carried out
Reset optional parametrisation

"Homing required".
Warn 2)
Carry out a new homing run

after acknowledgement of an
angle encoder error.
8611
E170
Contouring
error limit
value
exceeded
Comparison threshold
for the limit value of
the contouring error
exceeded.
Enlarge error window.

Acceleration parameter too
large.
PS off 2)
8612
E400
Error SW limit
switch
reached
Negative SW limit
switch reached.
Check target data.
Warn 2)
Error SW limit
switch
reached
Positive SW limit
switch reached.
Check target data.
8612
E401
Check positioning area.

Warn 2)
41
3. Access Procedure
Error message
error
code
(hex)
Display
Message
Causes
Measures
Error
reaction 1)
8612
E402
Error SW limit
switch
reached
Target position lies

behind the negative
SW limit switch
Check target data.
Warn 2)
Error SW limit
switch
reached
Target position lies

behind the positive
SW limit switch.
Check target data.
8612
E403

Warn 2)
8612
E430
Fault in limit
switch
Negative hardware
limit switch reached.
Check parameters, wiring and

proximity switches.
Warn 2)
8612
E431
Fault in limit
switch
Positive hardware
limit switch reached.

proximity switches.
Warn 2)
8612
E439
Fault in limit
switch
Both hardware limit

switches are active
simultaneously.

proximity switches.
Warn 2)
8681
E421
Positioning:
Error in
precalculation
The positioning target

cannot be reached
through the
positioning or edge
condition options.
Check parametrisation of the

position records in question.
PS off 2)
8A81
E111
Error during
homing
Homing was
interrupted,
e.g. by withdrawal of
controller release or
through limit
switches.
Check homing sequence.
1)
2)
42
PS off
Switch off power section
Qstop
Fast stop
Warn
Warning
Ignore
Ignore
Check arrangement of the

switches.
Possibly lock stop input during
homing, if undesirable.
Changeable with FCT
3. Access Procedure
3.5.2
Object 1001h: error_register

The error type defined in the CiA standard 301 can be read via the object error_register.
Sub-Index
00h
Description
error_register
Data Type
UINT8
Access
ro
PDO Mapping
yes
Units
--
Value Range
0 ... FFh
Default Value
bit
Type of error
generic errror
current
voltage
temperature
communication error
device profile specific
reserved
manufacturer specific
Object 1003h: pre_defined_error_field

The respective error_code of the error messages is also stored in a four-stage error
memory. This is structured like a shift register so that the last error occurring is stored in
the object 1003h_01h (standard_error_field_0). Through read access on the object
1003h_00h (pre_defined_error_field), it can be determined how many error messages are
currently stored in the error memory. The error memory is cleared by writing the value 00h
into the object 1003h_00h (pre_defined_error_field). To be able to reactivate the output
stage of the motor controller after an error, an error acknowledgement
(see chapter 5.1: Change of State 15) must also be performed.
43
3. Access Procedure
Index
1003h
Name
pre_defined_error_field
Object Code
ARRAY
No. of Elements
Data Type
UINT32
Sub-Index
01h
Description
standard_error_field_0
Access
ro
PDO Mapping
no
Units
--
Value Range
--
Default Value
--
Sub-Index
02h
Description
Access
ro
PDO Mapping
no
Units
--
Value Range
--
Default Value
--
Sub-Index
03h
Description
Access
ro
PDO Mapping
no
Units
--
Value Range
--
Default Value
--
Sub-Index
04h
Description
Access
ro
PDO Mapping
no
Units
--
Value Range
--
Default Value
--
44
3. Access Procedure
Object 1014h_00h: cob-id_emergency_object

Sub-Index
00h
Description
cob-id_emergency_object
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
--
Value Range
--
Default Value
80h + Node-ID
3.6
Heartbeat / Bootup (Error Control Protocol)
3.6.1
Structure of the Heartbeat Message
The so-called Heartbeat protocol is implemented to monitor communication between

slave (drive) and master: Here, the drive sends messages cyclically to the master.
The master can check whether these messages occur cyclically and introduce appropriate
measures if they do not. The Heartbeat telegram is transmitted with the identifier
700h + node number. It contains only 1 byte of user data, the NMT status of the motor
controller (see chapter 3.7: Network Management: NMT Service).
Identifier: 700h +
NMT status
node number
701h
N
Data length
Significance
04h
Stopped
05h
Operational
7Fh
Pre-Operational
45
3. Access Procedure
3.6.2
Structure of the Bootup Message
After the power supply is switched on or after a reset, the motor controller reports via a
Bootup message that the initialisation phase is ended. The motor controller is then in the
NMT status preoperational (see chapter 3.7: Network Management: NMT Service)
Identifier: 700h +
Bootup message identifier
node number
701h
0
Data length
The Bootup message is structured almost identically to the Heartbeat message.

Only a zero is sent instead of the NMT status.
3.6.3
Object 1017h: producer_heartbeat_time

The time between two Heartbeat telegrams can be established via the object
producer_heartbeat_time.
Index
1017h
Name
producer_heartbeat_time
Object Code
VAR
Data Type
UINT16
Access
rw
PDO Mapping
no
Units
ms
Value Range
0 ... 65536
Default Value
The producer_heartbeat_time can be stored in the parameter record. If the motor

controller starts with producer_heartbeat_time not equal to zero, the bootup message is
the first heartbeat.
The motor controller can only be used as a so-called heartbeat producer. The object 1016h
(consumer_heartbeat_time) is therefore implemented only for compatibility reasons and
always returns 0.
46
3. Access Procedure
3.7
Network Management (NMT Service)
All CANopen devices can be triggered via the Network Management. The identifier with
the highest priority (000h) is reserved for this.
By means of NMT, commands can be sent to one or all controllers. Each command
consists of two bytes, whereby the first byte contains the command specifier (cs) and the
second byte the node ID (ni) of the addressed controller. Through the node ID zero, all
nodes in the network can be addressed simultaneously. It is thus possible, for example,
that a reset is triggered in all devices simultaneously. The controller does not
acknowledge the NMT commands. Successful completion can only be determined
indirectly (e.g. through the switch-on message after a reset).
Structure of the NMT Message:
Identifier: 000
Command specifier
Node ID
000h
CS NI
Data length
For the NMT status of the CANopen node, statuses are established in a status diagram.
Changes in statuses can be triggered via the CS byte in the NMT message. These are
largely oriented on the target status.
Initialisation
Reset Application
15
Reset
Communication
16
1
Initialising
2
14
3
13
Stopped
(04h)
6
12
11
Pre-Operational
(7Fh)
4
10
Operational
(05h)
Fig. 3.2 NMT state machine
47
3. Access Procedure
The NMT status of the motor controller can be influenced via the following commands:
CS
Significance
Transitions
Target status
01h
Start Remote Node
3, 6
Operational (05h)
02h
Stop Remote Node
5, 8
Stopped (04h)
80h
Enter Pre-Operational
4, 7
Pre-Operational (7Fh)
81h
Reset Application
12, 13, 14
Reset Application *1)
82h
Reset Communication
9, 10, 11
Reset Communication *1)
*1)
The final target status is pre-operational (7Fh), since the transitions 15, 16 and 2 are automatically
performed by the motor controller.
All other status transitions are performed automatically by the motor controller,
e.g. because the initialisation is completed.
In the NI parameter, the node number of the motor controller must be specified or zero if
all nodes in the network are to be addressed (broadcast). Depending on the NMT status,
certain communication objects cannot be used: So, for example, it is absolutely necessary
to place the NMT status to Operational, so that the motor controller sends PDOs.
Name
Significance
Reset Application
No Communication. All CAN objects are reset to their

reset values (application parameter set)
Reset Communication No communication

The CAN controller is newly initialised.
SDO
PDO
NMT
Initialising
Status after hardware reset. Resetting of the CAN node,

Sending of the bootup message
Pre-Operational
Communication via SDOs possible

PDOs not active (no sending / evaluating)
Operational
Communication via SDOs possible

All PDOs active (sending / evaluating)
Stopped
No communication except for heartbeating
NMT telegrams must not be sent in a burst (immediately one after

another)!
At least twice the position controller cycle time must lie between
two consecutive NMT messages on the bus (also for different
nodes!) for the motor controller to process the NMT messages
correctly.
The communication status must be set to operational for the motor
controller to transmit and receive PDOs.
48
3. Access Procedure
3.8
Nodeguarding (Error Control Protocol)
3.8.1
Overview
The so-called Nodeguarding protocol can also be used to monitor communication

between slave (drive) and master. In contrast to the Heartbeat protocol, master and slave
monitor each other:
The master cyclically asks the drive about its NMT status. In every response of the
controller, a certain bit is inverted (toggled). If these responses are not made or the
controller always responds with the same toggle bit, the master can react accordingly.
Likewise, the drive monitors the regular arrival of the master's nodeguarding requests:
If messages are not received for a certain time period, the controller triggers error 12-4.
Since both heartbeat and nodeguarding telegrams are sent with the identifier 700h + node
number, both protocols can be active at the same time. If both protocols are activated
simultaneously, only the heartbeat protocol is active.
3.8.2
Structure of the Nodeguarding Messages
The master's request must be sent as a so-called remote frame with the identifier 700h +
node number. In the case of a remote frame, a special bit is also set in the telegram, the
remote bit. Remote frames have no data.
Identifier:700 +
h
node number
701h
0
Remote bit (Remote frames have no data)
The response of the controller is built up analogously to the heartbeat message. It

contains only 1 byte of user data, the toggle bit and the NMT status of the controller.
Identifier:700 +
Toggle bit / NMT status
node number
701h
T/N
Data length
The first data byte (T/N) is constructed in the following way:

bit
Value Name
Significance
80h
toggle_bit
Changes with every telegram
0 ... 6 7Fh
nmt_state
04h Stopped
05h Operational
7Fh Pre-Operational
49
3. Access Procedure
The monitoring time for the master's requests can be parametrised. Monitoring begins
with the first received remote request of the master. From this time on, the remote
requests must arrive before the monitoring time has passed, since otherwise error 12-4 is
triggered.
The toggle bit is reset through the NMT command Reset Communication. It is therefore
deleted in the first response of the controller.
3.8.3
Object 100Ch: guard_time

To activate the nodeguarding monitoring, the maximum time between two remote
requests of the master is parametrised. This time is established in the controller from the
product of guard_time (100Ch) and life_time_factor (100Dh). It is therefore recommended
to write the life_time_factor with 1 and then specify the time directly via the guard_time
in milliseconds.
Index
100Ch
Name
guard_time
Object Code
VAR
Data Type
UINT16
Access
rw
PDO Mapping
no
Units
ms
Value Range
0 ... 65535
Default Value
Object 100Dh: life_time_factor

The life_time_factor should be written with 1 in order to specify the guard_time directly.
Index
100Dh
Name
life_time_factor
Object Code
VAR
Data Type
UINT8
Access
rw
PDO Mapping
no
Units
--
Value Range
0, 1
Default Value
50
3. Access Procedure
3.9
Table of Identifiers
The following table gives an overview of the identifiers used:

Object type
Identifier (hexadecimal)
SDO (Host an Controller)
600h+node number
SDO (Controller an Host)
580h+node number
TPDO1
181h
Standard values.
TPDO2
281h
Can be changed if needed.
RPDO1
201h
RPDO2
301h
SYNC
080h
EMCY
080h +node number
HEARTBEAT
700h+node number
BOOTUP
700h+node number
NMT
000h
Comment
51
4. Setting Parameters
4.
Setting Parameters
Before the motor controller can carry out the desired task (torque regulation, speed
adjustment, positioning), numerous parameters of the motor controller must be adapted
to the motor used and the specific application. The sequence in the subsequent chapters
should be followed thereby. After setting of the parameters, device control and use of the
various operating modes are explained.
The 7-segment display of the motor controller shows an "A"
(Attention) if the motor controller has not been parametrised
appropriately yet.
Besides the parameters described in depth here, the object directory of the motor
controller contains other parameters that have to be implemented in accordance with
CANopen. But they normally do not contain any information that can sensibly be used in
designing an application with the CMMS/CMMD family. If needed, specification of such
objects can be read in [1] and [2] (see page 12).
4.1
Load and Save Parameter Sets
4.1.1
Overview
The motor controller has three parameter sets:

-
Current parameter set

This parameter set is located in the random access memory (RAM) of the motor
controller. It can be read and written with the commissioning software FCT. When the
motor controller is switched on, the application parameter set is copied into the
current parameter set.
Default parameter set

This is the parameter set of the motor controller provided standard by the
manufacturer and is unchangeable. Through a write process in the CANopen object
1011h_01h (restore_all_default_parameters) the default parameter set can be copied
into the current parameter set. This copying process is only possible when the output
stage is switched off.
Application parameter set

The current parameter set can be stored in the nonvolatile flash memory. The saving
process can be triggered with a write access to the CANopen object 1010h_01h
(save_all_parameters). When the motor controller is switched on, the application
parameter set is automatically copied into the current parameter set.
The following diagram illustrates the connections between the individual parameter sets.
52
Default parameter set
Application parameter set
Switching on
of the
controller
CANopen
object 1011
CANopen
object 1010
Current parameter set
Fig. 4.1 Connections between parameter sets

Warning
Before the output stage is switched on for the first time, make sure
the controller really contains the parameters you want.
An incorrectly parametrised controller can turn out of control and
cause personal injury or property damage.
4.1.2
Object 1011h: restore_default_parameters

Index
1011h
Name
restore_parameters
Object Code
ARRAY
No. of Elements
Data Type
UINT32
Sub-Index
01h
Description
restore_all_default_parameters
Access
rw
PDO Mapping
no
Units
--
Value Range
64616F6Ch ("load")
Default Value
1 (read access)
53
The object 1011h_01h (restore_all_default_parameters) makes it possible to put the
current parameter set into a defined state. To achieve this, the default parameter set is
copied into the current parameter set. The copying process is triggered by a write access
to this object, whereby the string "load" must be transferred as a data record in
hexadecimal form.
This command is only carried out with a deactivated output stage. Otherwise, the SDO
error "Data cannot be transmitted or stored, since the motor controller for this is not in
the correct state" is generated. If the incorrect identifier is sent, the error "Data cannot be
transmitted or stored" is generated. If the object is accessed by reading, a 1 is returned to
show that resetting to default values is supported.
The CAN communication parameters (node no., baud rate and operating mode) remain unchanged.
Object 1010h: store_parameters

Index
1010h
Name
store_parameters
Object Code
ARRAY
No. of Elements
Data Type
UINT32
Sub-Index
01h
Description
save_all_parameters
Access
rw
PDO Mapping
no
Units
--
Value Range
65766173h ("save")
Default Value
If the default parameter set should also be taken over into the application parameter set,
the object 1010h_01h (save_all_parameters) must also be called up.
54
4.2
Conversion Factors (Factor Group)
4.2.1
Overview
Motor controllers are used in a wide variety of applications: As direct drive, with follow-on
gear, for linear drive, etc. To permit easy parameter setting, the motor controller can be
parametrised with the help of the factor group so that the user can specify or read out all
variables, such as speed, directly in the desired units at the output (e.g. with a linear axis
position value in millimetres and speeds in millimetres per second). The motor controller
then uses the factor group to calculate the entries in its internal units of measurement.
For each physical variable, (position, speed and acceleration), there is a conversion factor
available to adapt the user units to the own application. The units set through the factor
group are generally designated position_units, speed_units or acceleration_units.
The following sketch illustrates the function of the factor group:
Fig. 4.2 Factor group

All parameters are stored in the motor controller in its internal units and only converted
with the help of the factor group when being written in or read out.
For that reason, the factor group should be set before the first parameter setting and not
changed during parameter setting.
The factor group is set to the following units by default:
Size
Designation
Unit of measure
Explanation
Length
position_units
Increments
65536 increments per revolution
-1
Speed
speed_units
min
Acceleration
acceleration_units
(min-1)/s
Revolutions per minute

Rotational speed increase per second
55
4.2.2
Objects treated in this chapter

Index
Object
Name
Type
Attr.
6093h
ARRAY
position_factor
UINT32
rw
6094h
ARRAY
velocity_encoder_ factor
UINT32
rw
6097h
ARRAY
acceleration_factor
UINT32
rw
607Eh
VAR
Polarity
UINT8
rw
Object 6093h: position_factor

The object position_factor converts all length units of the application from position_units
into the internal unit increments (65536 increments equal 1 revolution). It consists of
numerator and denominator.
Fig. 4.3 Overview: Factor group

Index
6093h
Name
position_factor
Object Code
ARRAY
No. of Elements
Data Type
UINT32
56
Sub-Index
01h
Description
Numerator
Access
rw
PDO Mapping
yes
Units
--
Value Range
--
Default Value
Sub-Index
02h
Description
Divisor
Access
rw
PDO Mapping
yes
Units
--
Value Range
--
Default Value
The following parameters are involved in the calculation formula of the position_factor:
gear_ratio
Gear ratio between revolutions at the drive-in (RIN) and revolutions

at the drive-out (ROUT)
feed_constant
Ratio between revolutions at the drive-out (ROUT) and movement in

position_units (e.g. 1 rev. = 360 degrees)
The position_factors is calculated using the following formula:

position_f actor =
numerator gear_ratio 65536

=
divisor
feed_constant
The position_factor must be written to the motor controller separated into numerators
and denominators. This can make it necessary to bring the fraction up to whole integers
by expanding it accordingly.
57
EXAMPLE
First, the desired unit (column 1) and the desired decimal positions (DP) must be
determined along with the gear factor and, if applicable, the feed constant of the
application. This feed constant is then depicted in the desired position units
(column 2).
Finally, all values can be placed in the equation and the fraction calculated:
1.)
2.)
3.)
4.)
Desired unit at the drive-out (position_units)

feed_constant: How much position_units are 1 revolution (ROUT)
Gear Ratio (gear_ratio): revsIN per revsOUT
Insert values into equation
1.
2.
3.
4.
1/1
1U
Ink
65536
1 Ink
1U
U
=
65536 Ink
1 Ink
1U
1/1
( /10)
Ink
1U
65536
65536 Ink
U
1U
=
3600 10
3600 10
1U
1/1
Rev.,
2 DP
1 ROUT =
1U
Ink
65536
65536 Ink
1U
U
=
1 00 U 100
100 U 100
1U
1/100 Rev.
100 R/100
2/3
Ink
2U
65536
131072 Ink
U
3U
=
100 U 100
300 U 100
1U
4/5
4U
Ink
65536
2621440 Ink
5U
U
=
31575 mm10
631.5 mm10
1U
Increments,
0 DP
1 ROUT =
65536 Inc
inc.
Degree,
1 DP
1/10 Degree
revs
1 ROUT =
3600 /10
/100 )
mm,
1 DP
63.15
1/10 mm
1 ROUT =
(mm/10)
631.5
58
mm
mm
/R
/10
RESULT
Abbreviated
num:
div:
num:
4096
div:
225
num:
16384
div:
25
num:
32768
div:
75
num:
524288
div:
6315
6094h: velocity_encoder_factor
The object velocity_encoder_factor converts all speed values of the application from
speed_units into the internal unit revolutions per 4096 minutes. It consists of numerator
and denominator.
Index
6094h
Name
velocity_encoder_factor
Object Code
ARRAY
No. of Elements
Data Type
UINT32
Sub-Index
01h
Description
Numerator
Access
rw
PDO Mapping
yes
Units
--
Value Range
--
Default Value
Sub-Index
02h
Description
Divisor
Access
rw
PDO Mapping
yes
Units
--
Value Range
--
Default Value
59
Calculation of the velocity_encoder_factor consists in principle of two parts: a conversion

factor from internal length units into position_units, and a conversion factor from internal
time units into user-defined time units (e.g. from seconds into minutes). The first part
corresponds to the calculation of the position_factor; for the second part, an additional
factor is added to the calculation:
time_factor_v
Ratio between internal time unit and user-defined time unit.

(e.g. 1 min = 1/4096 4096 min)
gear_ratio

feed_constant

The calculation of the velocity_encoder_factor uses the following equation:

velocity_e ncoder_fac tor =
numerator
gear_ratio time_facto r_v
=
divisor
feed_const ant
Like the position_factor, the velocity_encoder_factor also has to be written to the motor
controller separated into numerators and denominators. This can make it necessary to
bring the fraction up to whole integers by expanding it accordingly.
60
EXAMPLE
determined along with the gear factor and, if applicable, the feed constant of
the application. This feed constant is then depicted in the desired position
units (column 2). Then the desired time unit is converted into the time unit of
the motor controller (column 3).
Finally, all values can be placed in the equation and the fraction calculated:
1.)
2.)
3.)
4.)
5.)
Desired unit at the drive-out (speed_units)

feed_constant: How much position_units are 1 revolution (ROUT)?
time_factor_v: Requested time unit per internal time unit
Gear factor (gear_ratio) RIN per ROUT
1.
2.
/min 65536 lnk
(R/100
1 ROUT =
/min
min
100 /100
min
3600 /10
60
mm
/s
(mm/10s)
1/1
mm
/R
min
1 ROUT =
631.5
mm
/10
60
min
1U 1U 60
1U 1U
3600 10
1U
2
300
1U 4 U 60
1U 5 U
4/5
631.5 mm 10
1U
60
=
3600 10s
2400
31575
s
n 0
i
1
m
m
m
U
63.15
1U 2U
1U 3U
2/3
100 U 100
1U
n
i
m
1 1s
1/10
( /10s)
mm/s
1 DP
1 ROUT =
/s
n
i
m
U
1
min
1
1
n
i
m
1 1s
/s
1 DP
1
min
1U 1U
1U 1U
1/1
1U
1U
n
i
n m
i
0
m
0
U U1
1/100
min
n i
n
i
m
m
1 1
R/min
2 DP
RESULT
Abbreviated
5.
n
n i
i
m
m
U U
1 ROUT =
1/100
1/10
4.
n i
n
i
m
m
1 1
R/min
0 DP
3.
num:
div:
num:
div:
150
num:
div:
60
num:
32
div:
421
61
Object 6097h: acceleration_factor

The object acceleration_factor converts all acceleration values of the application from
acceleration_units into the internal unit Revolutions per minute per 256 seconds.
It consists of numerator and denominator.
Index
6097h
Name
acceleration_factor
Object Code
ARRAY
No. of Elements
Data Type
UINT32
Sub-Index
01h
Description
Numerator
Access
rw
PDO Mapping
yes
Units
--
Value Range
--
Default Value
Sub-Index
02h
Description
Divisor
Access
rw
PDO Mapping
yes
Units
--
Value Range
--
Default Value
62
Calculation of the acceleration_factor consists of two parts: a conversion factor from

internal length units into position_units, and a conversion factor from internal time units
squared into user-defined time units squared (e.g. from seconds2 into minutes2).
The first part corresponds to the calculation of the position_factor; for the second part, an
additional factor is added:
time_factor_a
Ratio between internal times units squared and user-defined time

unit squared (e.g. 1 min2 = 1 min1 min = 60 s 1 min = 60/256
256 min s)
gear_ratio

feed_constant

The acceleration_factors is calculated using the following formula:

accelerati on_factor =
numerator
gear_ratio time_facto r_a
=
divisor
feed_const ant
The acceleration_factor is also written into the motor controller separated by numerator
and denominator, so it may have to be expanded.
63
EXAMPLE
determined along with the gear factor and, if applicable, the feed constant of the
application. This feed constant is then depicted in the desired position units
(column 2). Then the desired time unit2 is converted into the time unit2 of the
motor controller (column 3). Finally, all values can be placed in the equation and
the fraction calculated:
1.)
2.)
3.)
4.)
5.)
Desired unit at the drive-out (acceleration_units)

feed_constant: How much position_units are 1 revolution (ROUT)?
time_factor_a: Desired time unit2 per internal time unit2
Gear factor (gear_ratio) RIN per ROUT
1.
2.
256
60
3600 /10
min s
( /10s)
1/100
(R/100
min)
/min
mm
num:
64
div:
15
512
18000
num:
32
div:
1125
num:
8192
div:
421
min
256 s
=
1
min s
/10
=
1
60256
64
4 U 60 256
5U
1 2
4/5
631.5 mm10
1U
122880
6315
2
s
0
1
631.5
60
m
m
( /10s)
1 ROUT =
15360
3600
s
6
5
2
n
i
Um
/s
/R
mm
mm
mm
2 U 256
3 U 60
2/3
100 U 100
1U
1/10
63.15
s2
s
n
i
m
6
5
2
1
mm/s
1 DP
=
1
256 s
1
min
s
256
60
256
div:
min2
1
60
100 R/100
2
n
i
m
s
0
6
0
5
2 U1
n
i
Um
1 ROUT =
1U 60 256
1U
1 s2
1/1
3600 10
1U
s
n
i
m
n
i
6
m
5
2 1
1
R/min
2 DP
num:
min
60256
1
2
s
0
1
/s
1
s2
256
s
6
5
2
n
i
Um
256 s
1 ROUT =
min
Abbreviated
s
n
i
m
6
5
2
1
/s
1 DP
1/10
1 ROUT
1U 256
1U
1
1/1
1U
1U
min s
RESULT
5.
s
6
5
2
s
n
i
Um
n
i
Um
/min
1 ROUT =
4.
s
n
i
m
s
6
5
n
i
2
m
1
1
R/min/s
0 DP
U
3.
min
256 s
Object 607Eh: polarity

The algebraic sign of the position and speed values of the motor controller can be set with
the corresponding polarity_flag. This can serve to invert the motor's direction of rotation
with the same setpoint values.
In most applications, it makes sense to set the position_polarity_flag and the
velocity_polarity_flag to the same value.
Setting of the polarity_flag influences only parameters when reading and writing.
Parameters already present in the motor controller are not changed.
Index
607Eh
Name
polarity
Object Code
VAR
Data Type
UINT8
Access
rw
PDO Mapping
yes
Units
--
Value Range
40h, 80h, C0h
Default Value
bit
Value
Name
Significance
40h
velocity_polarity_flag
0:
1:
multiply by 1
multiply by 1
(default)
(invers)
80h
position_polarity_flag
0:
1:
multiply by 1
multiply by 1
(default)
(invers)
Object 6091h: gear_ratio

A gear can be set via this object.
Index
6091h
Name
gear_ratio
Object Code
RECORD
No. of Elements
65
Sub-Index
01h
Description
motor_revolutions
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
--
Value Range
1 ... FFFFFFFFh
Default Value
Sub-Index
02h
Description
shaft_revolutions
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
--
Value Range
1 ... FFFFFFFFh
Default Value
Object 6092h: feed_constant

The feed per motor revolution can be set over this object.
Index
6092h
Name
feed_constant
Object Code
RECORD
No. of Elements
Sub-Index
01h
Description
feed
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
--
Value Range
1 ... FFFFFFFFh
Default Value
66
Sub-Index
02h
Description
shaft_revolutions
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
--
Value Range
1 ... FFFFFFFFh
Default Value
4.3
Output stage parameter
4.3.1
Overview
The mains voltage is fed in to the output stage via a precharging circuit. When the power
supply is switched on, the starting current is limited and charging is monitored.
After precharging of the intermediate circuit, the charging circuit is bridged. This status is
a requirement for issuing controller enable. The rectified mains voltage is smoothed with
the condensers of the intermediate circuit. From the intermediate circuit, the motor is
powered via the IGBTs. The output stage contains a series of safety functions, which can
be partially parametrised:
-
Controller enable logic (software and hardware enable)
Overcurrent monitoring
Overvoltage / undervoltage monitoring of the intermediate circuit
Power partial monitoring
4.3.2
Index
Object
Name
6510h
VAR
drive_data
Type
Attr.
Object 6510h_10h: enable_logic

For the output stage of the motor controller to be activated, the digital inputs output
stage enable and controller enable must be set: The output stage enable has a direct
effect on the control signals of the power transistors and would also be able to interrupt
them in case of a defective microprocessor. The removal of the output stage enable with
running motor thus ensures that the motor runs out unbraked or is only stopped by the
holding brake, if on hand. The controller enable is processed by the microcontroller of the
motor controller. Depending on the operating mode, the motor controller reacts differently
after removal of this signal:
67
-
Positioning mode and speed-regulated mode

The motor is braked with a defined brake ramp after removal of the signal. The output
stage is only switched off when the motor speed lies below 10 min-1 and the holding
brake, if on hand, has activated.
Torque-regulated mode
The output stage is switched off immediately after removal of the signal. At the same
time, a holding brake, if on hand, is activated. And so the motor runs out or is stopped
only by the holding brake that may be on hand.
Warning
Dangerous voltage
Both signals do not guarantee that the motor is voltage-free.
When operating the motor controller over the CAN bus, the two digital inputs output stage
enable and controller enable can be placed together onto 24 V, and the enable can be
controlled via the CAN bus. For this, the object 6510h_10h (enable_logic) must be set to
two. For safety reasons, this takes place automatically with activation of CANopen
(also after a reset of the motor controller).
Index
6510h
Name
drive_data
Object Code
RECORD
No. of Elements
192
Sub-Index
10h
Description
enable_logic
Data Type
UINT16
Access
rw
PDO Mapping
no
Units
--
Value Range
0 ... 2
Default Value
Value
Significance
Digital inputs output stage enable + controller enable
Digital inputs output stage enable + controller enable + RS232
Digital inputs output stage enable + controller enable + CAN
68
Object 6510h_31h: power_stage_temperature

The temperature of the output stage can be read via the object
power_stage_temperature. If the temperature specified in object 6510h_32h
(max_power_stage_temperature) is exceeded, the output stage shuts off and an error
message is output.
Sub-Index
31h
Description
power_stage_temperature
Data Type
INT16
Access
ro
PDO Mapping
no
Units
Value Range
--
Default Value
--
4.4
Current Regulator and Motor Adjustment

Incorrect settings of the current control parameters and current
limitations can result in malfunctions in the system.
4.4.1
Overview
The parameter set of the motor controller must be adapted for the connected motor and
the set of cables used.
These data are automatically entered in the corresponding fields, depending on motor and
controller type, during parameter setting with the start-up software FCT.
Caution
If the phase sequence is distorted in the motor or angle encoder
cable, the result may be positive feedback, so the speed in the
motor cannot be regulated. The motor can turn uncontrollably!
69
4.4.2
Index
Object
Name
Type
Attr.
6075h
VAR
motor_rated_current
UINT32
rw
6073h
VAR
max_current
UINT16
rw
604Dh
VAR
pole_number
UINT8
rw
6410h
RECORD
motor_data
rw
60F6h
RECORD
torque_control_parameters
rw
Affected objects from other chapters

Index
Object
Name
2415h
RECORD
current_limitation
Type
Chapter
4.7 Setpoint value limitation
Object 6075h: motor_rated_current

This value can be taken from the motor rating plate and is entered in milliamperes.
The effective value (RMS) is always assumed. No current can be specified above the motor
controller nominal current (6510h_40h: nominal_current).
Index
6075h
Name
motor_rated_current
Object Code
VAR
Data Type
UINT32
Access
rw
PDO Mapping
yes
Units
mA
Value Range
0 ... nominal_current
Default Value
1499
If the object 6075h (motor_rated_current) is written over with a new

value, the object 6073h (max_current) must always be
parametrised again.
70
Object 6073h: max_current

As a rule, the motors may be overloaded for a certain time period. With this object, the
maximum permissible motor current is set. It refers to the nominal motor current
(object 6075h: motor_rated_current) and is set in thousandths. The range of values is
limited upward by the maximum controller current (object 6510h_41h: peak_current).
Many motors may be overloaded briefly by a factor of 2. In this case, the value 2000 is
written into this object.
The object 6073h (max_current) may only be written over if the
object 6075h (motor_rated_current) was previously overwritten.
Index
6073h
Name
max_current
Object Code
VAR
Data Type
UINT16
Access
rw
PDO Mapping
yes
Units
per thousands of motor_rated_current
Value Range
--
Default Value
1675
Object 604Dh: pole_number

The number of pins of the motor can be found in the motor data sheet. The number of pins
is always even. The number of pin pairs is often specified instead of the number of pins.
The number of pins then equals twice the number of pin pairs.
Index
604Dh
Name
pole_number
Object Code
VAR
Data Type
UINT8
Access
rw
PDO Mapping
yes
Units
--
Value Range
2 ... 254
Default Value
see table
71
Value
Significance
100
CMMS-ST
CMMS-AS
CMMD-AS
Object 6410h_03h: iit_time_motor

As a rule, the motors may be overloaded for a certain time period. This object specifies
how long current can flow through the connected motor with the current specified in the
object 6073h (max_current). After the It time has elapsed, to protect the motor the
current is automatically limited to the value set in Object 6075h (motor_rated_current).
Index
6410h
Name
motor_data
Object Code
RECORD
No. of Elements
Sub-Index
03h
Description
iit_time_motor
Data Type
UINT16
Access
rw
PDO Mapping
no
Units
ms
Value Range
0 ... 10000
Default Value
1000
Object 6410h_04h: iit_ratio_motor

Through the object iit_ratio_motor, the current extent of utilisation of the I2t limitation can
be read in per thousands.
Sub-Index
04h
Description
iit_ratio_motor
Data Type
UINT16
Access
ro
PDO Mapping
no
Units
Promille
Value Range
--
Default Value
--
72
The error is activated through changing the error response. Reactions causing the drive to
stop are returned as ON, all others as OFF. When overwriting with 0, the error response
WARNING is set; when overwriting with 1, the error response CONTROLLER ENABLE OFF.
Object 6410h_10h: phase_order

In the phase sequence (phase_order), twisting between motor cable and angle encoder
cable are taken into account. It can be taken taken from the commissioning software FCT.
Sub-Index
10h
Description
phase_order
Data Type
INT16
Access
rw
PDO Mapping
yes
Units
--
Value Range
0, 1
Default Value
Value
Significance
Right-hand
Left-hand
Object 6410h_11h: resolver_offset_angle

The motors used have permanent magnets on the rotor. These generate a magnetic field,
whose orientation toward the stator depends on the rotor position. For electronic
commutation, the motor controller must always set the electromagnetic field of the stator
in the correct angle to this permanent magnet field. To do this, it constantly determines
the rotor position with an angle encoder (resolver, etc.).
The orientation of the angle encoder to the permanent magnetic field must be entered in
the object resolver_offset_angle. It must be calculated as follows:
resolver_offset_angle = "Offset angle of the angle encoder"
Index
6410h
Name
motor_data
Object Code
RECORD
No. of Elements
32767
180
73
Sub-Index
11h
Description
resolver_offset_angle
Data Type
INT16
Access
rw
PDO Mapping
yes
Units
Value Range
-32767 ... 32767
Default Value
E000h (-45)
Object 60F6h: torque_control_parameters

The data of the current controller must be taken from the FCT start-up software. Attention
must be paid to the following calculations:
Amplification of the current controller must be multiplied by 256. With an amplification of
1.5 in the "Current Controller" menu of the FCT start-up software, the value 384 = 180h
must be written in the object torque_control_gain.
The current controller time constant is specified in the FCT start-up software in
milliseconds. To transfer this time constant into the object torque_control_time, it must
previously be converted into 0.1 microseconds. With a specified time of 0.6 milliseconds,
the corresponding value 600 is entered in the object torque_control_time.
Index
60F6h
Name
Object Code
RECORD
No. of Elements
Sub-Index
01h
Description
torque_control_gain
Data Type
UINT16
Access
rw
PDO Mapping
no
Units
256 = "1"
Value Range
0 ... 32*256
Default Value
256
74
Sub-Index
02h
Description
torque_control_time
Data Type
UINT16
Access
rw
PDO Mapping
no
Units
Value Range
104 ... 64401
Default Value
2000
4.5
Speed regulator
4.5.1
Overview
The parameter set of the motor controller must be adapted for the application. In
particular, the amplification is strongly dependent on dimensions that may be connected
to the motor. The data must be optimally determined during system start-up using the FCT
start-up software.
Caution
Incorrect setting of the speed regulator parameters can result in
strong vibrations and possibly destroy parts of the system!
4.5.2
Index
Object
Name
60F9h
RECORD
velocity_control_parameters
Type
Attr.
rw
Object 60F9h: velocity_control_parameters

The data of the speed regulator must be taken from the FCT start-up software. Attention
must be paid to the following calculations:
Amplification of the speed regulator must be multiplied by 256.
With a gain of 1.5 in the "Speed Controller" menu of the FCT start-up software, the value
384 = 180h must be written to the object velocity_control_gain.
The speed regulator time constant is specified in the FCT start-up software in
milliseconds. To transfer this time constant into the object velocity_control_time, it must
previously be converted into microseconds. With a specified time of 2.0 milliseconds, the
corresponding value 2000 is entered in the object velocity_control_time.
75
Index
60F9h
Name
velocity_control_parameter_set
Object Code
RECORD
No. of Elements
Sub-Index
01h
Description
velocity_control_gain
Data Type
UINT16
Access
rw
PDO Mapping
no
Units
256 = Gain 1
Value Range
20 ... 64*256 (16384)
Default Value
128
Sub-Index
02h
Description
velocity_control_time
Data Type
UINT16
Access
rw
PDO Mapping
no
Units
Value Range
1 ... 32000
Default Value
8000
Sub-Index
04h
Description
velocity_control_filter_time
Data Type
UINT16
Access
rw
PDO Mapping
no
Units
Value Range
1 ... 32000
Default Value
1600
76
4.6
Position Controller (Position Control Function)
4.6.1
Overview
This chapter describes all parameters required for the position controller. The position
setpoint value (position_demand_value) of the curve generator is applied to the input of
the position controller. In addition, the actual position value (position_actual_value) is
added from the angle encoder (resolver, increment generator, etc.). The actions of the
position controller can be influenced by parameters. It is possible to limit the output
variable (control_effort) to keep the position control circuit stable. The output variable is
supplied to the speed regulator as the speed setpoint value. All input and output
variables of the position controller are converted in the Factor Group from the applicationspecific units into the respective internal units of the regulator.
The following subfunctions are defined in this chapter:
1. Contouring error (following_Error)
The deviation of the actual position value (position_actual_value) from the position
setpoint value (position_demand_value) is designated as contouring error.
If this contouring error is greater than specified in the contouring error window
(following_error_window) for a specific time period, bit 13 following_error is set in
the object statusword. The permissible time period can be specified via the object
following_error_time_out. The current value of the contouring error can be read via
following_error_actual_value.
position_difference =
position_demand_value (6062 ) - position_actual_value (6064 )
h
following_error_window
(6065 )
h
0
-following_error_window
(6065 )
h
time
following_error_time_out
(6066 )
statusword, Bit 13 (6041 )

h
Fig. 4.4 Contouring error functional overview

The Fig. 4.5 shows how the window function is defined for the "contouring error"
message. The area between xi-x0 and xi+x0 is defined symmetrically around the setpoint
position (position_demand_value) xi. For example, the positions xt2 and xt3 lie outside
this window (following_error_window). If the drive leaves this window and does not
return to the window within the time specified in the object following_error_time_out,
bit 13 following_error in statusword is set.
77
Fig. 4.5 Contour error

2. Position reached (Position Reached)
This function offers the possibility of defining a position window around the target
position (target_position). If the actual position of the drive is located within this
range for a specific time the position_window_time the related bit 10
(target_reached) is set in the statusword.
position_difference =
position_demand_value (6062 ) - position_actual_value (6064 )
h
position_window
(6067 )
h
0
- position_window
(6067 )
h
time
position_window_time
(6068 )
h
statusword, Bit 10 (6041 )

h
Fig. 4.6 Position reached Functional overview

The Fig. 4.7 shows how the window function is defined for the "position reached"
message. The area between xi-x0 and xi+x0 is defined symmetrically around the target
position (target_position) xi. For example, the positions xt0 and xt1 lie outside this
position window (position_window). If the drive is located in this window, a timer is
started in the motor controller. If this timer reaches the time specified in the object
position_window_time and the drive continuously remains in the valid range between xix0 and xi+x0 during this time, bit 10 target_reached in statusword is set. As soon as the
drive leaves the permissible range, both bit 10 and the timer are set to zero.
78
Fig. 4.7 Position reached
4.6.2

Index
Object
Name
Type
Attr.
6062h
VAR
position_demand_value
INT32
ro
6063h
VAR
position_actual_value_s
INT32
ro
6064h
VAR
position_actual_value
INT32
ro
6065h
VAR
UINT32
rw
6066h
VAR
UINT16
rw
6067h
VAR
position_window
UINT32
rw
6068h
VAR
UINT16
rw
60F4h
VAR
following_error_actual_value
INT32
ro
60FAh
VAR
control_effort
INT32
ro
60FBh
RECORD
position_control_parameter_set
60FCh
VAR
position_demand_value*
rw
INT32
ro

Index
Object
Name
Type
Chapter
607Ah
VAR
target_position
INT32
6.3 Positioning operating mode
607Ch
VAR
home_offset
INT32
6.2 Homing run
607Dh
VAR
software_position_limit
INT32
6.3 Positioning operating mode
607Eh
VAR
polarity
UINT8
4.2 Conversion factors
6093h
VAR
position_factor
UINT32
6094h
ARRAY
UINT32
6096h
ARRAY
acceleration_factor
UINT32
6040h
VAR
controlword
INT16
5 Device control
6041h
VAR
statusword
UINT16
5 Device control
79
Object 60FBh: position_control_parameter_set

The parameter set of the motor controller must be adapted for the application. The data of
the position regulator must be optimally determined during system start-up using the FCT
start-up software.
Caution
Incorrect setting of the position regulator parameters can result in
strong vibrations and possibly destroy parts of the system!
The position controller compares the target location with the actual location and, from the
difference, creates a correction speed(object 60FAh: control_effort), which is fed to the
speed regulator. The position controller is relatively slow, compared to the current and
speed regulator. Therefore, the controller works internally with activation, so the
stabilisation work for the position controller is minimised and the controller can rapidly
stabilise.
A proportional link suffices as position controller. Amplification of the position controller
must be multiplied by 256. With an amplification of 1.5 in the "Position Controller" menu
of the FCT start-up software, the value 384 must be written in the object
position_control_gain.
Since the position controller already converts the smallest position deviations into
appreciable correction speeds, in the case of a brief disturbance (e.g. brief jamming of the
system) it would lead to very major stabilisation processes with very large correction
speeds. This can be avoided if the output of the position controller is sensibly limited via
the object position_control_v_max (e.g. 500 min-1).
The size of the position deviation up to which the position controller will not intervene
(dead area) can be defined with the object position_error_tolerance_window. This can be
used for stabilisation, such as when there is play in the system.
Index
60FBh
Name
position_control_parameter_set
Object Code
RECORD
No. of Elements
Sub-Index
01h
Description
position_control_gain
Data Type
UINT16
Access
rw
PDO Mapping
no
Units
256 = "1"
Value Range
0 ... 64*256 (16384)
Default Value
52
80
Sub-Index
04h
Description
position_control_v_max
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
speed units
Value Range
0 ... 131072 min-1
Default Value
500
Sub-Index
05h
Description
position_error_tolerance_window
Data Type
UINT32
Access
rw
PDO Mapping
no
Units
position units
Value Range
0 ... 65536 (1 U)
Default Value
Object 6062h: position_demand_value

The current position setpoint value can be read out via this object. The curve generator
feeds this into the position controller.
Index
6062h
Name
Object Code
VAR
Data Type
INT32
Access
ro
PDO Mapping
yes
Units
Position units
Value Range
--
Default Value
--
81
Object 6063h: position_actual_value_s (increments)

The actual position can be read out via this object. The angle encoder feeds this to the
position controller. This object is specified in increments.
Index
6063h
Name
Object Code
VAR
Data Type
INT32
Access
ro
PDO Mapping
yes
Units
inkrements
Value Range
--
Default Value
--
Object 6064h: position_actual_value (user-defined units)

The actual position can be read out via this object. The angle encoder feeds this to the
position controller. This object is specified in user-defined increments.
Index
6064h
Name
Object Code
VAR
Data Type
INT32
Access
ro
PDO Mapping
yes
Units
position units
Value Range
--
Default Value
--
Object 6065h: following_error_window

The object following_error_window (contouring error window) defines a symmetrical
range around the position setpoint value (position_demand_value). If the actual position
value (position_actual_value) is outside the contouring error window
(following_error_window), a contouring error occurs and bit 13 is set in the object
statusword. The following can cause a contouring error:
-
The drive is blocked
The positioning speed is too high
the acceleration values are too large
the object following_error_window has too small a value
the position controller is not correctly parametrised
82
Index
6065h
Name
Object Code
VAR
Data Type
UINT32
Access
rw
PDO Mapping
yes
Units
position units
Value Range
0 ... 7FFFFFFFh
Default Value
23D7h
Object 6066h: following_error_time_out

If a contouring error longer than defined in this object occurs, the related bit 13
following_error is set in the statusword.
Index
6066h
Name
Object Code
VAR
Data Type
UINT16
Access
rw
PDO Mapping
yes
Units
ms
Value Range
0 ... 27314
Default Value
100
Object 60F4h: following_error_actual_value

Index
60F4h
Name
following_error_actual_value
Object Code
VAR
Data Type
INT32
Access
ro
PDO Mapping
yes
Units
position units
Value Range
Default Value
83
Object 60FAh: control_effort

The output variable of the position controller can be read via this object. This value is
internally fed to the speed regulator as setpoint value.
Index
60FAh
Name
control_effort
Object Code
VAR
Data Type
INT32
Access
ro
PDO Mapping
yes
Units
speed units
Value Range
--
Default Value
--
Object 6067h: position_window

With the object position_window, a symmetrical area is defined around the target
position (target_position). If the actual position value (position_actual_value) lies within
this area for a certain time, the target position (target_position) is considered reached.
Index
6067h
Name
position_window
Object Code
VAR
Data Type
UINT32
Access
rw
PDO Mapping
yes
Units
position units
Value Range
--
Default Value
7AEh
84
Object 6068h: position_window_time

If the actual position of the drive is located within the positioning window
(position_window) for as long as defined in this object, the related bit 10 target_reached
is set in the statusword.
Index
6068h
Name
Object Code
VAR
Data Type
UINT16
Access
rw
PDO Mapping
yes
Units
ms
Value Range
065536
Default Value
400
4.7
Setpoint value limitation
4.7.1
Description of the objects

Index
Object
Name
2415h
RECORD
current_limitation
Type
Attr.
rw
Object 2415h: current_limitation

With the object group current_limitation, the maximum peak current for the motor can be
limited in the operating modes profile_position_mode, interpolated_position_mode,
homing_mode und velocity_mode, which makes a torque-limited speed operation
possible. The setponit value source of the limit torque is specified via the object
limit_current_input_channel. Here, a choice can be made between specification of a
direct setpoint value (fieldbus / RS232) or specification via an analogue input.
Depending on the source chosen, either the limit torque (source = fieldbus / RS232) or
the scaling factor for the analogue inputs (source = analogue input) is specified via the
object limit_current. In the first case, the torque-proportional current, in mA, is limited
directly; in the second case, the current that should correspond to a voltage of 10 V is
specified, in mA.
85
Index
2415h
Name
current_limitation
Object Code
RECORD
No. of Elements
Sub-Index
01h
Description
limit_current_input_channel
Data Type
INT8
Access
rw
PDO Mapping
no
Units
--
Value Range
0 ... 4
Default Value
Sub-Index
02h
Description
limit_current
Data Type
INT32
Access
rw
PDO Mapping
no
Units
mA
Value Range
--
Default Value
3550
Value
Significance
No limitation
AIN0
Reserved
RS232
CAN
86
4.8
Digital inputs and outputs
4.8.1
Overview
All digital inputs of the motor controller can be read via the CAN bus, and almost all digital
outputs can be set as desired. Moreover, status messages can be assigned to the digital
outputs of the motor controller.
4.8.2

Index
Object
Name
Type
Attr.
60FDh
VAR
digital_inputs
UINT32
ro
60FEh
ARRAY
digital_outputs
UINT32
rw
Object 60FDh: digital_inputs

The digital inputs can be read via the object 60FDh.
Index
60FDh
Name
digital_inputs
Object Code
VAR
Data Type
UINT32
Access
ro
PDO Mapping
yes
Units
--
Value Range
according to table below
Default Value
bit
Value
Digital input
00000001h
Negative limit switch
00000002h
Positive limit switch
00000008h
Interlock (controller or output stage enable missing)
16
29
00010000h
20000000h
DIN0 ... DIN13
30
40000000h
CAN baud rate 0 off
31
80000000h
CAN baud rate 1 off
87
Object 60FEh: digital_outputs

The digital outputs can be read via the object 60FEh. The three outputs can then be set as
desired via the object digital_outputs_data. It should be noted that a delay of up to 10 ms
may occur in triggering the digital outputs. When the outputs are really set can be
determined by reading back the object 60FEh.
Index
60FEh
Name
digital_outputs
Object Code
ARRAY
No. of Elements
Data Type
UINT32
Sub-Index
01h
Description
digital_outputs_data
Access
rw
PDO Mapping
yes
Units
--
Value Range
--
Default Value
bit
Value
Digital output
00000001h
Brake; read-only
16
00010000h
Ready to operate; read-only
17
19
00020000h
00080000h
DOUT1 ... DOUT3
EXAMPLE
A write access always influences bit17 to bit19.
To set DOUT1:
1.) The object 60FEh_01h digital_outputs_data(DOUT1 ... DOUT3)is being
read.
2.) Then bit17 is additionally set.
3.) The object 60FEh_01h digital_outputs_data(DOUT1 ... DOUT3)is being
read again.
88
4.9
Limit switch
4.9.1
Overview
Limit switches are used for the definition of the reference position of the motor controller.
Further information on the possible homing methods can be found in chapter
6.2. Operating mode homing (Homing Mode).
4.9.2
Index
Object
Name
6510h
RECORD
drive_data
Type
Attr.
rw
Object 6510h_11h: limit_switch_polarity

The polarity of the limit switches can be programmed via the object 6510h_11h
(limit_switch_polarity). For normally closed limit switches, a zero is in this object,
whereas a one is entered when normally open contacts are used.
Index
6510h
Name
drive_data
Object Code
RECORD
No. of Elements
44
Sub-Index
11h
Description
limit_switch_polarity
Data Type
INT16
Access
rw
PDO Mapping
no
Units
--
Value Range
0, 1
Default Value
Value
Significance
Normally closed contact
Normally open contact
89
Object 6510h_15h: limit_switch_deceleration

The object limit_switch_deceleration establishes the deceleration used in braking when
the limit switch is reached during normal operation (limit switch emergency stop ramp).
Sub-Index
15h
Description
limit_switch_deceleration
Data Type
INT32
Access
rw
PDO Mapping
no
Units
acceleration units
Value Range
0 ... 3000000
Default Value
2560000
4.10
Sampling of positions
4.10.1 Overview
The CMMS/CMMD family offers the possibility to save the actual position value on the
rising or falling edge of a digital input. This position value can then be read out for
calculation within a controller, for example.
Uultimately be read via the objects sample_position_rising_edge and
sample_position_falling_edge.
4.10.2 Description of the Objects

Index
Object
Name
Type
Attr.
204Ah
RECORD
sample_data
204Ah_05h
VAR
sample_position_rising_edge
INT32
ro
204Ah_06h
VAR
sample_position_falling_edge
INT32
ro
ro
Object 204Ah: sample_data

Index
204Ah
Name
sample_data
Object Code
RECORD
No. of Elements
90
The following objects contain the sampled positions.
Sub-Index
05h
Description
sample_position_rising_edge
Data Type
INT32
Access
ro
PDO Mapping
yes
Units
position units
Value Range
--
Default Value
--
Sub-Index
06h
Description
sample_position_falling_edge
Data Type
INT32
Access
ro
PDO Mapping
yes
Units
position units
Value Range
--
Default Value
--
4.11
Index
Device Information
Object
1000h_00h
Name
Type
Attr.
device_type
UINT32
ro
1008h
VAR
manufacturer_device_name
STR
ro
1009h
VAR
manufacturer_hardware_version
STR
ro
100Ah
VAR
manufacturer_firmware_version
STR
ro
1018h
RECORD
identity_object
rw
6510h
RECORD
drive_data
rw
Via numerous CAN objects, the most varied of information, such as motor controller type,
firmware used, etc. can be read out of the device.
91

Object 1000h: device_type
Through the object device_type, the device type of the controller can be read.
Index
1000h
Description
device_type
Data Type
UINT32
Access
ro
PDO Mapping
no
Units
--
Value Range
0x00020192 ... 0x00040192
Default Value
see table
Value
Significance
40192h
CMMS-ST
20192h
CMMS-AS
20192h
CMMD-AS
Object 1018h: identity_object

Through the identity_object established in the DS301, the motor controller can be
uniquely identified in a CANopen-network. For this purpose, the manufacturer code
(vendor_id), a unique product code (product_code), the revision number of the CANopen
implementation (revision_number) and the serial number of the device (serial_number)
can be read out.
Index
1018h
Name
identity_object
Object Code
RECORD
No. of Elements
Sub-Index
01h
Description
vendor_id
Data Type
UINT32
Access
ro
PDO Mapping
no
Units
--
Value Range
0x0000001D
Default Value
0x0000001D
92
Sub-Index
02h
Description
product_code
Data Type
UINT32
Access
ro
PDO Mapping
no
Units
--
Value Range
0x00001116 ... 0x00001118
Default Value
see table
Value
Significance
1116h
CMMS-ST
1117h
CMMS-AS
1118h
CMMD-AS
Sub-Index
03h
Description
revision_number
Data Type
UINT32
Access
ro
PDO Mapping
no
Units
MMMMSSSSh (M: main version, S: sub version)
Value Range
--
Default Value
Sub-Index
04h
Description
serial_number
Data Type
UINT32
Access
ro
PDO Mapping
no
Units
JMNNNNNN (J: Jahr (year), M: Monat (month),

N: Nummer (number))
Value Range
--
Default Value
--
93
Object 6510h_A9h: firmware_main_version

The main version number of the firmware (product stage) can be read out via the object
firmware_main_version.
Sub-Index
A9h
Description
firmware_main_version
Data Type
UINT32
Access
ro
PDO Mapping
no
Units
Value Range
--
Default Value
--
Object 6510h_AAh: firmware_custom_version

The version number of the customer-specific variants of the firmware can be read out via
the object firmware_custom_version.
Sub-Index
AAh
Description
firmware_custom_version
Data Type
UINT32
Access
ro
PDO Mapping
no
Units
Value Range
--
Default Value
--
Object 6510h_ADh: km_release

Through the version number of the km_release, firmware statuses (for CMMS-ST/AS from
firmware version 1.4.0.x.y) of the same product stage can be differentiated.
Sub-Index
ADh
Description
km_release
Data Type
UINT32
Access
ro
PDO Mapping
no
Units
--
Value Range
Default Value
--
94
4.12
Error management
4.12.1 Overview
The motor controllers of the CMMS/CMMD offer the option to change the error reaction of
individual events, e.g. the occurrence of a contouring error. As a result, the motor
controller reacts differently when a certain event occurs: Depending on the setting,
braking down can occur and the output stage shut off immediately, but also just a warning
can be shown on the display.
For every event, a minimum reaction is intended by the manufacturer, which cannot be
fallen below. And so "critical" errors, such as not reparametrising 06-0 short circuit
output stage, since here an immediate switch-off is necessary to protect the motor
controller from possible destruction.
If a lower error response is entered than is permissible for the respective error, the value
is limited to the lowest permissible error response.

Index
Object
Name
Type
Attr.
2100h
RECORD
error_management
2100h_01 h
VAR
error_number
UINT8
rw
2100h_02 h
VAR
error_reaction_code
UINT8
rw
ro
Object 2100h: error_management

Index
2100h
Name
error_management
Object Code
RECORD
No. of Elements
The main error number whose response should be changed must be specified in the
object error_number. The main error number is normally specified before the hyphen
(e.g. error 08-2, main error number 8). For possible error numbers, also see chap. 3.5
95
Sub-Index
01h
Description
error_number
Data Type
UINT8
Access
rw
PDO Mapping
no
Units
--
Value Range
1 96
Default Value
The response of the error can be changed in the object error_reaction_code.

If the response falls below the manufacturer's minimum response, it is limited to this
minimum. The response actually set can be determined by reading back.
Sub-Index
02h
Description
error_reaction_code
Data Type
UINT8
Access
rw
PDO Mapping
no
Units
--
Value Range
0, 3, 5, 8
Default Value
Depends on error_number
Value
Significance
No action
Warning on the 7-segment display
Braking with fast stop ramp
Output stage off
96
5. Device Control
5.
Device Control
5.1
Status Diagram (State Machine)
5.1.1
Overview
The following chapter describes how the motor controller can be regulated under
CANopen, that is, how the output stage is switched on or an error is acknowledged, for
example.
Under CANopen, the entire regulation of the motor controller is achieved via two objects:
The host can regulate the motor controller via the controlword, while the status of the
motor controller can be read back in the object statusword. The following terms are used
to explain controller regulation:
Status:
(State)
The motor controller is in different statuses, depending on

whether the final stage is switched on or an error has occurred, for
example. The statuses defined under CANopen are presented in
the course of the chapter.
Example: SWITCH_ON_DISABLED
Status transition
(State Transition)
Just as with the statuses, CANopen also defines how to go from

one status to another (e.g. to acknowledge an error). Status
transitions are triggered by the host by setting bits in the
controlword or internally through the motor controller, when it
recognises an error, for example.
Command
(Command)
To trigger status transitions, certain combinations of bits must be

set in the controlword. Such a combination is designated a
command.
Example: Enable Operation
Status diagram
(State Machine)
The statuses and status transitions together form the status

diagram, that is, the overview of all conditions and the transitions
possible from there.
97
5. Device Control
5.1.2
Status diagram of the motor controller (State Machine)
Fig. 5.1 Status diagram of the motor controller

The status diagram can be roughly divided into three areas: "Power Disabled" means that
the final stage is switched off and "Power Enabled" that the final stage is switched on.
The statuses needed for handling errors are summarised in the "Fault" area.
The most important statuses of the motor controller are shown highlighted in the diagram.
After it is switched on, the motor controller initialises itself and then reaches the status
SWITCH_ON_DISABLED. In this status, the CAN communication is completely function
capable and the motor controller can be parametrised (e.g. the "speed adjustment"
operating mode is set). The final stage is switched off and the shaft is thus freely
rotatable. Through the status transitions 2, 3, 4 which correspond in principle to the CAN
controller enable one reaches the status OPERATION_ENABLE. In this status, the output
stage is switched on and the motor regulated in accordance with the set operating mode.
Therefore, you should always make sure beforehand that the drive is correctly
parametrised and that a corresponding setpoint value equals zero.
The status transition 9 corresponds to removal of the output stage release, that is, a
motor that is still running would fizzle out unregulated.
If an error occurs (regardless from which status), the system ultimately branches into the
FAULT status. Depending on the severity of the error, certain actions, such as emergency
braking, can still be performed (FAULT_REACTION_ACTIVE).
98
5. Device Control
In order to perform the named status transitions, certain bit combinations must be set in
the controlword (see below). The lower 4 bits of the controlwords are jointly evaluated in
order to trigger a status transition. In the following, first only the most important status
transitions 2, 3, 4, 9 and 15 are explained. A table of all possible statuses and status
transitions are found at the end of this chapter.
The following table contains the desired status transition in the 1st column and in the 2nd
column the requirements necessary for it (usually a command through the host, here
depicted with frame). How this command is generated, that is, which bits must be set in
the controlword, is evident in the 3rd column (x = not relevant).
No. Is performed when
Bit combination (controlword)

Bit
Action
3 2 1 0
Output stage and controller enable

prev. + command Shutdown
Shutdown
= x 1 1 0 None
Command Switch On
Switch On
= x 1 1 1
Switching on the final

stage
Command Enable Operation
Enable Operation
= 1 1 1 1
Control in accordance with

set operating mode
Command Disable Voltage
Disable Voltage
= x x 0 x
Final stage is blocked.

Motor rotates freely.
15
Error eliminated+
command Fault Reset
Fault Reset
= Bit 7 =
Acknowledge error
Table 5.1: Most important status transitions of the motor controller
EXAMPLE
After the motor controller has been parametrised, the motor controller
should be "enabled", that is, the output stage switched on:
1.) The motor controller is in the status SWITCH_ON_DISABLED
2.) The motor controller should be in the status OPERATION_ENABLE
3.) The transitions 2, 3 and 4 are to be carried out according to the
status diagram (Fig. 5.1).
4.) From Table 5.1 follows:
Transition 2: controlword = 0006h
New status: READY_TO_SWITCH_ON *1)
Transition 3: controlword = 0007h
New status: SWITCHED_ON *1)
Transition 4: controlword = 000Fh
New status: OPERATION_ENABLE *1)
Notes:
1.) The example assumes that no other bits are set in the controlword
(for the transitions, only bits 0 3 are important).
2.) Transitions 3 and 4 can be combined by setting the controlword
immediately to 000Fh. For status transition 2, the set bit 3 is not
relevant.
1)
* The host must wait until the status in the statusword can be read
back. This is explained in detail below.
99
5. Device Control
Status diagram: statuses

The following table lists all statuses and their meaning:
Name
Significance
NOT_READY_TO_SWITCH_ON The motor controller performs a self-test. The CAN communication does
not work yet.
SWITCH_ON_DISABLED
The motor controller has completed its self-test. CAN communication is

possible.
READY_TO_SWITCH_ON
The motor controller waits until the digital inputs "output stage" and
"controller enable" are at 24 V.
(Controller enable logic "Digital input and CAN").
SWITCHED_ON *1)
The final stage is switched on.
OPERATION_ENABLE *1)
Voltage to the motor is on, and the motor is regulated according to the
operating mode.
QUICKSTOP_ACTIVE *1)
The quick stop function is carried out (see: quick_stop_option_ code).

Voltage to the motor is on, and the motor is regulated according to the
quick stop function.
FAULT_REACTION_ACTIVE *1)
An error has occurred. In case of critical errors, the system immediately

switches into the Fault status. Otherwise, the action specified in the
fault_reaction_option_code is carried out. Voltage to the motor is on, and
the motor is regulated according to the fault reaction function.
FAULT
An error has occurred. No voltage is applied to the motor.
*1)
The final stage is switched on.
Status diagram: Status transitions

The following table lists all statuses and their meaning:

Bit
Action
3 2 1 0
Switched on or reset occurs
Internal transition
Perform self-test
Self-test successful
Internal transition
Activation of CAN
communication
Output stage and controller enable

prev. + command Shutdown
Shutdown
= x 1 1 0 -
Command Switch On
Switch On
= x 1 1 1
Switching on the final

stage
Command Enable Operation
Enable Operation
= 1 1 1 1
Control in accordance with

set operating mode
Command Disable Operation
Disable Operation = 0 1 1 1
100

Motor rotates freely
5. Device Control

Bit
Action
3 2 1 0
Command Shutdown
Shutdown
= x 1 1 0
Command Quick Stop
Quick Stop
= x 0 1 x -
Command Shutdown
Shutdown
= x 1 1 0

Disable Voltage
= x x 0 x

Motor rotates freely.
10
Disable Voltage
= x x 0 x

11
Command Quick Stop
Quick Stop
Braking is introduced in
= x 0 1 x accordance with
quick_stop_option_code.
12
Braking ended without command

Disable Voltage
Disable Voltage
= x x 0 x

13
Error occurred
Internal transition
In case of uncritical errors,

reaction according to
fault_reaction_option_code.
For critical errors,
transition 14 occurs
14
Error resolution is ended
Internal transition

15
Error eliminated+
command Fault Reset
Fault Reset
= Bit 7 =
Acknowledge error
(with rising flank)
Caution
Output stage blocked
means that the power semiconductors (transistors) can no longer
be actuated. If this status is taken with a turning motor,
it fizzles out unbraked. If a mechanical motor brake is present,
it is automatically actuated.
The signal does not guarantee that the motor is really voltage-free.
Caution
Output stage and controller enable enabled
means that the motor is actuated and regulated according to the
chosen operating mode. If a mechanical motor brake is present,
it is automatically triggered. In case of a defect or incorrect
parametrisation (motor current, number of poles, resolver offset
angle, etc.), this can result in uncontrolled behaviour of the drive.
101
5. Device Control
5.1.3
controlword (control word)
Object 6040h: controlword

With the controlword, the current status of the motor controller can be changed or a
certain action (e.g. start of homing) can be directly triggered. The function of bits 4, 5, 6
and 8 depends on the current operating mode (modes_of_operation) of the motor
controller, which is explained after this chapter.
Index
6040h
Name
controlword
Object Code
VAR
Data Type
UINT16
Access
rw
PDO Mapping
yes
Units
--
Value Range
--
Default Value
Bit
Value
Function
0001h
0002h
Control the status transitions.
0004h
(These bits are evaluated together)
0008h
0010h
new_set_point / start_homing_operation / enable_ip_mode
0020h
change_set_immediatly
0040h
absolute / relative
0080h
reset_fault
0100h
halt:
0200h
reserved
set to 0
10
0400h
reserved
set to 0
11
0800h
reserved
set to 0
12
1000h
reserved
set to 0
13
2000h
reserved
set to 0
14
4000h
reserved
set to 0
15
8000h
reserved
set to 0
Table 5.2: Bit arrangement of the controlword
102
5. Device Control
As already comprehensively described, status transitions can be carried out with bits
0 3. The commands necessary for this are presented again here in an overview. The Fault
Reset command is generated by a positive edge change (from 0 to 1) of bit 7.
Command:
Bit 7
Bit 3
Bit 2
Bit 1
Bit 0
0080h
0008h
0004h
0002h
0001h
Shutdown
Switch On
Disable Voltage
Quick Stop
Disable Operation
Enable Operation
Fault Reset
Table 5.3: Overview of all commands (x = not relevant)

As some status modifications require a certain amount of time, all
status modifications triggered via the controlword must be read
back via the statusword. Only when the requested status can also
be read in the statusword may a further command be written via
the controlword.
The remaining bits of the controlword are explained in the following. Some bits have a
different meaning, depending on the operating mode (modes_of_operation), that is,
whether the motor controller is speed or torque-controlled:
Depending on modes_of_operation:
Bit 4
new_set_point
In the Profile Position Mode:

A rising edge signals to the motor controller that
a new positioning task should be undertaken.
Also see chapter 6.2 on this.
start_homing_operation
In the Homing Mode:

A rising edge causes the parametrised reference
travel to start. A falling edge interrupts a running
reference travel prematurely.
enable_ip_mode
In the Interpolated Position Mode:

This bit must be set when the interpolation data
records are supposed to be evaluated. It is
acknowledged through the bit ip_mode_active in
the statusword. See also chapter 6.4
103
5. Device Control
Bit 5
change_set_immediatly
Only in the Profile Position Mode:

If this bit is not set, any positioning tasks
currently running will be worked off before any
new one is begun. If the bit is set, an ongoing
positioning is interrupted immediately and
replaced by the new positioning task.
Also see chapter 6.3 on this.
Bit 6
relative
Only in the Profile Position Mode:

If the bit is set, the motor controller refers the
target position (target_position) of the current
positioning job to the setpoint position
(position_demand_value) of the position
controller.
Bit 7
reset_fault
In the transition from zero to one, the motor
controller tries to acknowledge the existing
faults. This is only successful if the cause of the
error has been resolved.
Dependent on modes_of_operation:
Bit 8
halt

If the bit is set, the ongoing positioning is
interrupted. Braking is with the
profile_deceleration. After the process is ended,
the bit target_reached is set in the statusword.
Deletion of the bit has no effect.
halt
In the Profile Velocity Mode:

If the bit is set, the speed is reduced to zero.
Braking is with the profile_deceleration.
Deletion of the bit causes the motor controller to
accelerate again.
halt
In the Profile Torque Mode:

If the flag is set, the torque is lowered to zero.
This occurs with the torque_slope. Deletion of
the bit causes the motor controller to accelerate
again.
halt
In the Homing Mode:

If the bit is set, the ongoing reference travel is
interrupted. Deletion of the bit has no effect.
104
5. Device Control
5.1.4
Read-out of the motor controller status
Just as various status transitions can be triggered via the combination of several bits of
the controlword, the status of the motor controller can be read out via the combination of
various bits of the statusword.
The following table lists the possible statuses of the status diagram as well as the related
bit combination, with which they are displayed in the statusword.
Mask
Value
004Fh
0000h
004Fh
0040h
006Fh
0021h
006Fh
0023h
006Fh
0027h
004Fh
0008h
Fault_Reaction_Active
004Fh
000Fh
Quick_Stop_Active
006Fh
0007h
Status
Bit 6
Bit 5
Bit 3
Bit 2
Bit 1
Bit 0
0040h
0020h
0008h 0004h 0002h 0001h
Not_Ready_To_Switch_On
Switch_On_Disabled
Ready_to_Switch_On
Switched_On
Operation_Enable
Fault
Table 5.4: Device status (x = not relevant)
EXAMPLE
The above example shows which bits in the controlword need to be set in
order to enable the motor controller. Now the newly written status should
be read out of the statusword:
Transition from SWITCH_ON_DISABLED to OPERATION_ENABLE:
1.) Write status transition 2 into the controlword.
2.) Wait until the status READY_TO_SWITCH_ON is displayed in the
statusword.
Transition 2:
3.)
4.)
controlword = 0006h Wait until (statusword & 006Fh) = 0021h *1)
Transitions 3 and 4 can be written together into the controlword.

Wait until the status OPERATION_ENABLE is displayed in the
statusword.
Transition
3+4: controlword = 000Fh Wait until (statusword & 006Fh) = 0027h *1)
Note:
The example assumes that no other bits are set in the controlword
(for the transitions, only bits 0 ... 3 are important).
*1)To identify the statuses, bits that are not set must also be evaluated
(see table). For that reason, the statusword must be masked accordingly.
105
5. Device Control
5.1.5
statusword (Status words)
Object 6041h: statusword

Index
6041h
Name
statusword
Object Code
VAR
Data Type
UINT16
Access
ro
PDO Mapping
yes
Units
--
Value Range
--
Default Value
--
Bit
Value
Function
0001h
Status of the motor controller (see Table 5.4).

(These bits must be evaluated together)
0002h
0004h
0008h
0010h
voltage_enabled
0020h
Status of the motor controller (see Table 5.4).
0040h
0080h
warning
0100h
drive_is_moving
0200h
remote
10
0400h
target_reached
11
0800h
internal_limit_active
12
1000h
set_point_acknowledge / speed_0 /
homing_attained / ip_mode_active
13
2000h
following_error / homing_error
14
4000h
reserved
15
8000h
Drive referenced
Table 5.5: Bit arrangement in the status word:

All bits of the statusword are unbuffered. They represent the
current device status.
106
5. Device Control
Besides the motor controller status, various events are displayed in the statusword, that
is, to each bit is assigned a specific event, such as contouring error. The individual bits
have the following meaning thereby:
Bit 4
voltage_enabled
This bit is set when the final stage transistors are
switched on.
Warning
In case of a defect, the motor can still be under voltage.
Bit 5
quick_stop
If the bit is deleted, the drive carries out a
Quick Stop according to quick_stop_option_code.
Bit 7
warning
This bit shows that a direction of rotation is blocked
because one of the limit switches has been
triggered. The setpoint value lock is deleted again
when an error acknowledgement is performed
(see controlword, fault_reset)
Bit 8
drive_is_moving
This bit shows that the motor is currently moving.
Bit 9
remote
This bit shows that the final stage of the motor
controller can be enabled via the CAN network. It is
set when the controller enable logic is
correspondingly set via the object enable_logic.
Bit 10
target_reached

The bit is set when the current target position is
reached and the current position
(position_actual_value) is located in the
parametrised position window
(position_window).
It is also set when the drive comes to a standstill
with set halt bit.
It is deleted as soon as a new target is specified.
107
5. Device Control
target_reached

The bit is set when the speed
(velocity_actual_value) of the drive is within the
tolerance window (velocity_window,
velocity_window_time).
Bit 11
internal_limit_active
This bit shows that the I2t limitation is active.
Bit 12
set_point_acknowledge

This bit is set when the motor controller has
recognised the set bit new_set_point in the
controlword. It is deleted again after the bit
new_set_point in the controlword has been set
to zero. Also see chapter 6.3 on this.
speed_0

This bit is set when the current actual speed
(velocity_actual_value) of the drive is within the
related tolerance window (velocity_threshold).
homing_attained
In the Homing Mode:

This bit is set when the reference travel has
ended without error.
ip_mode_active
In the Interpolated Position Mode:

This bit shows that interpolation is active and the
interpolation data records have been evaluated.
It is set when requested by the bit
enable_ip_mode in the controlword.
See also chapter 6.4
Dependent on modes_of_operation:
Bit 13
following_error

This bit is set when the current actual position
(position_actual_value) differs from the target
position (position_demand_value) so much that
the difference lies outside the parametrised
tolerance window (following_error_window,
following_error_time_out).
108
5. Device Control
homing_error
In the Homing Mode:

This bit is set when homing is interrupted
(Halt bit), both limit switches are triggered
simultaneously or the limit switch search travel
already performed is greater than the specified
positioning space (min_position_limit,
max_position_limit).
Bit 14
reserved
This bit is unused and must not be evaluated.
Bit 15
Drive referenced
This bit shows that the drive (after being switched
on) has already been successfully referenced.
Object 1002h_00h: manufacturer_status_register

Through the object manufacturer_status_register, the current status of the controller can
be read.
Sub-Index
00h
Description
manufacturer_status_register
Data Type
UINT32
Access
ro
PDO Mapping
no
Units
--
Value Range
0 FFFFFFFFh
Default Value
--
109
5. Device Control
Bit
Name
1= homing active
1= reference switch reached
1= negative limit switch reaches DIN7
1= positive limit switch reaches DIN8
1= Message positioning expired (x_set = pos_x_set)
1= Target reached message (x_act = x_set +/-n_mes_hyst)
1= Remaining path positioning reached
1= Reverse mode
1= Speed report n_act=(n_mes +/-n_mes_hyst)
1= Speed report n_act=(n_set +/-n_mes_hyst)
10
1= Positioning started
11
It monitoring 1= limitation to nominal current; It motor/servo
12
1= SinCos encoder activated
13
1= Speed report n_act=(0 +/-n_mes_hyst)
14
Output stage enable 1= output stage is switched on
15
Ready status 1
16
Warning message 1 = Warning (no common error and no switch-off)
17
Common error message 1 = common error
18
1 = Negative direction blocked
19
1 = Positive direction blocked
20
1 = Homing has been carried out
21
1 = Automatic encoder comparison active
22
1 = MMC initialised
23
1 = Output stage enabled
24
1 = Controller and output stage INTERNAL enabled
25
1 = Speed setpoint value INTERNAL enabled
26
0 = Normal / 1 = Emergency stop without position sensor active (option)
27
0 = Normal / 1 = MOTID mode
28
1 = Write permission available
29
1 = Technology module equipped
30
1 = MMC plugged
31
1 = Safe halt equipped
110
6. Operating modes
6.
Operating modes
6.1
Setting the operating mode
6.1.1
Overview
The motor controller can be placed into a number of operating modes. Only some are
specified in detail under CANopen:
-
Torque-regulated operation
profile torque mode
Speed-adjusted operation
profile velocity mode
Homing
Homing mode
Positioning mode
profile position mode
Synchronous position specification
interpolated position mode
6.1.2

Index
Object
Name
Type
Attr.
6060h
VAR
modes_of_operation
INT8
wo
6061h
VAR
INT8
ro
Object 6060h: modes_of_operation

The object modes_of_operation sets the operating mode of the motor controller.
Index
6060h
Name
modes_of_operation
Object Code
VAR
Data Type
INT8
Access
rw
PDO Mapping
yes
Units
--
Value Range
1, 3, 4, 6, 7
Default Value
--
111
6. Operating modes
Value
Significance
Profile Position Mode (position controller with positioning mode)
Profile Velocity Mode (speed regulator with setpoint value ramp)
Torque Profile Mode (torque regulator with setpoint value ramp)
Homing Mode (reference travel)
Interpolated Position Mode
The current operating mode can only be read in the object

modes_of_operation_display!
Since a change in operating mode can take some time, one must
wait until the newly selected mode appears in the object
modes_of_operation_display.
Object 6061h: modes_of_operation_display

In the object modes_of_operation_display, the current operating mode of the motor
controller can be read. If an operating mode is set via the object 6060h, besides the actual
operating mode, the setpoint value activations (setpoint value selector) needed for
operation of the motor controller under CANopen must also be made. These are
Profile Velocity Mode
Profile Torque Mode
Selector A
Speed setpoint value (fieldbus 1)
Torque setpoint value (fieldbus 1)
Selector B
Torque limitation, if necessary
inactive
Selector C
Speed setpoint value (synchronous speed)
inactive
In addition, the setpoint value ramp is always switched on. Only if these activations are
set in the stated way will one of the CANopen operating modes be returned. If these
settings are changed, for example, with the FCT start-up software, a respective "user"
operating mode is returned to show that the selectors have been changed.
Index
6061h
Name
Object Code
VAR
Data Type
INT8
Access
ro
PDO Mapping
yes
Units
--
Value Range
-1, -11, -12, -13, -14, -15, 1, 3, 4, 6, 7
Default Value
112
6. Operating modes
Value
Significance
-1
Unknown operating mode / change in operating mode
-11
User Position Mode
-12
Internal speed regulation without setpoint value ramp (regulated operation)
-13
User Velocity Mode
-14
User Torque Mode
-15
Internal position regulation (regulated and controlled)
Profile Position Mode (position controller with positioning mode)
Profile Velocity Mode (speed regulator with setpoint value ramp)
Torque Profile Mode (torque regulator with setpoint value ramp)
Homing Mode (reference travel)
The operating mode can only be set via the object

modes_of_operation. Since a change in operating mode can take
some time, one must wait until the newly selected mode appears in
the object modes_of_operation_display. During this time,
"Invalid operating mode" (-1) may be displayed briefly.
6.2
Operating mode homing (Homing Mode)
6.2.1
Overview
This chapter describes how the motor controller searches for the reference position.
There are various methods to determine this position (Object 6098h: homing_method).
Fig. 6.1 Reference travel

The user can determine the speed, acceleration and type of reference travel.
With the object home_offset, the zero position of the drive can be displaced to any
position desired.
There are two reference travel speeds. The higher search velocity
(speed_during_search_for_switch) is used to find the limit switch or the reference switch.
Then, to exactly determine the position of the switch edge, the system switches to crawl
speed (speed_during_search_for_zero).
113
6. Operating modes
The drive to the zero position under CANopen is normally not a
component of the reference travel. If all necessary variables are
know to the motor controller (e.g. because it already knows the
position of the zero pulse), no physical movement is performed.
6.2.2

Index
Object
Name
Type
Attr.
607Ch
VAR
home_offset
INT32
rw
6098h
VAR
homing_method
INT8
rw
6099h
ARRAY
homing_speeds
UINT32
rw
609Ah
VAR
homing_acceleration
UINT32
rw
2045h
VAR
homing_timeout
UINT16
rw

Index
Object
Name
Type
Chapter
6040h
VAR
controlword
UINT16
5 Device control
6041h
VAR
statusword
UINT16
5 Device control
Object 607Ch: home_offset

The object home_offset establishes the shift of the zero position compared to the
determined reference position.
Home
Position
Zero
Position
home_offset
Fig. 6.2 Home Offset
114
6. Operating modes
Index
607Ch
Name
home_offset
Object Code
VAR
Data Type
INT32
Access
rw
PDO Mapping
yes
Units
position units
Value Range
--
Default Value
Object 6098h: homing_method

A series of different methods are provided for reference travel. Through the object
homing_method, the variant needed for the application can be selected.
Index
6098h
Name
homing_method
Object Code
VAR
Data Type
INT8
Access
rw
PDO Mapping
yes
Units
Value Range
-18, -17, -2, -1, 1, 2, 17, 18, 33, 34, 35
Default Value
17
Value
Direction
Objective
Point of reference for zero
-18
Positive
Stop
Stop
-17
Negative
Stop
Stop
-2
Positive
Stop
Zero pulse
-1
Negative
Stop
Zero pulse
Negative
Limit switch
Zero pulse
Positive
Limit switch
Zero pulse
17
Negative
Limit switch
Limit switch
18
Positive
Limit switch
Limit switch
33
Negative
Zero pulse
Zero pulse
34
Positive
Zero pulse
Zero pulse
No travel
Current actual position
35
115
6. Operating modes
For reference travel with the motors of the EMMS-ST series, no
transmitter is needed for methods 17, 18 and 35.
The homing_method can only be set when homing is not active. Otherwise, an error
message (see chapter 3.5) is returned.
The process of the individual methods is described in detail in chapter 6.2.3.
Object 6099h: homing_speeds

This object determines the speeds used during the reference travel.
Index
6099h
Name
homing_speeds
Object Code
ARRAY
No. of Elements
Data Type
UINT32
Sub-Index
01h
Description
speed_during_search_for_switch
Access
rw
PDO Mapping
yes
Units
speed units
Value Range
--
Default Value
100
Sub-Index
02h
Description
speed_during_search_for_zero
Access
rw
PDO Mapping
yes
Units
speed units
Value Range
--
Default Value
10
116
6. Operating modes
Object 609Ah: homing_acceleration

The object homing_acceleration determines the acceleration that is used during homing
for all acceleration and braking processes.
Index
609Ah
Name
homing_acceleration
Object Code
VAR
Data Type
UINT32
Access
rw
PDO Mapping
yes
Units
acceleration units
Value Range
--
Default Value
80000
6.2.3
Reference Travel Processes
The various reference travel methods are depicted in the following illustrations.
The circled numbers correspond to the code to be entered in the object homing_method.
Method 1: Negative limit switch with zero pulse evaluation

With this method, the drive first moves relatively quickly in a negative direction until it
reaches the negative limit switch. This is depicted in the diagram through the rising edge.
After that, the drive moves back slowly and searches for the exact position of the limit
switch. The zero position refers to the first zero pulse of the angle encoder in the positive
direction from the limit switch.
Fig. 6.3 Reference travel to the negative limit switch with evaluation of the zero pulse
117
6. Operating modes
Method 2: Positive limit switch with zero pulse evaluation

With this method, the drive first moves relatively quickly in a positive direction until it
reaches the positive limit switch. This is depicted in the diagram through the rising edge.
switch. The zero position refers to the first zero pulse of the angle encoder in the negative
direction from the limit switch.
Fig. 6.4 Reference travel to the positive limit switch with evaluation of the zero pulse
Method 17: Reference travel to the negative limit switch

With this method, the drive first moves relatively quickly in a negative direction until it
reaches the negative limit switch. This is depicted in the diagram through the rising edge.
switch. The zero position refers to the falling edge from the negative limit switch.
Fig. 6.5 Reference travel to the negative limit switch
118
6. Operating modes
Method 18: Reference travel to the positive limit switch

With this method, the drive first moves relatively quickly in a positive direction until it
reaches the positive limit switch. This is depicted in the diagram through the rising edge.
switch. The zero position refers to the falling edge from the positive limit switch.
Fig. 6.6 Reference travel to the positive limit switch
Method 1: Negative stop with zero pulse evaluation

With this method, the drive first moves in a negative direction until it reaches the stop.
The I2t integral of the motor rises hereby to a maximum 90 %. The stop must be
mechanically dimensioned so that it does not suffer damage in the parametrised
maximum current. The zero position refers to the first zero pulse of the angle encoder in
the positive direction from the stop.
Fig. 6.7 Reference travel to the negative stop with evaluation of the zero pulse
119
6. Operating modes
Method 2: Positive stop with zero pulse evaluation

With this method, the drive first moves in a positive direction until it reaches the stop.
maximum current. The zero position refers to the first zero pulse of the angle encoder in
the negative direction from the stop.
Fig. 6.8 Reference travel to the positive stop with evaluation of the zero pulse
Method 17: Reference travel to the negative stop

With this method, the drive first moves in a negative direction until it reaches the stop.
maximum current. The zero position refers directly to the stop.
Fig. 6.9 Reference travel to the negative stop
Method 18: Reference travel to the positive stop

With this method, the drive first moves in a positive direction until it reaches the stop.
maximum current. The zero position refers directly to the stop.
Fig. 6.10 Reference travel to the positive stop
120
6. Operating modes
Methods 33 and 34: Homing to the zero pulse

With methods 33 and 34, the direction of homing is negative or positive. The zero position
refers to the first zero pulse from the angle encoder in the direction of search.
Fig. 6.11 Reference travel only with reference to the zero pulse
Method 35: Homing to the current position

With method 35, the reference position refers to the current position.
6.2.4
Control of Reference Travel
Homing is controlled and monitored through the controlword / statusword. The start is
made by setting bit 4 in the controlword. Successful completion of the travel is shown by
a set bit 12 in the object statusword. A set bit 13 in the object statusword shows that an
error has occurred during homing. The cause of the error can be determined via the
objects error_register and pre_defined_error_field.
Bit 4
Significance
Reference travel is not active
01
Start reference travel
Reference travel is active
10
Reference travel interrupted
Table 6.1: Description of the bits in the controlword

Bit 13
Bit 12
Significance
Reference travel is not completed yet
Reference travel performed successfully
Reference travel not performed successfully
Prohibited status
Table 6.2: Description of the bits in the status word
121
6. Operating modes
6.3
Positioning Operating Mode

(Profile Position Mode)
6.3.1
Overview
The structure of this operating mode is evident in Fig. 6.12:

The target position (target_position) is passed on to the curve generator. This generates a
setpoint position value (position_demand_value) for the position controller, which is
described in the Position Controller chapter (Position Control Function, chapter 4.6).
These two function blocks can be set independently of each other.
Trajectory Generator
Parameters
target_position
(607Ah)
Trajectory Generator
Position Control Law

Parameters
(60FDh)
Position Control
Function
control_effort
(60FAh)
Fig. 6.12 Curve generator and position controller

All input variables of the curve generator are converted with the variables of the factor
group (see chap. 4.2) into the internal units of the regulator. The internal variables are
marked here with an asterisk and are normally not needed by the user.
122
6. Operating modes
6.3.2

Index
Object
Name
Type
Attr.
607Ah
VAR
target_position
INT32
rw
6081h
VAR
profile_velocity
UINT32
rw
6082h
VAR
end_velocity
UINT32
rw
6083h
VAR
profile_acceleration
UINT32
rw
6084h
VAR
profile_deceleration
UINT32
rw
6086h
VAR
motion_profile_type
INT16
rw
6085h
VAR
quick_stop_deceleration
UINT32
rw

Index
Object
Name
Type
Chapter
6040h
VAR
controlword
INT16
5 Device control
6041h
VAR
statusword
UINT16
5 Device control
605Ah
VAR
quick_stop_option_code
INT16
5 Device control
607Eh
VAR
polarity
UINT8
6093h
ARRAY
position_factor
UINT32
6094h
ARRAY
UINT32
6097h
ARRAY
acceleration_factor
UINT32
Object 607Ah: target_position

The object target_position (target position) determines which position of the motor
controller should be traveled to. The current setting for speed, acceleration, brake delay
and type of travel profile (motion_profile_type) etc. must be considered thereby.
The target position (target_position) is interpreted either as an absolute or relative
statement (controlword, bit 6).
Index
607Ah
Name
target_position
Object Code
VAR
Data Type
INT32
Access
rw
PDO Mapping
yes
Units
position units
Value Range
--
Default Value
123
6. Operating modes
Object 6081h: profile_velocity

The object profile_velocity specifies the speed that is normally reached at the end of the
acceleration ramp during positioning. The object profile_velocity is specified in speed
units.
Index
6081h
Name
profile_velocity
Object Code
VAR
Data Type
UINT32
Access
rw
PDO Mapping
yes
Units
speed_units
Value Range
--
Default Value
Object 6082h: end_velocity

The object end_velocity (end speed) defines the speed the drive must have when it
reaches the target position (target_position). Normally, this object must be set to zero so
that the motor controller stops when it reaches the target position (target_position).
For continuous positioning, a speed different from zero can be specified.
The object end_velocity is specified in the same units as the object profile_velocity.
Index
6082h
Name
end_velocity
Object Code
VAR
Data Type
UINT32
Access
rw
PDO Mapping
yes
Units
speed units
Value Range
--
Default Value
124
6. Operating modes
Object 6083h: profile_acceleration

The object profile_acceleration specifies the acceleration with which the motor
accelerates to the setpoint speed. It is specified in user-defined acceleration units.
(See chapter 4.2: Factor Group).
Index
6083h
Name
Object Code
VAR
Data Type
UINT32
Access
rw
PDO Mapping
yes
Units
acceleration units
Value Range
--
Default Value
--
Object 6084h: profile_deceleration

The object profile_deceleration specifies the deceleration with which the motor is braked.
It is specified in user-defined acceleration units. (See chapter 4.2: Factor Group).
Index
6084h
Name
Object Code
VAR
Data Type
UINT32
Access
rw
PDO Mapping
yes
Units
acceleration units
Value Range
--
Default Value
--
Object 6085h: quick_stop_deceleration

The object quick_stop_deceleration specifies with which braking deceleration the motor
stops when a Quick Stop is performed. The object quick_stop_deceleration is specified in
the same unit as the object profile_deceleration.
125
6. Operating modes
Index
6085h
Name
Object Code
VAR
Data Type
UINT32
Access
rw
PDO Mapping
yes
Units
acceleration units
Value Range
--
Default Value
--
Object 6086h: motion_profile_type

The object motion_profile_type is used to select the type of positioning profile.
Index
6086h
Name
motion_profile_type
Object Code
VAR
Data Type
INT16
Access
rw
PDO Mapping
yes
Units
--
Value Range
0, 2
Default Value
Value
Curve form
linear ramp
Jerk-free ramp
126
6. Operating modes
6.3.3
Functional description
There are two possibilities for passing on a target position to the motor controller:
Simple positioning task
If the motor controller has reached a target position, it signals this to the host with the bit
target_reached (bit 10 in the object statusword). In this operating mode, the motor
controller stops when it has reached the goal.
Sequence of positioning tasks
After the motor controller has reached a target, it immediately begins travelling to the next
target. This transition can occur smoothly, without the motor controller meanwhile coming
to a standstill.
These two methods are controller through the bits new_set_point and
change_set_immediatly in the object controlword and set_point_acknowledge in the
object statusword. These bits are in a question-answer relationship to each other.
This makes it possible to prepare a positioning task while another is still running.
Fig. 6.13 Positioning task transmittal from a host

In Fig. 6.13, you can see how the host and the motor controller communicate with each
other via the CAN bus:
First, the positioning data (target position, travel speed, end speed and acceleration) are
transmitted to the motor controller. When the positioning data record has been
completely written (1), the host can start positioning by setting the bit new_set_point in
the controlword to "1" (2). After the motor controller recognises the new data and takes it
over into its buffer, it reports this to the host by setting the bit set_point_acknowledge in
the statusword (3).
Then the host can begin to write a new positioning data set into the motor controller (4)
and delete the bit new_set_point again (5). Only when the motor controller can accept a
new positioning job (6) does it signal this through a "0" in the set_point_acknowledge
bit. Before this, no new positioning may be started by the host (7).
127
6. Operating modes
In Fig. 6.14, a new positioning task is only started after the previous one has been
completely finished. To determine this, the host evaluates the bit target_reached in the
object statusword.
Fig. 6.14 Simple positioning task

In Fig. 6.15, a new positioning task is already started while the previous one is still in
process. The host already passes the subsequent target on to the motor controller when
the motor controller signals with deletion of the bit set_point_acknowledge that it has
read the buffer and started the related positioning. In this way, positioning tasks follow
each other seamlessly. For this operating mode, the object end_velocity should be written
over with the same value as the object profile_velocity so that the motor controller does
not briefly brake to zero each time between the individual positioning tasks.
Fig. 6.15 Continuous sequence of positioning tasks

If besides the bit new_set_point the bit change_set_immediately is also set to "1" in the
controlword, the host instructs the motor controller to start the new positioning task
immediately. In this case, a positioning task already in process is interrupted.
128
6. Operating modes
6.4
6.4.1
Overview
The interpolated position mode (IP) permits continuous specification of position setpoint
values in a multi-axis use of the motor controller. To do this, synchronisation telegrams
(SYNC) and nominal position values are specified by a higher-level controller in a fixed
time grid (synchronisation interval). Since the interval is normally greater than one
position controller cycle, the motor controller independently interpolates the data values
between two specified position values, as shown in the following diagram.
4
1 Position
setpoint time
slot pattern
2 Position control
cycle time
3 Interpolated
sequence of the
position
4 Interpolated
sequence of the
position
2
Fig. 6.16 Positioning task linear interpolation between two data values
In the following, the objects needed for the interpolated position mode are described
first. A subsequent functional description comprehensively covers the activation and
sequencing of parameter setting.
129
6. Operating modes
6.4.2

Index
Object
Name
Type
Attr.
60C0h
VAR
interpolation_submode_select
INT16
rw
communication_cycle_period
UINT32
ro
1006h_00h
60C1h
REC
interpolation_data_record
rw
60C4h
REC
interpolation_data_configuration
rw
60C2h
REC
interpolation_time_period
rw

Index
Object
Name
Type
Chapter
6040h
VAR
controlword
INT16
5 Device control
6041h
VAR
statusword
UINT16
5 Device control
6094h
ARRAY
UINT32
6097h
ARRAY
acceleration_factor
UINT32
Object 60C0h: interpolation_submode_select

The type of interpolation is established via the object interpolation_submode_select.
Currently, only the manufacturer-specific variant "Linear Interpolation without Buffer" is
available.
Index
60C0h
Name
interpolation_submode_select
Object Code
VAR
Data Type
INT16
Access
rw
PDO Mapping
yes
Units
--
Value Range
-2
Default Value
-2
Value
Interpolation type
-2
Linear Interpolation without Buffer
130
6. Operating modes
Object 60C1h: interpolation_data_record

The object record interpolation_data_record represents the actual data record. It consists
of an entry for the position value (ip_data_position). The position value is interpreted as
absolute.
Index
60C1h
Name
interpolation_data_record
Object Code
RECORD
No. of Elements
Sub-Index
01h
Description
ip_data_position
Data Type
INT32
Access
rw
PDO Mapping
yes
Units
position units
Value Range
--
Default Value
--
Object 60C2h: interpolation_time_period

The synchronisation interval can be set via the object record interpolation_time_period.
Via ip_time_index, the unit (ms or 1/10 ms) of the interval is established, which is
parametrised via ip_time_units. To achieve synchronisation, the complete controller
cascade (current, speed and position controller) is synchronised up to the external cycle.
A change in the synchronisation interval is therefore effective only after a reset.
Therefore, if the interpolation interval is to be changed via the CAN bus, the parameter set
must be saved (see chapter 4.1) and a reset performed (see chapter 3.7) so that the new
synchronisation interval becomes effective. The synchronisation interval must be
maintained exactly.
Index
60C2h
Name
interpolation_time_period
Object Code
RECORD
No. of Elements
131
6. Operating modes
Sub-Index
01h
Description
ip_time_units
Data Type
UINT8
Access
rw
PDO Mapping
yes
Units
gem ip_time_index
Value Range
ip_time_index = -3: 1, 2, ... , 9, 10

ip_time_index = -4: 10, 20, ... , 90, 100
Default Value
--
Sub-Index
02h
Description
ip_time_index
Data Type
INT8
Access
rw
PDO Mapping
yes
Units
--
Value Range
-3, -4
Default Value
-4
Value
ip_time_units is specified in
-3
10-3 seconds (ms)
-4
10-4 seconds (0.1 ms)
A change in the synchronisation interval is effective only after a

reset. If the interpolation interval is to be changed via the CAN bus,
the parameter set must be saved and a reset performed.
Object 1006h_00h: communication_cycle_period

Through the object communication_cycle_period, the time set in s in the object
60C2h_01h can be read.
Sub-Index
00h
Description
communication_cycle_period
Access
ro
PDO Mapping
no
Units
Value Range
--
Default Value
1900h
132
6. Operating modes
Object 60C4h: interpolation_data_configuration

Through the object record interpolation_data_configuration, the type
(buffer_organisation) and size (max_buffer_size, actual_buffer_size) of a possibly
available buffer as well as access to this (buffer_position, buffer_clear) can be
configured. The size of a buffer element can be read out via the object
size_of_data_record. Although no buffer is available for the interpolation type
"Linear interpolation without buffer" access via the object buffer_clear must still be
enabled in this case as well.
Index
60C4h
Name
interpolation_data_configuration
Object Code
RECORD
No. of Elements
Sub-Index
01h
Description
max_buffer_size
Data Type
UINT32
Access
ro
PDO Mapping
no
Units
--
Value Range
Default Value
Sub-Index
02h
Description
actual_size
Data Type
UINT32
Access
rw
PDO Mapping
yes
Units
--
Value Range
0 ... max_buffer_size
Default Value
Sub-Index
03h
Description
buffer_organisation
Data Type
UINT8
Access
rw
PDO Mapping
yes
Units
--
Value Range
Default Value
133
6. Operating modes
Value
Significance
FIFO
Sub-Index
04h
Description
buffer_position
Data Type
UINT16
Access
rw
PDO Mapping
yes
Units
--
Value Range
Default Value
Sub-Index
05h
Description
size_of_data_record
Data Type
UINT8
Access
wo
PDO Mapping
yes
Units
--
Value Range
Default Value
Sub-Index
06h
Description
buffer_clear
Data Type
UINT8
Access
wo
PDO Mapping
yes
Units
--
Value Range
0, 1
Default Value
Value
Significance
Delete buffer / access to 60C1h not permitted
Access to 60C1h enabled
134
6. Operating modes
6.4.3
Functional description
Preparatory parameter setting

Before the motor controller can be switched into the operating mode interpolated
position mode, various settings must be made: These include setting of the interpolation
interval (interpolation_time_period), that is, the time between two SYNC telegrams, the
interpolation type (interpolation_submode_select) and the type of synchronisation
(interpolation_sync_definition). In addition, access to the position buffer must be
enabled via the object buffer_clear.
EXAMPLE
Task
Type of
interpolation
Time unit
Time interval
CAN object / COB

-2 60C0h, interpolation_submode_select
0.1 ms 60C2h_02h, interpolation_time_index
4 ms 60C2h_01h, interpolation_time_units
Save parameters
1010h_01h, save_all_parameters
Perform reset
NMT reset node
Waiting for bootup

Buffer activation
Generate SYNC
-2
= -04
=
40
Bootup message
1 60C4h_06h, buffer_clear
SYNC (matrix 4 ms)
Activation of the interpolated position mode and synchronisation

The IP is activated through the object modes_of_operation (6060h). Starting with this
time, the motor controller tries to synchronise itself to the external time grid, which is
specified through the SYNC telegrams. If the motor controller was successfully able to
synchronise itself, it reports the operating mode interpolated position mode in the object
modes_of_operation_display (6061h). During synchronisation, the motor controller
reports back invalid mode of operation (-1). If the SYNC-telegrams are not sent in the right
time grid after completed synchronisation, the motor controller switches back into the
invalid mode of operation.
If the mode of operation is taken up, transfer of position data to the drive can begin.
As is logical, the higher-order controller first reads the current actual position out of the
controller and writes it cyclically into the motor controller as a new setpoint value
(interpolation_data_record). Takeover of data by the motor controller is activated via
handshake bits of the controlword and statusword. By setting the bit enable_ip_mode in
the controlword, the host shows that evaluation of the position data should begin.
The data records are evaluated only when the motor controller acknowledges this via the
status bit ip_mode_selected in the statusword.
In detail, therefore, the following assignment and procedure result:
135
6. Operating modes
Fig. 6.17 Synchronisation and data release

No. Event
CAN Object
Generate SYNC message
Request of the ip operating mode
6060h, modes_of_operation = 07
Wait until operating mode is taken
6061h, modes_of_operation_display = 07
Reading out the current actual position
6064h, position_actual_value
Writing back as current setpoint position
60C1h_01h, ip_data_position
Start of interpolation
6040h, controlword, enable_ip_mode
Acknowledgement by motor controller
6041h, statusword, ip_mode_active
Changing the current setpoint position in accordance

with trajectory
60C1h_01h, ip_data_position
After the synchronous travel process is ended, deletion of the bit enable_ip_mode
prevents further evaluation of position values. Then the system can switch into another
operating mode, if necessary.
136
6. Operating modes
Interruptions of interpolation in case of error

If an ongoing interpolation type (ip_mode_active set) is interrupted by a controller error,
the drive first acts as specified for the respective error (e.g. removal of the controller
enable and change into the status SWICTH_ON_DISABLED).
The interpolation can only be continued through a new synchronisation, since the motor
controller must be brought back into the status OPERATION_ENABLE, through which the
bit ip_mode_active is deleted.
6.5
Speed adjustment operating mode

(Profile Velocity Mode)
6.5.1
Overview
The speed-regulated operation (Profile Velocity Mode) contains the following

subfunctions:
-
Setpoint value generation through the ramp generator
Speed recording through differentiation via the angle encoder
Speed regulation with appropriate input and output signals
Limitation of the torque setpoint value (torque_demand_value)
Monitoring of the actual speed (velocity_actual_value) with the window

function/threshold
The significance of the following parameters is described in the Positioning chapter

(Profile Position Mode): profile_acceleration, profile_deceleration, quick_stop.
137
6. Operating modes
Limit
Function
target_velocity
(60FFh)
[speed units]
Multiplier
Profile Velocity
(6094h)
(6083h)
[acceleration units]
(6084h)
Quick_stop_deceleration
(6085h)
Profile
Acceleration
Multiplier
velocity_demand_value
(606Bh)
Profile
Deceleration
Quick Stop
Deceleration
accelaration_factor
(6097h)
(6063h)
Differentiation
d/dt
velocity_actual_value
(606Ch)
(606Bh)
velocity_control_parameter_set
(60F9h)
Velocity
Controller
control effort
(606Ch)
SPDC_SPDC_N_TARGET_WIN_SPEED
(0x00FA)
(606Ch)
SPDC_SPDC_N_TARGET_WIN_SPEED
(0x00FA)
Window
Comparator
status_word
(6041h)
velocity = 0
Window
Comparator
status_word
(6041h)
velocity_reached
Fig. 6.18 Structure of the speed-regulated operation (profile velocity mode)
138
6. Operating modes
6.5.2

Index
Object
Name
Type
Attr.
6069h
VAR
velocity_sensor_actual_value
INT32
ro
606Bh
VAR
INT32
ro
606Ch
VAR
INT32
ro
6080h
VAR
max_motor_speed
UINT32
rw
60FFh
VAR
target_velocity
INT32
rw

Index
Object
Name
Type
Chapter
6040h
VAR
controlword
INT16
5 Device control
6041h
VAR
statusword
UINT16
5 Device control
6063h
VAR
INT32
4.6 Position controller
6069h
VAR
INT32
4.6 Position controller
6071h
VAR
target_torque
INT16
6.6 Torque controller
6072h
VAR
max_torque_value
UINT16
6.6 Torque controller
607Eh
VAR
polarity
UINT8
6083h
VAR
UINT32
6.3 Positioning
6084h
VAR
UINT32
6.3 Positioning
6085h
VAR
UINT32
6.3 Positioning
6086h
VAR
motion_profile_type
INT16
6.3 Positioning
6094h
ARRAY
UINT32
139
6. Operating modes
Object 6069h: velocity_sensor_actual_value

With the object velocity_sensor_actual_value, the value of a possible speed encoder can
be read out in internal units. A separate speed encoder cannot be connected in the
CMMS/CMMD family. Therefore, to determine the actual speed value, the object 606Ch
should be used.
Index
6069h
Name
Object Code
VAR
Data Type
INT32
Access
ro
PDO Mapping
yes
Units
Angle difference in increments per second

(65536 increments = 1 R)
Value Range
--
Default Value
--
Object 606Bh: velocity_demand_value

The current speed setpoint value of the speed regulator can be read with this object. It is
acted upon by the setpoint value of the ramp and curve generators. If the position
controller is activated, its correction speed is also added.
Index
606Bh
Name
Object Code
VAR
Data Type
INT32
Access
ro
PDO Mapping
yes
Units
speed units
Value Range
--
Default Value
--
140
6. Operating modes
Object 606Ch: velocity_actual_value

The actual speed value can be read via the object velocity_actual_value.
Index
606Ch
Name
Object Code
VAR
Data Type
INT32
Access
ro
PDO Mapping
yes
Units
speed units
Value Range
--
Default Value
--
Object 6080h: max_motor_speed

The object max_motor_speed gives the highest allowed speed for the motor in min-1.
The object is used to protect the motor and can be taken from the motor technical data.
The speed setpoint value is limited to this value.
Index
6080h
Name
max_motor_speed
Object Code
VAR
Data Type
UINT16
Access
rw
PDO Mapping
yes
Units
min-1
Value Range
0 ... 32768 min-1
Default Value
3,000 min-1
Object 60FFh: target_velocity

The object target_velocity is the setpoint specification for the ramp generator.
Index
60FFh
Name
target_velocity
Object Code
VAR
Data Type
INT32
Access
rw
PDO Mapping
yes
Units
speed units
Value Range
--
Default Value
--
141
6. Operating modes
Object 2090h: velocity_ramps

Selected as modes_of_operation profile_velocity_mode; the setpoint value ramp is also
activated. And so it is possible to limit a jump-like setpoint change to a specific speed
change per time via the objects profile_acceleration and profile_deceleration.
The controller not only permits specification of different values for braking deceleration
and acceleration, but also differentiation between positive and negative speed.
The following illustration depicts this behaviour:
V
2090h_04h
velocity_acceleration_neg
2090h_05h
velocity_deceleration_neg
t
2090h_03h
velocity_deceleration_pos
2090h_02h
velocity_acceleration_pos
Fig. 6.19 Speed ramps

The object group velocity_ramps is available to parametrise these 4 accelerations.
Note that the objects profile_acceleration and profile_deceleration change the same
internal accelerations as the velocity_ramps. If the profile_acceleration is written,
velocity_acceleration_pos and velocity_acceleration_neg are changed together;
if the profile_deceleration is written, velocity_deceleration_pos and
velocity_deceleration_neg are changed together.
Index
2090h
Name
velocity_ramps
Object Code
RECORD
No. of Elements
Sub-Index
02h
Description
velocity_acceleration_pos
Data Type
INT32
Access
rw
PDO Mapping
no
Units
--
Value Range
--
Default Value
--
142
6. Operating modes
Sub-Index
03h
Description
velocity_deceleration_pos
Data Type
INT32
Access
rw
PDO Mapping
no
Units
--
Value Range
--
Default Value
--
Sub-Index
04h
Description
velocity_acceleration_neg
Data Type
INT32
Access
rw
PDO Mapping
no
Units
--
Value Range
--
Default Value
--
Sub-Index
05h
Description
velocity_deceleration_neg
Data Type
INT32
Access
rw
PDO Mapping
no
Units
--
Value Range
--
Default Value
--
143
6. Operating modes
6.6
Torque regulation operating mode

(Profile Torque Mode)
6.6.1
Overview
This chapter describes torque-regulated operation. This operating mode allows an

external torque setpoint value target_torque, which can be smoothed using the
integrated ramp generator, to be specified for the motor controller. It is thus possible for
this motor controller to also be used for path control, with which both the position
controller and the speed regulator are displaced to an external computer.
Fig. 6.20 Structure of torque-regulated operation

The parameters ramp steepness torque_slope and ramp shape torque_profile_type must
be specified for the ramp generator.
If the bit 8 halt is set in the controlword, the ramp generator lowers the torque down to
zero. It rises correspondingly again to the setpoint torque target_torque when bit 8 is
deleted again. In both cases, the ramp generator takes into account the ramp steepness
torque_slope and the ramp shape torque_profile_type.
All definitions within this document refer to rotatable motors. If linear motors have to be
used, all "torque" objects must refer to a "force" instead. For simplicity, the objects do
not appear twice and their names should not be changed.
The operating modes positioning mode (profile position mode) and speed regulator
(profile velocity mode) need the torque controller to work. That is why it is always
necessary to set its parameters.
144
6. Operating modes
6.6.2

Index
Object
Name
Type
Attr.
6071h
VAR
target_torque
INT16
rw
6072h
VAR
max_torque
UINT16
rw
6074h
VAR
torque_demand_value
INT16
ro
6076h
VAR
motor_rated_torque
UINT32
rw
6077h
VAR
torque_actual_value
INT16
ro
6079h
VAR
dc_link_circuit_voltage
UINT32
ro
60F7h
RECORD
power_stage_parameters
rw
60F6h
RECORD
rw
6078h
VAR
current_actual_value
INT16
ro

Index
Object
Name
Type
Chapter
6040h
VAR
controlword
INT16
5 Device control
60F9h
RECORD motor_parameters
6073h
VAR
max_current
UINT16
4.4 Current regulator and motor adjustment
6075h
VAR
motor_rated_current
UINT32
Object 6071h: target_torque

This parameter is the setpoint value for the torque regulator in torque-regulated operation
(Profile Torque Mode). It is specified in thousandths of the nominal torque (object 6076h).
Index
6071h
Name
target_torque
Object Code
VAR
Data Type
INT16
Access
rw
PDO Mapping
yes
Units
motor_rated_torque / 1000
Value Range
-32768 ... 32768
Default Value
145
6. Operating modes
Object 6072h: max_torque

This value represents the motor's maximum permissible torque. It is specified in
thousandths of the nominal torque (object 6076h). If, for example, a 2-fold overloading of
the motor is briefly permissible, the value 2000 is entered here.
The object 6072h: max_torque corresponds with the object 6073h:
max_current and may not be overwritten until the object 6075h:
motor_rated_current is overwritten with a valid value.
Index
6072h
Name
max_torque
Object Code
VAR
Data Type
UINT16
Access
rw
PDO Mapping
yes
Units
Value Range
1000 ... 65536
Default Value
1675
Object 6074h: torque_demand_value

By means of this object, the current setpoint torque can be read out in thousandths of the
nominal torque (6076h). The internal limitations of the controller (current limit values and
I2t monitoring) are hereby taken into account.
Index
6074h
Name
torque_demand_value
Object Code
VAR
Data Type
INT16
Access
ro
PDO Mapping
yes
Units
Value Range
--
Default Value
--
146
6. Operating modes
Object 6076h: motor_rated_torque

This object specifies the nominal torque of the motor. This can be taken from the motor's
name plate. It is entered in the unit 0.001 Nm.
Index
6076h
Name
motor_rated_torque
Object Code
VAR
Data Type
UINT32
Access
rw
PDO Mapping
yes
Units
0.001 Nm
Value Range
--
Default Value
1499
Object 6077h: torque_actual_value

By means of this object, the motor's actual torque can be read out in thousandths of the
nominal torque (object 6076h).
Index
6077h
Name
torque_actual_value
Object Code
VAR
Data Type
INT16
Access
ro
PDO Mapping
yes
Units
Value Range
--
Default Value
--
Object 6078h: current_actual_value

By means of this object, the motor's actual current can be read out in thousandths of the
nominal current (object 6075h).
Index
6078h
Name
current_actual_value
Object Code
VAR
Data Type
INT16
Access
ro
PDO Mapping
yes
Units
motor_rated_current / 1000
Value Range
--
Default Value
--
147
6. Operating modes
Object 6079h: dc_link_circuit_voltage

The intermediate circuit voltage of the controller can be read via this object. The voltage is
specified in the unit millivolts.
Index
6079h
Name
dc_link_circuit_voltage
Object Code
VAR
Data Type
UINT32
Access
ro
PDO Mapping
yes
Units
mV
Value Range
--
Default Value
--
148
7. Index
7.
Index
A
Acceleration
at of the Homing............................. 118
brake (positioning) ......................... 126
quick stop (positioning).................. 127
acceleration_factor.............................. 62
Actual position value (position units) .. 82
Actual speed value ............................ 142
Actual torque value ........................... 148
Actual value
position in position_units
(position_actual_value)................. 82
torque (torque_actual_value)......... 148
actual_size ........................................ 134
Angle encoder offset............................ 73
B
buffer_clear ....................................... 135
buffer_organisation........................... 134
buffer_position .................................. 135
C
CAN-interface
pin assignment ................................. 13
cob_id_sync......................................... 31
cob_id_used_by_pdo .......................... 26
Contouring error .................................. 77
current value .................................... 83
definition .......................................... 77
error window .................................... 83
timeout time..................................... 83
Contouring error time-out time............ 83
Contouring error window ..................... 83
Control of the regulator ....................... 97
control_effort....................................... 84
Controller enable ................................. 68
Controller enable logic......................... 68
controlword ....................................... 102
bit assignment.......................... 99, 103
commands...................................... 104
object description........................... 102
Conversion factors............................... 55
choice of prefix ................................. 65
position factor .................................. 57
Correction speed ................................. 80

Current controller
gain .................................................. 74
parameter......................................... 74
time constant.................................... 74
Current limitation................................. 86
Current setpoint value ....................... 147
current_actual_value......................... 148
current_limitation ................................ 86
Curve generator................................. 123
Cycle time Heartbeat telegrams? ......... 46
Cycle time PDOs................................... 26
D
dc_link_circuit_voltage...................... 149
Device control...................................... 97
Digital inputs ....................................... 87
Digital outputs..................................... 88
statuses............................................ 88
digital_inputs ...................................... 87
digital_outputs .................................... 88
digital_outputs_data ........................... 88
Divisor
acceleration_factor........................... 62
velocity_encoder_factor ................... 59
drive_data ..................................... 68, 89
E
EMERGENCY ........................................ 31
EMERGENCY Message ......................... 31
structure of the................................. 31
Enable logic ......................................... 68
enable_logic ........................................ 68
encoder_offset_angle.......................... 73
end_velocity ...................................... 125
Error
controller error ................................. 31
SDO error messages ......................... 20
Error Control Protocol
heartbeat.................................... 45, 46
Error management ............................... 95
Error register ....................................... 31
error_management .............................. 95
149
7. Index
F
Factor group ........................................ 55
polarity ............................................. 65
position_factor ................................. 56
firmware_custom_version ................... 94
firmware_main_version ....................... 94
first_mapped_object ........................... 27
following_error .................................... 77
following_error_actual_value .............. 83
following_error_time_out .................... 83
following_error_window...................... 83
fourth_mapped_object ........................ 28
identity_object .................................... 92
iit_ratio_motor..................................... 72
iit_time_motor..................................... 72
inhibit_time ......................................... 26
Interpolation data.............................. 132
Interpolation type .............................. 131
interpolation_data_configuration...... 134
interpolation_data_record................. 132
interpolation_submode_select.......... 131
interpolation_time_period................. 132
ip_data_position ............................... 132
ip_time_index.................................... 133
ip_time_units..................................... 133
K
km_release .......................................... 94
Gain of the Current controller .............. 74

guard_time .......................................... 50
H
Heartbeat ...................................... 45, 46
home_offset ...................................... 116
Homing .............................................. 114
acceleration.................................... 118
control of the .................................. 122
creep speed.................................... 117
method ........................................... 116
search speed .................................. 117
speeds............................................ 117
zero point offset ............................. 116
Homing Methods ............................... 118
Homing Mode .................................... 114
Homing Mode home_offset ............... 116
Homing Mode Homing_acceleration.. 118
Homing Mode homing_method ......... 116
Homing Mode homing_speeds .......... 117
homing_acceleration ......................... 118
homing_method ................................ 116
homing_speeds ................................. 117
I
I2t extent of utilisation ......................... 72
I2t time ................................................. 72
Identification of the device .................. 92
Identifier
NMT Service ..................................... 47
Identifier for PDO................................. 26
150
life_time_factor ................................... 50
Limit switch ......................... 89, 118, 119
emergency stop ramp....................... 90
polarity ............................................. 89
limit_current ........................................ 86
limit_current_input_channel ............... 86
limit_switch_deceleration.................... 90
limit_switch_polarity ........................... 89
Load default parameters ..................... 53
M
Manufacturer code .............................. 92
Mapping parameter for PDOs .............. 27
max_buffer_size ................................ 134
max_current ........................................ 71
max_motor_speed............................. 142
max_torque ....................................... 147
Maximum motor speed...................... 142
Maximum Torque............................... 147
Mode of operation
homing ........................................... 114
modify of the .................................. 112
read of the ...................................... 114
modes_of_operation ......................... 112
modes_of_operation_display .... 113, 114
Monitoring from Communication ... 45, 46
motion_profile_type .......................... 127
7. Index
Motor parameter
I2t time.............................................. 72
nominal current ................................ 70
pin (pair) number.............................. 71
resolver offset angle......................... 73
Motor peak current.............................. 71
motor_data.................................... 72, 73
motor_rated_current ........................... 70
motor_rated_torque .......................... 148
N
Network management ......................... 47
New position travel to........................ 128
NMT Service ........................................ 47
Nominal current
motor................................................ 70
Nominal motor current ........................ 70
Nominal torque of the motor ............. 148
Not Ready to Switch On ..................... 100
Number of Mapped Objects................. 27
Number of pin pairs ............................. 71
Number of pins .................................... 71
number_of_mapped_objects............... 27
Numerator
position_factor ................................. 57
O
Objects
Object 1003h ..................................... 43
Object 1003h_01h.............................. 44
Object 1003h_02h.............................. 44
Object 1003h_03h.............................. 44
Object 1003h_04h.............................. 44
Object 1005h ..................................... 31
Object 100C1h................................... 50
Object 100Dh .................................... 50
Object 1010h ..................................... 54
Object 1010h_01h.............................. 54
Object 1011h ..................................... 53
Object 1011h_01h.............................. 53
Object 1017h ..................................... 46
Object 1018h ..................................... 92
Object 1018h_01h.............................. 92
Object 1018h_02h.............................. 93
Object 1018h_03h.............................. 93
Object 1018h_04h.............................. 93
Object 1400h ..................................... 29

Object 1401h ..................................... 30
Object 1600h ..................................... 29
Object 1601h ..................................... 30
Object 1800h ............................... 26, 28
Object 1800h_01h.............................. 26
Object 1800h_02h.............................. 26
Object 1800h_03h.............................. 26
Object 1801h ..................................... 29
Object 1A00h............................... 27, 28
Object 1A00h_00h ............................. 27
Object 1A00h_01h ............................. 27
Object 1A00h_02h ............................. 27
Object 1A00h_03h ............................. 28
Object 1A00h_04h ............................. 28
Object 1A01h..................................... 29
Object 2014h ..................................... 29
Object 2015h ..................................... 29
Object 204Ah..................................... 90
Object 204Ah_05h ............................. 91
Object 204Ah_06h ............................. 91
Object 2090h ................................... 143
Object 2090h_02h............................ 143
Object 2090h_03h............................ 144
Object 2090h_04h............................ 144
Object 2090h_05h............................ 144
Object 2100h ..................................... 95
Object 2415h ..................................... 86
Object 2415h_01h.............................. 86
Object 2415h_02h.............................. 86
Object 6040h.................................. 102
Object 6041h ................................... 107
Object 604Dh .................................... 71
Object 6060h ................................... 112
Object 6061h ........................... 113, 114
Object 6062h ..................................... 81
Object 6063h ..................................... 82
Object 6064h ..................................... 82
Object 6065h ..................................... 83
Object 6066h ..................................... 83
Object 6067h ..................................... 84
Object 6068h ..................................... 85
Object 6069h ................................... 141
Object 606Bh .................................. 141
Object 606Ch ................................... 142
Object 6071h ................................... 146
Object 6072h ................................... 147
151
7. Index
Object 6073h ..................................... 71

Object 6074h ................................... 147
Object 6075h ..................................... 70
Object 6076h ................................... 148
Object 6077h ................................... 148
Object 6078h ................................... 148
Object 6079h ................................... 149
Object 607Ah................................... 124
Object 607Ch................................... 116
Object 607Eh ..................................... 65
Object 6080h ................................... 142
Object 6081h ................................... 125
Object 6082h ................................... 125
Object 6083h ................................... 126
Object 6084h ................................... 126
Object 6085h ................................... 127
Object 6086h ................................... 127
Object 6093h ..................................... 56
Object 6093h_01h.............................. 57
Object 6093h_02h.............................. 57
Object 6094h ..................................... 59
Object 6094h_01h.............................. 59
Object 6094h_02h.............................. 59
Object 6097h ..................................... 62
Object 6097h_01h.............................. 62
Object 6097h_02h.............................. 62
Object 6098h ................................... 116
Object 6099h ................................... 117
Object 6099h_01h............................ 117
Object 6099h_02h............................ 117
Object 609Ah................................... 118
Object 60C0h................................... 131
Object 60C1h................................... 132
Object 60C1h_01h............................ 132
Object 60C2h................................... 132
Object 60C2h_01h............................ 133
Object 60C2h_02h............................ 133
Object 60C4h................................... 134
Object 60C4h_01h ........................... 134
Object 60C4h_02h ........................... 134
Object 60C4h_03h ........................... 134
Object 60C4h_04h ........................... 135
Object 60C4h_05h ........................... 135
Object 60C4h_06h ........................... 135
Object 60F4h ..................................... 83
Object 60F6h ..................................... 74
Object 60F6h_01h .............................. 74
152
Object 60F9h ..................................... 76

Object 60F9h_01h .............................. 76
Object 60F9h_02h ........................ 74, 76
Object 60F9h_04h .............................. 76
Object 60FAh ..................................... 84
Object 60FBh ..................................... 80
Object 60FBh_01h .............................. 80
Object 60FBh_04h .............................. 80
Object 60FBh_05h .............................. 81
Object 60FDh ..................................... 87
Object 60FEh ..................................... 88
Object 60FEh_01h .............................. 88
Object 60FFh ................................... 142
Object 6410h ............................... 72, 73
Object 6410h_03h.............................. 72
Object 6410h_04h.............................. 72
Object 6410h_10h.............................. 73
Object 6410h_11h.............................. 73
Object 6510h ............................... 68, 89
Object 6510h_10h.............................. 68
Object 6510h_11h.............................. 89
Object 6510h_15h.............................. 90
Object 6510h_31h.............................. 69
Object 6510h_A9h ............................. 94
Object 6510h_AAh ............................. 94
Object 6510h_ADh ............................. 94
Offset of the angle encoder ................. 73
Operating mode......................... 112, 114
setting of the .................................. 112
speed adjustment........................... 138
torque regulations.......................... 145
Output stage enable ............................ 68
Output stage parameter ...................... 68
enable logic ...................................... 68
P
Parameter sets
download and save........................... 52
load default parameters ................... 53
save parameter set ........................... 54
Parameter setting ................................ 52
PDO ..................................................... 22
1. Entered Object.............................. 27
2. Entered Object.............................. 27
3. Entered Object.............................. 28
4. Entered Object.............................. 28
7. Index
RPDO1
1. Entered Object........................... 29
2. Entered Object........................... 29
3. Entered Object........................... 29
4. Entered Object........................... 29
COB-ID used by PDO ..................... 29
first mapped object ....................... 29
fourth mapped object.................... 29
identifier........................................ 29
no. of entered objects ................... 29
number of mapped objects ........... 29
second mapped object .................. 29
third mapped object...................... 29
transmission type.......................... 29
RPDO2
1. Entered Object........................... 30
2. Entered Object........................... 30
3. Entered Object........................... 30
4. Entered Object........................... 30
COB-ID used by PDO ..................... 30
identifier........................................ 30
no. of entered objects ................... 30
TPDO1
1. Entered Object........................... 28
2. Entered Object........................... 28
3. Entered Object........................... 28
4. Entered Object........................... 28
COB-ID used by PDO ..................... 28
identifier........................................ 28
inhibit time.................................... 28
no. of entered Objects................... 28
transmit mask ............................... 29
TPDO2
1. Entered Object........................... 29
2. Entered Object........................... 29
3. Entered Object........................... 29
4. Entered Object........................... 29
COB-ID used by PDO ..................... 29
identifier........................................ 29
inhibit time .................................... 29
no. of entered Objects ................... 29
third mapped object ...................... 29
transmit mask ............................... 29
PDO Message ...................................... 22
Peak current
motor................................................ 71
Permissible Torque............................ 147
phase_order ........................................ 73
Pin assignment .................................... 13
Polarity ................................................ 65
pole_number ....................................... 71
Position control function ..................... 77
Position controller ............................... 77
dead zone......................................... 81
gain .................................................. 80
output of the .................................... 84
parameter......................................... 80
Position controller gain........................ 80
Position controller output.................... 84
Position controller parameter .............. 80
Position setpoint (position units) ........ 81
Position value interpolation............... 132
position_actual_value ......................... 82
position_control_gain.......................... 80
position_control_parameter_set ......... 80
position_control_v_max ...................... 80
position_demand_value ...................... 81
position_error_tolerance_window....... 81
position_factor .................................... 56
position_reached................................. 78
position_window ................................. 84
position_window_time ........................ 85
153
7. Index
Positioning ........................................ 128

braking deceleration ...................... 126
handshake...................................... 128
quick stop deceleration .................. 127
speed in.......................................... 125
target position................................ 124
Positioning braking deceleration ....... 126
Positioning profile
jerk-free.......................................... 127
linear .............................................. 127
sinus2 ............................................. 127
Positioning speed .............................. 125
Positioning start ................................ 128
power_stage_temperature .................. 69
pre_defined_error_field....................... 43
producer_heartbeat_time.................... 46
Product code ....................................... 93
product_code ...................................... 93
Profile position Mode
profile_deceleration ....................... 126
profile_acceleration........................... 126
profile_deceleration .......................... 126
profile_velocity.................................. 125
Profiles position Mode
end_velocity ................................... 125
profile_acceleration........................ 126
profile_velocity............................... 125
quick_stop_deceleration ................ 127
target_position............................... 124
Profiles Position Mode
motion_profile_type ....................... 127
Profiles Torque Mode ........................ 145
current_actual_value...................... 148
max_torque .................................... 147
motor_rated_torque ....................... 148
target_torque ................................. 146
torque_actual_value ...................... 148
torque_demand_value ................... 147
Profiles Velocity Mode ....................... 138
max_motor_speed.......................... 142
target_velocity................................ 142
velocity_actual_value..................... 142
velocity_demand_value.................. 141
velocity_sensor .............................. 141
154
Q
Quick stop deceleration..................... 127
quick_stop_deceleration ................... 127
R
Ready to Switch On............................ 100
Receive_PDO_1 ................................... 29
Receive_PDO_2 ................................... 30
Reference switch ................................. 89
Release number................................... 94
Resolver offset angle ........................... 73
resolver_offset_angle.......................... 73
restore_all_default_parameters .......... 53
restore_parameters ............................. 53
Revision number CANopen .................. 93
revision_number.................................. 93
R-PDO 1 ............................................... 29
R-PDO 2 ............................................... 30
S
sample_data........................................ 90
sample_position_falling_edge............. 91
sample_position_rising_edge.............. 91
Sampling position
falling edge....................................... 91
rising edge........................................ 91
Save parameter set.............................. 54
save_all_parameters ........................... 54
Scaling factors ..................................... 55
choice of prefix ................................. 65
position factor .................................. 57
SDO ..................................................... 18
Error messages................................. 20
SDO message ...................................... 18
second_mapped_object ...................... 27
serial_number ..................................... 93
Setpoint speed for speed adjustment 142
Setpoint torque (torque regulation) .. 146
Setpoint value
current............................................ 147
position (position units) ................... 81
torque............................................. 146
Setting of the operating mode ........... 112
size_of_data_record .......................... 135
Speed
at of the homing ............................. 117
in positioning.................................. 125
7. Index
Speed adjustment ............................. 138

max. motor speed........................... 142
setpoint speed................................ 142
speed sensor selection................... 141
target speed ................................... 142
Speed regulator................................... 75
filter time constant ........................... 76
gain .................................................. 76
parameter......................................... 76
time constant ................................... 76
Speed sensor selection...................... 141
speed_during_search_for_switch...... 117
speed_during_search_for_zero ......... 117
standard_error_field_0........................ 44
State
Not Ready to Switch On.................. 100
Ready to Switch On ........................ 100
Switch On Disabled ........................ 100
Switched On ................................... 100
Status
Not Ready to Switch On.................. 100
Ready to Switch On ........................ 100
Switch On Disabled ........................ 100
Switched On ................................... 100
Status word
bit assignment................................ 107
object description........................... 107
Stop........................................... 120, 121
store_parameters ................................ 54
Switch On Disabled ........................... 100
SYNC.................................................... 30
SYNC message..................................... 30
T
Target position .................................. 124
Target position window ....................... 84
Target speed for speed adjustment ... 142
Target torque (torque regulation)...... 146
Target window
position window ............................... 84
time .................................................. 85
Target window time ............................. 85
target_position .................................. 124
target_torque ............................ 145, 146
target_velocity................................... 142
third_mapped_object .......................... 28
Time constant of the Current controller 74
Torque limitation ................................. 86
scaling .............................................. 86
setpoint value................................... 86
source .............................................. 86
Torque regulation
actual torque value......................... 148
current setpoint value .................... 147
max. torque .................................... 147
nominal torque ............................... 148
setpoint torque............................... 146
target torque .................................. 146
Torque regulations ............................ 145
torque_actual_value.......................... 148
torque_control_gain ............................ 74
torque_control_parameters................. 74
torque_control_time............................ 74
torque_demand_value ...................... 147
Torque-limited speed operation .......... 86
T-PDO 1 ............................................... 28
T-PDO 2 ............................................... 29
tpdo_1_transmit_mask........................ 29
tpdo_2_transmit_mask........................ 29
Transfer parameters for PDOs ............. 26
transfer_PDO_1 ................................... 28
transfer_PDO_2 ................................... 29
transmission_type ............................... 26
transmit_pdo_mapping ....................... 27
transmit_pdo_parameter..................... 26
Turn-through protection ...................... 75
Type of transmission ........................... 26
V
velocity_acceleration_neg ................. 144
velocity_acceleration_pos ................. 143
velocity_actual_value ........................ 142
velocity_control_filter_time................. 76
velocity_control_gain .......................... 76
velocity_control_parameter_set .......... 76
velocity_control_time .......................... 76
velocity_deceleration_neg................. 144
velocity_deceleration_pos................. 144
velocity_demand_value..................... 141
velocity_encoder_factor ...................... 59
velocity_ramps .................................. 143
155
7. Index
velocity_sensor_actual_value ........... 141

vendor_id ............................................ 92
Version number of the customer-specific
variant .............................................. 94
Version number of the firmware .......... 94
156
W
Wiring instructions .............................. 14
Z
Zero point offset ................................ 116
Zero pulse.......................................... 122

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Festo Can Open Cmms

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CANopen for Motor Controller

(Festo AG & Co KG., D-73726 Esslingen, Germany, 2011)

Festo AG & Co. KG

CANopen for Motor Controller CMMS/CMMD

Festo P.BE-CMMS-CO-SW-EN 1012a

General remarks ..................................................................................................... 8

Intended use ......................................................................................................... 8

Safety instructions ................................................................................................ 8

Important user instructions ................................................................................... 9

Cabling and Plug Assignment .............................................................................. 13

Access Procedure .................................................................................................. 17

SDO Access ......................................................................................................... 18

PDO Message ...................................................................................................... 22

Heartbeat / Bootup (Error Control Protocol)........................................................ 45

Network Management (NMT Service) .................................................................. 47

Nodeguarding (Error Control Protocol) ................................................................ 49

Table of Identifiers .............................................................................................. 51

Festo P.BE-CMMS-CO-SW-EN 1012a

Setting Parameters ............................................................................................... 52

Load and Save Parameter Sets ............................................................................ 52

Conversion Factors (Factor Group) ...................................................................... 55

Output stage parameter ...................................................................................... 67

Current Regulator and Motor Adjustment............................................................ 69

Position Controller (Position Control Function).................................................... 77

Setpoint value limitation ..................................................................................... 85

Digital inputs and outputs ................................................................................... 87

Limit switch ......................................................................................................... 89

Device Information .............................................................................................. 91

Festo P.BE-CMMS-CO-SW-EN 1012a

Device Control ....................................................................................................... 97

Status Diagram (State Machine).......................................................................... 97

Operating modes ................................................................................................ 111

Setting the operating mode............................................................................... 111

Operating mode homing (Homing Mode) .......................................................... 113

Positioning Operating Mode (Profile Position Mode)......................................... 122

Interpolated Position Mode ............................................................................... 129

Speed adjustment operating mode (Profile Velocity Mode) .............................. 137

Torque regulation operating mode (Profile Torque Mode) ................................ 144

Index ................................................................................................................... 149

Festo P.BE-CMMS-CO-SW-EN 1012a

Festo P.BE-CMMS-CO-SW-EN 1012a

Important user instructions

Festo P.BE-CMMS-CO-SW-EN 1012a

Identification of specific information

Arrowheads indicate general lists.

About the Version

Festo P.BE-CMMS-CO-SW-EN 1012a

From Version 1.3.0.1.14

Standard motor controller for stepper motors

From Version 1.3.0.1.16

Standard motor controller for servo motors

From Version 1.4.0.3.2

Standard double motor controller for servo motors

Table 1.1 Controller and firmware versions

Festo P.BE-CMMS-CO-SW-EN 1012a

CANopen is a standard worked out by the "CAN in Automation" association. A number of

[1] CiA Draft Standard 301,

13. February 2002

[2] CiA Draft Standard Proposal 402,

26. July 2002

Festo P.BE-CMMS-CO-SW-EN 1012a

Cabling and Plug Assignment

Fig. 2.1 CAN plug connector for CMMS/CMMD

Festo P.BE-CMMS-CO-SW-EN 1012a